Exoskeleton robot electrical system

Abstract

The invention belongs to the field of exoskeleton robots, and relates to an exoskeleton robot electrical system. The exoskeleton robot electrical system comprises a power supply unit for supplying power to the whole electrical system, a main control unit which is used for controlling each unit, a driving unit which is used for driving an exoskeleton hip joint to move and driving a knee joint to move through traction of a steel rope, and a sensing unit which comprises a back attitude and heading reference system arranged on the back, a thigh attitude and heading reference system arranged on thethigh, a shank attitude and heading reference system arranged on the shank, a steel rope tension sensor arranged on the thigh, a foot attitude and heading reference system arranged on the foot and afoot reflection type infrared photoelectric switch sensor arranged on the foot, wherein the hip joint angle zero point determination manner is to calculate the hip joint angle zero point position through the pitch angle difference value of the back attitude and heading reference system and the thigh attitude and heading reference system. According to the electrical system, the sizes and weights ofthe exoskeleton robots can be reduced under the condition of ensuring that the human body posture data is normally acquired.

Description

technical field [0001] The invention belongs to the field of exoskeleton robots and relates to an electrical system of an exoskeleton robot. Background technique [0002] The lower limb weight-assisted exoskeleton robot is mainly provided for normal people to wear, which is used to enhance the individual's strength, endurance and other physical capabilities, so that the wearer's sense of weight is significantly reduced. People wear such exoskeletons to lift heavy objects, carry heavy objects over long distances and work with heavy tools. It is mainly used in the military field where soldiers carry heavy weapons and improves their combat capabilities; at the same time, it is also used in emergency rescue and disaster relief, assisting officers and soldiers to quickly deliver rescue items to the scene in civilian fields, and industrial industries that relieve workers' fatigue caused by long hours of high-intensity work. field. [0003] The applicant found in practical applic...

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Problems solved by technology

[0003] The applicant found in practical applications that the existing active lower limb weight-assisted exoskeleton robots need to use a lot of sensors when judging the human body posture and motion state, including the attitude reference system for measuring the attitude angle and acceleration, and the joint angle measurement system. Encoders or potentiometers, pressure sensors for measuring human-computer interaction force, etc., the mechanism for installing these sensors is relatively complicated and the number of wiring harnesses connecting each sensor and the main control unit is large

On the one hand, this increases the volume and weight of the exoskeleton robot, which affects the wearing comfort. On the other hand, it significantly increases the complexity of the installation, commissioning and post-maintenance of the exoskeleton robot, and increases the time cost and personnel in the production process of the exoskeleton robot. Cost, it is not easy to industrialize the development of exoskeleton robots

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