阅读说明：本技术 一种外骨骼机器人 (Exoskeleton robot ) 是由 吴新宇 陈春杰 方锴 胡鸿越 刘贻达 刘恩昌 李雪伟 于 2020-10-29 设计创作，主要内容包括：本申请涉及关节助力技术领域,公开了一种外骨骼机器人。该外骨骼机器人包括：髋关节绑缚件；分别对称设置在髋关节绑缚件两侧且结构相同的两组驱动系统；控制器,分别连接两组驱动系统,控制器用于获取两组驱动系统的拉力信息和人体的姿态信息,并根据拉力信息和人体的姿态信息控制相应驱动系统的工作状态,其中,在人体的左下肢运动时,控制器用于控制左侧的驱动系统为人体的左下肢提供助力,右侧的驱动系统处于自由活动状态；在人体的右下肢运动时,控制器用于控制右侧的驱动系统为人体的右下肢提供助力,左侧的驱动系统处于自由活动状态。通过上述方式,可以达到在不妨碍穿戴者自由行走状态下保证助力效果。(The application relates to the technical field of joint assistance and discloses an exoskeleton robot. The exoskeleton robot comprises: a hip joint tie-up; two groups of driving systems which are symmetrically arranged on two sides of the hip joint binding piece and have the same structure; the controller is used for acquiring the tension information of the two groups of driving systems and the posture information of the human body and controlling the working state of the corresponding driving system according to the tension information and the posture information of the human body, wherein when the left lower limb of the human body moves, the controller is used for controlling the left driving system to provide assistance for the left lower limb of the human body, and the right driving system is in a free-moving state; when the right lower limb of the human body moves, the controller is used for controlling the driving system on the right side to provide assistance for the right lower limb of the human body, and the driving system on the left side is in a free movement state. Through the mode, the power assisting effect can be guaranteed under the condition that the free walking of a wearer is not hindered.)

1. An exoskeleton robot, comprising:

the hip joint binding piece can be worn on the waist of a human body;

two groups of driving systems which are symmetrically arranged on two sides of the hip joint binding piece and have the same structure;

the controller is used for acquiring tension information of the two groups of driving systems and posture information of the human body and controlling the working state of the corresponding driving systems according to the tension information and the posture information of the human body, wherein when the left lower limb of the human body moves, the controller is used for controlling the left driving system to provide assistance for the left lower limb of the human body, and the right driving system is in a free-moving state; when the right lower limb of the human body moves, the controller is used for controlling the driving system on the right side to provide assistance for the right lower limb of the human body, and the driving system on the left side is in a free-moving state;

wherein the drive system comprises: lower limbs tie up binding, flexible rope and drive unit, drive unit sets up on the hip joint tie up binding, the lower limbs tie up binding wearable in human lower limbs, the one end of flexible rope is connected drive unit, the other end is connected the lower limbs tie up binding, wherein, through both sides drive unit rotates in turn to stimulate both sides respectively the flexible rope tightens up in turn, does in turn human left lower limbs, right lower limbs provide the helping hand.

2. An exoskeleton robot as claimed in claim 1 wherein said drive system further comprises: the sensing magic tape can be worn on the rear side of the hip of the human body, the tension sensor can be fixed on the rear side of the thigh of the human body, and the tension sensor is used for measuring tension information of the flexible rope in real time;

the flexible rope comprises a rope inner core and a rope pipe sleeve, wherein two ends of the rope pipe sleeve are respectively connected with the sensing magic tape and the tension sensor in a fixed connection mode, one end of the rope inner core is connected with the driving unit, the other end of the rope inner core is close to the end, close to the sensing magic tape, of the rope pipe sleeve penetrates into the rope pipe sleeve, and the rope pipe sleeve is close to the end, close to the tension sensor, of the tension sensor and connected with the lower limb binding piece after the end of the tension sensor penetrates out.

3. An exoskeleton robot as claimed in claim 2 wherein said drive system further comprises: the inertial sensor is arranged on the lower limb binding piece and is used for detecting the posture information of the human body in real time;

the controller is in communication connection with the tension sensors and the inertia sensors of the two sets of driving systems respectively, the controller is in communication connection with the driving units of the two sets of driving systems respectively, and the controller is used for acquiring the tension information and the posture information of the human body and controlling the working state of the corresponding driving unit according to the tension information and the posture information of the human body so as to provide assistance for the lower limbs of the human body.

4. An exoskeleton robot as claimed in claim 1 wherein said drive unit comprises: the winding device comprises a motor bracket, a motor and a wire spool, wherein the motor bracket is arranged on one side of the motor and is used for supporting the motor;

the motor bracket is fixed on the hip joint binding piece and is detachably connected with the wire spool, the flexible rope is wound on the wire spool, a first mounting hole is formed in the motor bracket, a second mounting hole is formed in the wire spool, and the first mounting hole is communicated with the second mounting hole;

the motor comprises an output shaft, the output shaft penetrates through the first mounting hole and the second mounting hole and is positioned inside the second mounting hole, and the motor is used for outputting power to drive the wire spool to rotate.

5. The exoskeleton robot as claimed in claim 4, wherein said motor bracket and said spool are respectively provided with a first connecting through hole and a second connecting through hole;

the driving unit further includes: the connecting piece, the connecting piece wear to locate first connect through-hole with in the second connect through-hole, the wire reel passes through second connect through-hole first connect through-hole with the connecting piece demountable installation be in on the motor support.

6. The exoskeleton robot as claimed in claim 4, wherein the wire spool comprises a first sub-wire spool, a triangular wire presser and a second sub-wire spool which are arranged in a stacked manner, wherein the triangular wire presser is provided with a first annular side wall and a second annular side wall which extend in the axial direction, a first annular groove for accommodating the first annular side wall is formed on one side of the first sub-wire spool facing the triangular wire presser, and a second annular groove for accommodating the second annular side wall is formed on one side of the second sub-wire spool facing the triangular wire presser;

the second sub-wire coil is further provided with a cylindrical protrusion facing the first sub-wire coil, a containing space is formed between the inner ring side wall of the triangular wire pressing device and the cylindrical wall of the cylindrical protrusion, the end portion of the flexible rope is connected to the cylindrical protrusion, the triangular wire pressing device is connected with the motor support, the first sub-wire coil and the second sub-wire coil synchronously rotate relative to the triangular wire pressing device, and the triangular wire pressing device presses the flexible rope to the cylindrical protrusion.

7. The exoskeletal robot of claim 4,

the outlet direction of the flexible rope in the sagittal plane is parallel to the moving direction of the hip joint of the human body in the sagittal plane.

8. The exoskeletal robot of claim 4,

the motor is a direct current motor.

9. The exoskeletal robot of claim 1,

the flexible rope is at least one of a Bowden cable, a steel wire and a strong force horse wire.

10. The exoskeletal robot of claim 3,

the inertial sensor includes at least: three single axis accelerometers and three single axis gyros.

Technical Field

The application relates to the technical field of joint power assistance, in particular to an exoskeleton robot.

Background

When a normal person with normal limb movement works, the person often needs to carry heavy objects to carry out operation, and the physical burden is relieved by matching external force. Or in the field of medical rehabilitation, patients need external force to assist in rehabilitation training. Currently, exoskeleton robots are often used to solve the problems.

However, the exoskeleton robots in the market at present are driven by hydraulic pressure or air pressure, so that the exoskeleton robots are heavy and are not beneficial to wearing human bodies.

Disclosure of Invention

The present application provides a portable, practical exoskeleton robot that addresses at least some of the above-mentioned problems.

In order to solve the technical problem, the application adopts a technical scheme that: an exoskeleton robot is presented, comprising: the hip joint binding piece can be worn on the waist of a human body; two groups of driving systems which are symmetrically arranged on two sides of the hip joint binding piece and have the same structure; the controller is used for acquiring the tension information of the two groups of driving systems and the posture information of the human body and controlling the working state of the corresponding driving system according to the tension information and the posture information of the human body, wherein when the left lower limb of the human body moves, the controller is used for controlling the left driving system to provide assistance for the left lower limb of the human body, and the right driving system is in a free-moving state; when the right lower limb of the human body moves, the controller is used for controlling the right driving system to provide assistance for the right lower limb of the human body, and the left driving system is in a free movement state; wherein, the actuating system includes: lower limbs tie up binding, flexible rope and drive unit, drive unit sets up on hip joint tie up binding, and lower limbs tie up binding and can wear in human lower limbs, and drive unit is connected to the one end of flexible rope, and lower limbs tie up binding is connected to the other end, and wherein, drive unit through both sides rotates in turn to the flexible rope that stimulates both sides respectively tightens up in turn, provides the helping hand for human left lower limbs, right lower limbs in turn.

Wherein, the actuating system still includes: the sensing magic tape can be worn on the rear side of the hip of a human body, the tension sensor can be fixed on the rear side of the thigh of the human body, and the tension sensor is used for measuring tension information of the flexible rope in real time; the flexible rope comprises a rope inner core and a rope pipe sleeve, the two ends of the rope pipe sleeve are fixedly connected with the sensing magic tape and the tension sensor respectively, one end of the rope inner core is connected with the driving unit, the other end of the rope inner core penetrates into the rope pipe sleeve from the end close to the sensing magic tape, penetrates out from the end close to the tension sensor from the rope pipe sleeve and is connected with the lower limb binding piece.

Wherein, the actuating system still includes: the inertial sensor is arranged on the lower limb binding piece and used for detecting the posture information of the human body in real time; the controller is in communication connection with the tension sensors and the inertia sensors of the two groups of driving systems respectively, is in communication connection with the driving units of the two groups of driving systems respectively, and is used for acquiring tension information and posture information of a human body and controlling the working state of the corresponding driving unit according to the tension information and the posture information of the human body so as to provide assistance for the lower limbs of the human body.

Wherein the driving unit includes: the hip joint binding piece comprises a motor support, a motor and a wire spool, wherein the motor support is fixed on the hip joint binding piece and is arranged on one side of the motor; the motor bracket is fixed on the hip joint binding piece and is detachably connected with the wire spool, the wire spool is wound with a flexible rope, the motor bracket is provided with a first mounting hole, the wire spool is provided with a second mounting hole, and the first mounting hole is communicated with the second mounting hole; the motor includes the output shaft, and the output shaft passes first mounting hole and second mounting hole and is located inside the second mounting hole, and the motor is used for exporting power rotatory in order to drive the wire reel.

The motor bracket and the wire spool are respectively provided with a first connecting through hole and a second connecting through hole; the drive unit further includes: the connecting piece, the connecting piece is worn to locate in first connecting through hole and second connecting through hole, and the wire reel passes through second connecting through hole, first connecting through hole and connecting piece demountable installation on the motor support.

The wire spool comprises a first sub-wire spool, a triangular wire pressing device and a second sub-wire spool which are arranged in a stacked mode, wherein a first annular side wall and a second annular side wall which extend along the axial direction are arranged on the triangular wire pressing device; the second sub-drum is also provided with a cylindrical protrusion facing the first sub-drum, an accommodating space is formed between the inner ring side wall of the triangular wire pressing device and the cylindrical protrusion cylindrical wall, the end part of the flexible rope is connected with the cylindrical protrusion, the triangular wire pressing device is connected with the motor support, the first sub-drum and the second sub-drum synchronously rotate relative to the triangular wire pressing device, and the triangular wire pressing device presses the flexible rope to the cylindrical protrusion.

Wherein, the outlet direction of the flexible rope in the sagittal plane is parallel to the moving direction of the hip joint of the human body in the sagittal plane.

Wherein, the motor is a direct current motor.

Wherein, the flexible rope is at least one of a Bowden cable, a steel wire and a strong force horse wire.

Wherein the inertial sensor comprises at least: three single axis accelerometers and three single axis gyros.

The beneficial effect of this application is: different from prior art, this application only adopts hip joint to tie up the piece and dresses in human waist, and this hip joint ties up a structure succinct, the quality is light and handy. The controller can control the working state of the corresponding driving system according to the pulling force information and the posture information of the human body, the assistance effect can be guaranteed under the condition that the free walking state of a wearer is not hindered, and the matching degree of the exoskeleton robot to the human body and the flexibility of the movement of the wearer are improved. Meanwhile, the driving units on the two sides rotate alternately, the flexible ropes on the two sides are pulled to be tightened alternately, so that the flexible control of the exoskeleton robot is easy to realize, the whole light weight of the exoskeleton robot is facilitated, and the assistance effect is better. In addition, this scheme adopts flexible rope transmission power, can not fix the restraint to human joint, consequently, human joint can freely move about, has improved the flexibility of wearing person's motion.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

fig. 1 is a schematic structural diagram of an exoskeleton robot provided in an embodiment of the present application;

FIG. 2 is a schematic view of a first configuration of the drive system of FIG. 1;

FIG. 3 is a second schematic construction of the drive system of FIG. 1;

FIG. 4 is a schematic view of a third construction of the drive system of FIG. 1;

fig. 5 is a fourth structural schematic diagram of the drive system of fig. 1.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first", "second" and "third" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1-2, fig. 1 is a schematic structural diagram of an exoskeleton robot according to an embodiment of the present application, and fig. 2 is a schematic structural diagram of a driving system in fig. 1.

Exoskeleton robot 100 can be used to assist the human body in carrying heavy objects and walking, reducing the physical burden. Alternatively, exoskeleton robot 100 can also be used for the disabled to walk, carry objects, or assist the patient in rehabilitation. Alternatively, exoskeleton robot 100 can be used to assist in various postures of the human body's locomotion process, such as creeping, running, long distance training, and mountain climbing.

Exoskeleton robot 100 includes: a hip ligature 10, two sets of drive systems 20, 30 and a controller (not shown).

The hip joint bindings 10 are wearable on the waist of a person, and the exoskeleton robot 100 is in contact with the wearer through the hip joint bindings 10. The two sets of driving systems 20, 30 are symmetrically disposed at both sides of the hip joint ligature 10, respectively, and the two sets of driving systems 20, 30 have the same structure.

The controller is respectively connected with the two groups of driving systems 20 and 30, and is used for acquiring the tension information of the two groups of driving systems 20 and 30 and the posture information of the human body and controlling the working state of the corresponding driving system 20 according to the tension information and the posture information of the human body.

Specifically, the controller may perform data processing and analysis on the tension information and the posture information of the human body to determine the magnitude of the assisting force of the driving system 20, wherein when the left lower limb of the human body moves, the controller is configured to control the left driving system 20 to provide the assisting force for the left lower limb of the human body, and the right driving system 30 is in a free-moving state, so that the right lower limb of the wearer can perform an unconstrained movement; during the movement of the right lower limb of the human body, the controller is used for controlling the right driving system 30 to provide the assistance for the right lower limb of the human body, and the left driving system 20 is in a free movement state, so that the left lower limb of the wearer can move without restriction.

The traditional rigid exoskeleton robot generally adopts hydraulic drive and pneumatic drive, the two drive modes have the defects of noise, low power density, complex structure and the like, in addition, the hydraulic drive and the pneumatic drive can also increase the weight of an exoskeleton and ensure the air tightness of the system, if the exoskeleton can lose the working capacity under unexpected conditions, the exoskeleton can be damaged by the exoskeleton, and in case of serious conditions, the exoskeleton can be damaged by the exoskeleton. Compared with the prior art, the drive system 20 of the present application includes: a lower limb ligature 21, a flexible rope 22 and a drive unit 23.

The driving unit 23 is arranged on the hip joint binding piece 10, the lower limb binding piece 21 can be worn on the lower limb of the human body, one end of the flexible rope 22 is connected with the driving unit 23, the other end of the flexible rope is connected with the lower limb binding piece 21, the driving units 23 on the two sides rotate alternately, and therefore the flexible ropes 22 on the two sides are pulled to tighten alternately, and assistance is provided for the left lower limb and the right lower limb of the human body alternately.

In this way, the hip joint binding 10 is worn on the waist of a human body, and the hip joint binding 10 is simple in structure and light in weight. The controller can control the working state of the corresponding driving system 20 according to the pulling force information and the posture information of the human body, so that the assistance effect can be ensured without hindering the free walking state of the wearer, and the fitting degree of the exoskeleton robot 100 to the human body and the flexibility of the movement of the wearer are improved. Meanwhile, the driving units 23 on the two sides rotate alternately, and the flexible ropes 22 on the two sides are pulled to be tightened alternately, so that the flexible control of the exoskeleton robot 100 is easy to realize, the whole light weight of the exoskeleton robot is facilitated, and the assistance effect is better. In addition, this scheme adopts flexible rope 22 to transmit power, can not fix the restraint to human joint, therefore, human joint can freely move about, has improved the flexibility of wearer's motion.

Referring to fig. 3, fig. 3 is a second structural diagram of the driving system in fig. 1. The drive system 20 further includes: a sensing magic tape 24 and a tension sensor 25. Wherein, the sensing magic tape 24 can be worn on the rear side of the buttocks of the human body, and the tension sensor 25 can be fixed on the rear side of the thighs of the human body.

Specifically, the sensing magic tape 24 is adhered to the rear side of the buttocks of the human body, the lower limb tie-up 21 can be worn on the thighs of the human body, and the tension sensor 25 can be connected with the fixing ring 211 located on the lower limb tie-up 21 to achieve the purpose that the tension sensor 25 is fixed to the rear side of the thighs of the human body.

Further, the flexible rope 22 includes a rope inner core and a rope sleeve, and two ends of the rope sleeve are respectively and fixedly connected with the sensing magic tape 24 and the tension sensor 25. One end of the rope inner core is connected with the driving unit 23, and the other end of the rope inner core penetrates through one end of the rope pipe sleeve close to the sensing magic tape 24 and is connected with the lower limb binding piece 21 after penetrating through one end of the rope pipe sleeve close to the tension sensor 25. The tension sensor 25 is used for measuring tension information of the flexible rope 22 in real time, and therefore, the tension sensor 25 collects interaction force between the human body and the driving unit 23 in real time through the flexible rope 22 and the sensing magic tape 24.

With continued reference to fig. 1-2, the drive system 20 further includes: an inertial sensor 26. The inertial sensor 26 is arranged on the lower limb ligature 21.

The controller is respectively connected with the tension sensor 25 and the inertia sensor 26 of the two-side driving system 20 in a communication way through a wired and/or wireless connection way, and the controller is respectively connected with the driving units 23 of the two-side driving system 20 in a communication way. The Inertial sensor 26 may be an Inertial Measurement Unit (IMU), which is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then solve the attitude of the object. The inertial sensor 26 can detect the body posture data in time and feed back the data to the controller in time, so that the exoskeleton robot 100 can provide assistance at an accurate time point.

The inertial sensor 26 is used for detecting posture information of a human body in real time, the tension sensor 25 is used for measuring tension information of the flexible rope 22 in real time, and the controller is used for acquiring the tension information and the posture information of the human body and controlling the working state of the corresponding driving unit 23 according to the tension information and the posture information of the human body so as to provide assistance for the lower limbs of the human body. When the left lower limb of the human body moves, the controller is used for controlling the left driving system 20 to provide assistance for the left lower limb of the human body, and the right driving system 30 is in a free-moving state; when the right lower limb of the human body moves, the controller is used for controlling the right driving system 30 to provide assistance for the right lower limb of the human body, and the left driving system 20 is in a free-moving state.

In this embodiment, the tension sensor 25 measures the tension information of the flexible rope 22 in real time, the inertial sensor 26 detects the posture information of the human body, so as to accurately identify and judge the current walking environment and motion state of the human body, and acquire corresponding walking state and characteristic information, and the controller provides a basis for the control of the exoskeleton robot 100 according to the posture information (such as gait cycle, time when the foot falls to the ground, time when the foot leaves the ground, swing position of thigh, swing position of shank, etc.) of the human body acquired by the inertial sensor 26 and the tension information of the flexible rope 22 acquired by the tension sensor 25, and sends a control instruction to control the working state of the driving unit 23 according to the prediction analysis result, so as to assist the gait adjustment of the wearer, so that the wearer can keep normal walking with natural and efficient gait.

Further, the controller includes an information acquisition board (not shown) and an upper computer (not shown), the information acquisition board acquires raw data of the tension sensor 25 and the inertia sensor 26, processes the raw data to obtain angle information, pressure information and the like, transmits the angle information and the pressure information to the upper computer, and then the upper computer acquires a motion state and a motion intention of upper limbs and lower limbs of the human body, and sends an instruction to the driving unit 23 to assist in corresponding limb motions of the human body.

Alternatively, the controller may be a computer having data processing capabilities and logic determination capabilities that perform the actions performed by the controller.

Before the exoskeleton robot 100 operates normally, the driving unit 23 on the left side of the human body firstly measures the tension value under the pre-tightening condition at the moment through pre-tightening, and then the driving unit 23 on the right side rotates to the same position to ensure the free initial state when different wearers wear the exoskeleton robot. The flexible cable 22 in turn transmits the force to the hip joint during movement via the cable socket, the hip joint binder 10, the tension sensor 25. The controller controls the driving unit 23 to operate after data processing and analysis, and the driving unit 23 is in an operating state at this time. When the left leg is moving, the left drive unit 23 provides assistance, while the right system is in a free-running state. Conversely, when the right leg is moving, the right drive unit 23 is in operation, while the left system is in a free-running state.

Referring to fig. 4, fig. 4 is a third structural schematic diagram of the driving system in fig. 1. The drive unit 23 includes: a motor holder 231, a motor 232, and a wire spool 233.

The motor bracket 231 is fixed on the hip joint binding 10, the motor bracket 231 is detachably connected with the wire spool 233, the wire spool 233 is wound with the flexible rope 22, the motor bracket 231 is provided with a first mounting hole 2310, the wire spool 233 is provided with a second mounting hole 2330, and the first mounting hole 2310 is communicated with the second mounting hole 2330. The motor 232 includes an output shaft 2320, the output shaft 2320 passes through the first and second mounting holes 2310 and 2330 and is located inside the second mounting hole 2330, and the motor 232 is used for outputting power to drive the wire spool 233 to rotate. The motor 232 provides assistance to the wearer during forward rotation and free movement during reverse rotation.

Specifically, the present application designs a novel structure of the wire spool 233, please refer to fig. 5, and fig. 5 is a fourth structural diagram of the driving system in fig. 1. The wire spool 233 comprises a first wire spool 2331, a triangular wire presser 2332 and a second wire spool 2333 which are stacked, wherein the triangular wire presser 2332 is provided with a first annular side wall and a second annular side wall which extend along the axial direction, one side of the first wire spool 2331 facing the triangular wire presser 2332 is provided with a first annular groove for accommodating the first annular side wall, and one side of the second wire spool 2333 facing the triangular wire presser 2332 is provided with a second annular groove for accommodating the second annular side wall. The second sub-wire disc 2333 is further provided with a cylindrical protrusion (not shown) facing the first sub-wire disc 2331, an accommodating space is formed between the side wall of the inner ring of the triangular wire pressing device 2332 and the cylindrical wall of the cylindrical protrusion, the end part of the flexible rope 22 is connected to the cylindrical protrusion, the triangular wire pressing device 2332 is connected with a motor support, the first sub-wire disc 2331 and the second sub-wire disc 2333 rotate synchronously relative to the triangular wire pressing device 2332, and the triangular wire pressing device 2332 presses the flexible rope 22 to the cylindrical protrusion.

The flexible rope 22 is fixed on the first sub-coil 2331 and is pressed in the wire spool 233 by the triangular wire pressing device 2332, and free input and output of the flexible rope 22 in the rotation process can be ensured by the cooperation between the first sub-coil 2331 and the second sub-coil 2333.

In this way, the flexible rope 22 is not easy to derail and is stably input and output in the working process due to the layered structure of the first sub-wire disc 2331 and the second sub-wire disc 2333 which are arranged up and down and the triangular wire pressing device 2332 in the middle.

Referring to fig. 4, the motor bracket 231 is formed with a first connecting hole 2314, and the wire spool 233 is formed with a second connecting hole 2334.

The drive unit 23 further includes: the connecting member 234, the connecting member 234 is inserted into the first connecting through hole 2314 and the second connecting through hole 2334, and the wire spool 233 is detachably mounted on the motor bracket 231 through the second connecting through hole 2334, the first connecting through hole 2314 and the connecting member 234.

Referring to fig. 3, the line-out direction of the flexible cord 22 in the sagittal plane is parallel to the hip joint of the human body, and the sagittal plane is a plane perpendicular to both the horizontal plane and the plane of the wearer's face.

Through the mode, the bending/stretching actions of the legs of the wearer in the sagittal plane are more natural and smooth, the action stiffness caused by the constraint of the exoskeleton wearing structure of the exoskeleton robot 100 is avoided, and the transmission efficiency is higher. Meanwhile, the whole weight of the product is light, the movement is convenient, and the cost is low.

Optionally, the motor 232 in the above embodiment is a dc motor 232.

Optionally, the flexible rope 22 in the above embodiments is at least one of a bowden cable, a steel wire, and a maraca wire.

Referring to fig. 1-5, the present application provides a solution for an exoskeleton robot 100. According to the technical scheme, the motor 232 is adopted as the driving unit 23, the inertial sensor 26 is used for detecting the posture of the lower limbs of the human body in the movement process, the assisting force is determined through the information acquisition and feedback system of the tension sensor 25, and the effect of guaranteeing the assisting force under the condition that the free walking of the human body is not hindered is achieved. Each set of drive systems 20 includes: a power source 27, a drive unit 23, a flexible cord 22, a tension sensor 25, a sensor hook and loop fastener 24, a lower limb cinch 21, and a securing ring 211 located on the lower limb cinch 21. The lower limb bindings 21 are worn on the thighs of the person, the power supply 27 supplies power to the drive units 23, and the drive units 23 of both sets of drive systems 20, 30 are fixed to the hip joint bindings 10.

The flexible rope 22 is arranged in the wire spool 233, and one end of the flexible rope 22 is output from the wire spool 233, then sequentially reaches the tension sensor 25 through the sensing magic tape 24 and the rope pipe sleeve which are worn on the rear side of the hip of the human body, and is led out from the bottom of the tension sensor 25 to the fixing ring 211 which is positioned on the lower limb tying piece 21.

In the walking process of human body, the walking cycle can be divided into a support period and a swing period. In the supporting period, the left leg is transited from heel landing to full-foot support, then to heel off in the swinging period, the right leg moves in cooperation with the left leg, the inertial sensor 26 of the left driving system 20 corresponding to the left leg in the walking period can detect the posture data of the left leg in real time and feed back the data to the controller in time, the tension sensor 25 measures the tension information of the flexible rope 22 in real time and feeds back the tension information to the controller in time, and the controller controls the motor 232 on the left side to rotate forwards to provide assistance for the left leg movement of a wearer according to the tension information and the posture information of the human body and controls the motor 232 on the right side to rotate backwards to be in a free-.

Different from the prior art, the hip joint binding piece 10 is only worn on the waist of a human body, the hip joint binding piece 10 is simple in structure and light in weight, independent and quick wearing and taking-off can be achieved, and the problem that the exoskeleton robot on the market is difficult to wear at present is solved. Meanwhile, the controller can control the working state of the corresponding driving system 20 according to the pulling force information and the posture information of the human body, so that the assistance effect can be ensured without hindering the free walking state of the wearer, and the fitting degree of the exoskeleton robot 100 to the human body and the flexibility of the movement of the wearer are improved.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.