Lower limb exoskeleton robot with overload slipping function

Abstract

The invention provides a lower limb exoskeleton robot with an overload slipping function. The lower limb exoskeleton robot comprises a thigh supporting part, a rotary power part, an overload slippingpart and a control part, wherein one end of the thigh supporting part is connected with the rotary power part, the other end of the thigh supporting part is fixed at the rear side of the thigh of thehuman body, and the thigh of the human body is fixed; the rotary power part is provided with a rotating motor used for outputting rotary force and drives the thigh supporting part to provide power forthe thigh of the human body; the overload slipping part drives the thigh supporting part to perform circular motion around a rotating shaft of the hip joint of the human body corresponding to an exoskeleton bracket or achieve rotary slipping motion between the rotary power part and the exoskeleton bracket; the control part controls the work of the rotary power part according to a torque value output by the overload slipping part. The lower limb exoskeleton robot with the overload slipping function has the advantages that the lower limb exoskeleton robot can assist in human body walking, can also perform rehabilitation training on rehabilitation in the cerebral stroke, and perform a certain torque of hip joint power assistance, and when the torque exceeds a certain value, the hip joint issubjected to slipping treatment to protect a motor and increase the flexibility with the human motion.

Description

technical field [0001] The invention relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot with an overload skidding function. Background technique [0002] At present, the connection between walking aids and stroke rehabilitation lower extremity exoskeleton robots and the human body relies on joint motors to provide torque output. The connection is too rigid, and when the torque is too high, the rotating motor will be overloaded and generate heat. Contents of the invention [0003] In view of the defects in the prior art, the object of the present invention is to provide a lower extremity exoskeleton robot with overload slipping function. When the torque exceeds a certain value, the hip joint part can be slipped to protect the motor and increase the movement with the human body. The flexibility between them solves the problem of excessive torque of the joint motors connected to the human body in the existing walking aid and stroke reha...

AI Technical Summary

Problems solved by technology

[0003] In view of the defects in the prior art, the object of the present invention is to provide a lower extremity exoskeleton robot with overload slipping function. When the torque exceeds a certain value, the hip joint part can be slipped to protect the motor and increase the movement with the human body. The flexibility between them solves the problem of excessive torque of the joint motors connected to the human body in the existing walking aids and stroke rehabilitation lower limb exoskeleton robots, resulting in overload and heat generation

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