Passive wearable lower limb exoskeleton robot with three-stage limiting support

Abstract

The invention discloses a passive wearable lower limb exoskeleton robot with three-level limiting support, and relates to the technical field of exoskeleton robots. The robot comprises a left lower limb exoskeleton, a right lower limb exoskeleton and a man-machine fixing bandage, and the left lower limb exoskeleton and the right lower limb exoskeleton are the same in structure and are symmetrically arranged, the robot can be worn on the lower limb of a human body through the man-machine fixing bandage, the left lower limb exoskeleton comprises a thigh part, a knee joint and a shank part, the thigh part rotates around the knee joint relative to the shank part, and the thigh part comprises a thigh shell, a suspension mechanism, a thigh length adjusting mechanism and a posture adjusting module. For three typical working postures needing frequent or continuous long-time squatting working conditions, a wearer manually sets corresponding limiting angles, so that leg supporting and assisting of the exoskeleton in the working process are achieved; and the lengths of the shank and thigh parts of the exoskeleton can be flexibly adjusted through corresponding length adjusting mechanisms so as to adapt to the heights of different wearers.

Description

technical field [0001] The invention belongs to the field of exoskeleton robots, and in particular relates to a passive wearable lower limb exoskeleton robot with three-level limit support. Background technique [0002] The passive lower extremity industrial exoskeleton robot is a wearable special robot that can assist and enhance human body functions. In the field of industrial production, there are a large number of fast-paced, high-repetition, fatigue-prone and unautomated manual operations, especially special welding. , grinding, parts assembly and other processes, workers often need to manipulate tools with high fatigue and difficult to maintain body posture for a long time. Joints cause fatigue damage, thereby inducing musculoskeletal system diseases (WMSDs), affecting the work efficiency, product quality and occupational life of technicians. [0003] For working conditions that require frequent or continuous long-term squatting (continuous force on the human knee joi...

AI Technical Summary

Problems solved by technology

[0002] The passive lower extremity industrial exoskeleton robot is a wearable special robot that can assist and enhance human body functions. In the field of industrial production, there are a large number of fast-paced, high-repetition, fatigue-prone and unautomated manual operations, especially special welding. , grinding, parts assembly and other processes, workers often need to manipulate tools with high fatigue and difficult to maintain body posture for a long time. Joints cause fatigue damage, which induces musculoskeletal system diseases (WMSDs), affecting the work efficiency, product quality and occupational life of technicians

[0003] For working conditions that require frequent or continuous long-term squatting (continuous force on the human knee joint), the current implementation methods are mostly active power assist driven by hydraulic, electric, pneumatic, etc., and there is no passive multi-level adjustable exoskeleton robot

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