Leg mechanism of exoskeleton robot

• Main Authors: YANG YA, ZHANG ZHENYU, HUANG XIANDAO, MA BAOPING, WANG CHUNLEI, FAN CHUNHUI, HUANG HAO, CAI YIHENG, LI YUNJI, RUI YUEFENG
• Format: Patent
• Language: Chinese; English
• Published: 25.01.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a leg mechanism of an exoskeleton robot. The leg mechanism comprises a first driving wheel and a second driving wheel which are respectively installed at the output end of a first gear motor assembly and the output end of a second gear motor assembly; a first driven wheel and a second driven wheel are rotationally mounted at knee joints of the legs through knee joint rotating shafts and are fixedly connected with shanks; when the first gear motor assembly and the second gear motor assembly have the same output direction and the same torque, the thigh swings around a hip joint rotating shaft, and when the first gear motor assembly and the second gear motor assembly have the opposite output directions and the same torque, the shank swings around the knee joint rotating shaft; and when the output directions of the first gear motor assembly and the second gear motor assembly are opposite/same and the torques are different, the thighs and the shanks swing at the same time. Load driving can b