Disclosed are a lower limb structure (1) and an exoskeleton robot having the lower limb structure. The lower limb structure comprises: a hip joint assembly (10), comprising a hip joint supporting part (100), a hip joint driving part (101) fixed to the hip joint supporting part, and a hip joint transmission handle (102) driven by the hip joint driving part; a thigh rod (11) connected to the hip joint transmission handle so as to be driven by the hip joint driving part; a knee joint assembly (12), comprising a knee joint fixing base (122), a knee joint driving part (121) fixed on the knee joint fixing base, and a knee joint transmission handle (127) driven by the knee joint driving part, with the knee joint fixing base comprising a sleeve part (124) and a connecting part (123) which is connected to the knee joint driving part, and the sleeve part being slidably fixed on the thigh rod in the direction of extension of the thigh rod; and a shank rod (13) connected to the knee joint transmission handle and driven by the knee joint driving part. The thigh rod does not coincide with the center connecting line of the hip joint driving part and the knee joint driving part, thereby achieving a wider range of movement of a knee joint on a thigh rod adjustment mechanism.
Length-adjustable lower limb structure, and exoskeleton robot using same
2024-09-19
Patent
Electronic Resource
English
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