CN103330635A - Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying - Google Patents
Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying Download PDFInfo
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- CN103330635A CN103330635A CN2013102573605A CN201310257360A CN103330635A CN 103330635 A CN103330635 A CN 103330635A CN 2013102573605 A CN2013102573605 A CN 2013102573605A CN 201310257360 A CN201310257360 A CN 201310257360A CN 103330635 A CN103330635 A CN 103330635A
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Abstract
The invention discloses a wear type lower limb assistant robot, a folding method thereof and a hand luggage for carrying. The robot is characterized by comprising a lower limb assistant mechanical device and a servocontrol system, wherein the lower limb assistant mechanical device is provided with wearable assistant mechanical legs which are symmetrically arranged on the two sides of a wearable waistband. The wearing load on human bodies can be effectively relieved, and the robot has the characteristics of high safety performance, simple man-machine coordination control, good following assist effect, high cost performance and the like; the robot can be changed into a portable body which is compact in structure through the folding method, and a user can conveniently carry and store the robot in various manners through matching with the hand luggage for carrying, so that the nursing requirements of the middle-aged and the aged people on daily activities such as walking and walking up and down stairs can be better satisfied.
Description
Technical field
The case that pulls that the present invention relates to a kind of wearable type lower limb power-assisting robot, its method for folding and be used for loading and transporting, especially be applied to the mid-aged population daily life care applications that lower limb are weak or the joint action is inconvenient to some extent, help its expansion lower extremity movement ability when walking and stair activity, belong to nursing type power-assisting robot technical field.
Background technology
Along with Chinese society progresses into the aged tendency of population stage; increasing middle-aged and elderly people is degenerated by function of joint; osteoporosis; the aching and limp symptom such as weak of lower limb has appearred in the influence of various factorss such as leg muscle strain; basic daily routines such as walking and stair activity have been had a strong impact on; in order to solve this class problem; guarantee the normal body motion of mid-aged population; except taking traditional physical training; traditional Chinese medical science health therapy; medical apparatus and instruments is auxiliary to be waited routinely outside the way; developing the power-assisting robot technology becomes the most effective current novel intelligent nursing intervention, and wherein wearable type lower limb power-assisting robot technology is a class the closest with the human body relation.The man research institution of existing number has carried out wearable type lower limb power-assisting robot Study on Technology both at home and abroad at present, indivedual achievements in research even be converted into launch and sell, the exoskeleton robot HAL that the power-assisted machinery clothes BLEEX that develops as Univ California-Berkeley and the Japanese Cybernics of University of tsukuba laboratory development go out, though feature richness and power-assisted are respond well, but because power source and sensing equipment that robot body adopts are numerous, cause manufacturing cost high, lost cost performance, and because mechanism is complicated and device is heavy, make that robot control difficulty is big, the heavy burden sense that is worn on human body is stronger, portable poor, be difficult to penetration and promotion.
ZL201310034245.1 has reported " a kind of wearable lower limb exoskeleton assistant robot ", by the ankle motion module, the motion of knee joint module, the hip joint motion module, driver module, several most of formations such as waist and bracing frame module, cooperate the feed screw nut drive mechanism to drive each joint motions module by direct current generator, the lower limb power-assisted of realization during to human body walking, it is good to have man-machine sports coordination, advantages such as compact conformation, but this robot overall setup is comparatively complicated heavy, lack cushioning and supporting device, make that the heavy burden sense of human body wearing exoskeleton robot is strong, also inconvenient user carrying robot.
ZL201020568411.8 has reported " a kind of human body ectoskeleton heavy burden walking power assisting device that drives with linear electric motors ", by back of the body frame, the hip joint parts, the thigh parts, the shank parts, the anklebone parts, base plate, power supply, control device, each several part such as sensor and driving device constitutes, rotate by each joint of straight-line electronic cylinder telescopic drive human body lower limbs, thereby power-assisted is provided for the human body of the walking of bearing a heavy burden, it is little to have volume, energy consumption is low, be easy to advantages such as control and low cost of manufacture, but because the shared axial dimension of linear electric motors self is big and retrained by shift motion, limited the range of activity of joint of the lower extremity, again because each joint all needs the separate straight lines motor-driven, be unfavorable for the coordination exercise control of whole human body lower limb, and this walking power assisting device do not possess portable function, influenced user's daily use.
ZL201210370645.5 has reported a kind of " portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot ", comprise the thigh support component that connects successively, knee components, shank support component and ankle joint foot parts, adopt the mode of motor-driven screw pair drivening rod to drive joint motions, it is light and handy to have volume, be fit to dress and portable advantage, yet this robot does not possess for detection of the sensing module of human-machine interactive information and human motion attitude and necessary tumble-preventing device, both be unfavorable for that external skeleton robot implemented Based Intelligent Control, influence the harmony of man-machine interaction, reduced the safety that the user uses this robot again; Moreover, the portable performance of this robot only is at having the detachable compound mode of convenient type between each parts of forming shank mechanism, its process is comparatively time-consuming, and this robot self can not change portable body into, lack and specifically take up and the delivery instrument, collection problem after unresolved user uses is so versatility is relatively poor.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point; a kind of wearable type lower limb power-assisting robot is provided; its method for folding reaches the case that pulls that is used for shipment; this robot can effectively alleviate the heavy burden sense that is worn on human body; has the security performance height; man-machine harmony control is simple; servo-actuated power-assisted is effective; characteristics such as cost performance height; this robot can be changed into the portable body of compact conformation by its method for folding; the case that pulls that cooperate to be used for shipment may be implemented in a variety of ways the user to being convenient for carrying and collecting of this robot, with daily routines nursing demands such as the walking that better meets mid-aged population and stair activities.
The present invention adopts following technical scheme for the technical solution problem:
The construction features of wearable type lower limb power-assisting robot of the present invention is to arrange:
One lower limb power-assisted machinery is that the lateral symmetry at wearable belt arranges wearable power-assisted pedipulator; The left and right sides of described belt is a fixed boss respectively, fixedly installs a support at the rear side middle part of described belt;
One servo-control system, comprise the top microcontroller that is fixedly installed on described support, the lithium battery group that is fixed on the bottom of support, the prediction and alarm circuit is fallen down at the rear that the place ahead that is fixed on the front side of described belt falls down the prediction and alarm circuit, be fixed on the rear side of belt, and is fixedly installed on the manual manipulator on the boss of the belt left and right sides;
The structure of described power-assisted pedipulator is set to:
The upper end of hip joint rotary stopper dish is articulated in the bottom of described boss, and connects firmly with the inboard of hip joint disk; The discoid top of big leg connecting rod connects firmly on first axle, and described first axle is supported on the inboard of described hip joint disk by first rolling bearing and second rolling bearing and can rotates around the central axis of hip joint disk;
Knee joint rotary stopper dish connects firmly the inboard at the knee joint disk of the lower end that is positioned at described big leg connecting rod; The body of DC servo reducing motor is fixedly mounted on the outside of knee joint disk; The discoid upper end of little leg connecting rod connects firmly on the output shaft of described DC servo reducing motor, and the output shaft of described DC servo reducing motor is supported on the central axis rotation of the inboard and joint disk of can staying with one's parents in order to make them happy of described knee joint disk by the 3rd rolling bearing and the 4th rolling bearing;
Ankle joint rotary stopper dish connects firmly the inboard at the ankle joint disk of the lower end that is positioned at the shank connecting rod; The discoid sidepiece of sole connects firmly on second axle, and described second axle is supported on the inboard of described ankle joint disk by the 5th rolling bearing and the 6th rolling bearing and can rotates around the central axis of ankle joint disk;
The inboard of described big leg connecting rod links by thigh reciprocal force sensor and thigh binder, links by shank reciprocal force sensor and shank binder in the inboard of described little leg connecting rod; Fixedly install foot's binder at described sole; Sole distributed pressure sensor is multi-disc and is fixedly installed on respectively on the described sole;
Described thigh reciprocal force sensor is made up of first front shroud, first elastomer and first back shroud; One side of described first front shroud and described thigh binder connect firmly, and a side of described first back shroud and the inboard of described big leg connecting rod connect firmly, and described first elastomer is connected between described first front shroud and described first back shroud; Be pasted with four first foil gauges of circumference uniform distribution respectively in the described first elastomeric cross spring beam root and corresponding position, end;
Described shank reciprocal force sensor is made up of second front shroud, second elastomer and second back shroud; One side of described second front shroud and described shank binder connect firmly, and a side of described second back shroud and the inboard of described little leg connecting rod connect firmly, and described second elastomer is connected between described second front shroud and described second back shroud; Be pasted with four second foil gauges of circumference uniform distribution respectively in the described second elastomeric cross spring beam root and corresponding position, end;
The construction features of wearable type lower limb power-assisting robot of the present invention also is:
The servo-actuated support elastic parts of shank are set between described support and described little leg connecting rod, the servo-actuated support elastic parts of described shank are to be made of first cover for seat of coaxial setting and the first bar core, but described first cover for seat and first bar core relative motion vertically each other under compression force; The upper end of described first cover for seat links with ball pivot by " L " shape support and described support, and the lower end of the described first bar core links with ball pivot with the protruding seat that connects firmly in the described shank connecting rod outside;
The servo-actuated support elastic parts of foot are set between described sole and described little leg connecting rod, the servo-actuated support elastic parts of described foot are to be made of second cover for seat of coaxial setting and the second bar core, but described second cover for seat and second bar core relative motion vertically each other under compression force; The lower end of described second cover for seat and the little free bearing that connects firmly at described sole rear portion are hinged, the upper end of the described second bar core be the end that cantilever connects firmly the small rack on described little leg connecting rod and be hinged.
The construction features of wearable type lower limb power-assisting robot of the present invention also is: foldable structure is set, be that described big leg connecting rod segmentation is set to connecting rod and thigh lower link on the thigh, connecting rod is to be connected with thigh folding means folding with the thigh lower link on the described thigh; The segmentation of described shank connecting rod is set to connecting rod and shank lower link on the shank, and connecting rod is to be connected with shank folding means folding with the shank lower link on the described shank;
The structure of described thigh folding means is set to: described thigh folding means is the four-bar linkage that is made of first rod member, second rod member, the 3rd rod member and the 4th rod member, described first rod member connects firmly the bottom of connecting rod on described thigh, described the 4th rod member connects firmly on the top of described thigh lower link, and described first rod member, second rod member, the 3rd rod member and the 4th rod member head and the tail successively are hinged;
The structure of described shank folding means is set to: described shank folding means is by first projection, second projection and is arranged at respectively that the screw rod of both sides constitutes before and after the described shank connecting rod, described first projection connects firmly the bottom of connecting rod on described shank, and described second projection connects firmly the top at described shank lower link; Described first projection and second projection are hinged along the sidepiece central axis; Described screw rod respectively by first projection and second projection the two one of screw screw in or screw out another corresponding with it screw.
The characteristics of the method for folding of wearable type lower limb power-assisting robot of the present invention are to carry out as follows:
A, the servo-actuated support elastic parts of described shank are unloaded from described power-assisted pedipulator, being in when overlapping the position with the line of centres of described big leg connecting rod and little leg connecting rod is original state, utilizes described thigh folding means and shank folding means successively with the hinged center of the upper end edge of described hip joint rotary stopper dish and described boss bottom half-twist laterally;
B, with described power-assisted pedipulator at shank folding means place laterally to folded;
C, with described power-assisted pedipulator at thigh folding means place to the inside to folded; Namely get the portable body of wearable type lower limb power-assisting robot;
The construction features that pulls case that the present invention is used for the described wearable type lower limb power-assisting robot of shipment is: arrange one and can be used for taking up and hauling the portable body of the described wearable type lower limb of claim power-assisting robot and the casing of the servo-actuated support elastic parts of shank that quilt is removed stage makeup and costume, back at described casing is provided with braces, different lateral location at described casing are respectively arranged with first handle, second handle, telescopic lever, castor and carriage, described casing can utilize described bracket support on support, and carries on the back in the human body shoulder by described braces.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, performance of the present invention is safe and reliable.Because wearable type lower limb power-assisting robot of the present invention adopts the DC servo reducing motor to drive at knee joint disk place, output torque is big, the control accuracy height; Again because the present invention has adopted thigh reciprocal force sensor and shank reciprocal force sensor to detect the size and Orientation of man-machine interaction power respectively, can make body motion information timely and accurately and judging and prediction, be provided with sole distributed pressure sensor simultaneously as the auxiliary perception obtaining means to real time human-machine interaction information, make the user when wearing lower limb power-assisting robot of the present invention is independently walked with stair activity, have steadily the speed of travel and stronger climbing capacity reliably; The present invention structurally is provided with hip joint rotary stopper dish, knee joint rotary stopper dish and ankle joint rotary stopper dish, can prevent the skeleton damage that causes because the joint anglec of rotation is excessive; When the user is about to face when falling down danger, the present invention can fall down the prediction and alarm circuit by forward and backward side and in time produce alarm signal, the user makes it to produce the rational act that more meets user intent with applying human intervention by the setting of manual manipulator to correct the athletic posture of lower limb power-assisting robot.
2, the structure of the servo-actuated support elastic parts of shank and foot arranges advantages of simple among the present invention, under compression force, but the cover for seat of the servo-actuated support elastic parts of shank and foot and bar core be equal relative motion vertically each other, can be the user enough auxiliary bearing capacities are provided when walking or stair activity, cooperate the effectively health of supporting user of lower limb power-assisted machinery, improved the holistic resistant behavior of man-machine interactive system, reduce the heavy burden sense of human body in dressing lower limb power-assisted machinery walking process, promoted man-machine harmony.
3, simple, the servo-actuated power-assisted of the man-machine coordination control of the present invention is effective.Shank and foot servo-actuated support elastic parts realized respectively power-assisted pedipulator among the present invention to human hip, ankle joint with electric boosting function; DC servo reducing motor at knee joint disk place directly drives in the power-assisted process of human body knee joint rotation, the servo-actuated support elastic parts of shank are in passive driving human hip rotation, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts of suitable shank that it is just compressed by load when resting state, produce counteracting force and prop up load, thereby the load that human body is born effectively is passed to sole ground, when human body wearing lower limb power-assisting robot of the present invention is walked, compression stress can be released again, promotes human hip and rotates; When both legs are walked jointly, the servo-actuated support elastic parts of a shank at hip joint place play the carrying effect, the servo-actuated support elastic parts of another shank work to drive hip joint and rotate, the servo-actuated support elastic parts of two shanks of left and right sides lower limb hocket, and have realized the coordination exercise of both legs effectively.
4, portable performance practicality of the present invention, the user collects conveniently.Because the present invention is provided with foldable structure, the power-assisted pedipulator is provided with thigh folding means and shank folding means, and in wearable type lower limb power-assisting robot work process of the present invention, big leg connecting rod and little leg connecting rod all are in and launch locking state fully; And after wearable type lower limb power-assisting robot of the present invention work is finished, the user can all be adjusted to big leg connecting rod and little leg connecting rod maximum to overlapping state, hip joint disk, knee joint disk and ankle joint disk place associated components are set simultaneously rotate to proper angle, can make wearable type lower limb power-assisting robot of the present invention change the portable body of volume compact into, make things convenient for the user that it is inserted to pull in the case and take up, haul or collect; Because pulling the casing back of case, the present invention is provided with braces again, different lateral location at casing are respectively arranged with first handle, second handle, telescopic lever, castor and carriage, make the user can select for use three kinds of different modes such as hand pulling type, portable or Backpack type that wearable type lower limb power-assisting robot of the present invention is carried, with the different environments for use of better adaptation and occasion.
5, because wearable type lower limb power-assisting robot of the present invention only has an independent power source of DC servo reducing motor at knee joint disk place, cooperate shank and the servo-actuated support elastic parts of foot, realized to the active power-assisted of human body knee joint and to the multi-functionals such as servo-actuated power-assisted of human hip and ankle joint, so system energy consumption is low and cost performance is high.
6, the present invention can be applicable to the mid-aged population daily life care applications that lower limb are weak or the joint action is inconvenient to some extent, help its expansion lower extremity movement ability when walking and stair activity, for the sound general population of limb function, scientific investigation equipment when the walking-replacing tool when the present invention also can be used as hiking or field exploration uses, and has wide commercial application prospect.
Description of drawings
Fig. 1 is the overall frame for movement front view of the present invention;
Fig. 2 is the overall frame for movement rearview of the present invention;
Fig. 3 a is hip joint place partial sectional view among the present invention;
Fig. 3 b is knee joint place partial sectional view among the present invention;
Fig. 3 c is ankle partial sectional view among the present invention;
Fig. 4 a is thigh reciprocal force sensor place vertical view among the present invention;
Fig. 4 b is the A-A view of Fig. 4 a;
Fig. 5 a is shank reciprocal force sensor place vertical view among the present invention;
Fig. 5 b is the B-B view of Fig. 5 a;
Fig. 6 is worn on the human body sketch map for the present invention;
Fig. 7 is the folding portable pattern schematic figure in back of the present invention;
Fig. 8 a closes and covers structural representation for the portable case that pulls among the present invention;
Fig. 8 b is the portable case cover-opening structure sketch map that pulls among the present invention;
Fig. 9 is the portable case haul lower limb power-assisting robot sketch map that pulls for user among the present invention utilizes;
Figure 10 is thigh folding means structural representation among the present invention;
Figure 11 a launches the locking state master fully for thigh folding means among the present invention is in and looks sketch map;
Figure 11 b launches the locking state schematic side view fully for thigh folding means among the present invention is in;
Figure 12 is shank folding means structural representation among the present invention;
Figure 13 a launches the locking state master fully for shank folding means among the present invention is in and looks sketch map;
Figure 13 b launches the locking state schematic side view fully for shank folding means among the present invention is in;
Figure 14 a is the servo-actuated support elastic modular construction of shank sketch map among the present invention;
Figure 14 b is foot's servo-actuated support elastic modular construction sketch map among the present invention;
Figure 15 is the second foil gauge distribution schematic diagram among the present invention.
Number in the figure: the prediction and alarm circuit is fallen down in 1 the place ahead; 2 belts; 3 boss; 4 hip joint rotary stopper dishes; 5 hip joint disks; 6 thigh folding means; 7 big leg connecting rods; Connecting rod on the 7A thigh; 7B thigh lower link; 8 DC servo reducing motors; The 8A body; The 8B output shaft; 9 knee joint rotary stopper dishes; 10 shank folding means; 11 little leg connecting rods; Connecting rod on the 11A shank; 11B shank lower link; 12 ankle joint disks; 13 foot plates; The discoid sidepiece of 13A; 14 foot's binders; 15 sole distributed pressure sensors; The prediction and alarm circuit is fallen down at 16 rears; 17 supports; 18 microcontrollers; 19 lithium battery groups; 20 little free bearings; The servo-actuated support elastic parts of 21 foots; 21A second cover for seat; The 21B second bar core; 22 small racks; 23 shank binders; 24 shank reciprocal force sensors; 24A second front shroud; 24B second elastomer; 24C second cover plate; 24D second foil gauge; 25 protruding seats; The servo-actuated support elastic parts of 26 shanks; 26A first cover for seat; The 26B first bar core; 27 thigh reciprocal force sensors; 27A first front shroud; 27B first elastomer; 27C first back shroud; 27D first foil gauge; 28 thigh binders; 29 " L " shape support; 30 manual manipulators; 31 second rod members; 32 the 3rd rod members; 33 second projections; 34 first projections; 35 screw rods; 37 telescopic levers; 38 second handles; 42 first handles; 43 feet wheel; 48 power-assisted pedipulators; 49 portable bodies; 50 first rod members; 51 the 4th rod members; 53 knee joint disks; 54 casings; 55 carriages; 56 braces; 57 first rolling bearings; 58 second rolling bearings; 59 first axles; 60 the 3rd rolling bearings; 61 the 4th rolling bearings; 62 the 5th rolling bearings; 63 the 6th rolling bearings; 64 second axles; 65 ankle joint rotary stopper dishes.
The specific embodiment
The structure of present embodiment wearable type lower limb power-assisting robot is set to:
Referring to Fig. 1, Fig. 2 and Fig. 6, lower limb power-assisted machinery is that the lateral symmetry at wearable belt 2 arranges wearable power-assisted pedipulator 48; The left and right sides of belt 2 is a fixed boss 3 respectively, fixedly installs a support 17 at the rear side middle part of belt 2; Power-assisted pedipulator 48 is bonded to human body shank and foot by thigh binder 28, shank binder 23 and foot's binder 14 respectively, and belt 2 is bonded to the human body waist, and support 17 is used for carrying and microcontroller 18, lithium battery group 19, carriage 55 and casing 54 are installed;
Servo-control system comprises the top microcontroller 18 that is fixedly installed on support 17, the lithium battery group 19 that is fixed on the bottom of support 17, prediction and alarm circuit 16 is fallen down at the rear that the place ahead that is fixed on the front side of belt 2 falls down prediction and alarm circuit 1, be fixed on the rear side of belt 2, and is fixedly installed on the manual manipulator 30 on the belt left and right sides boss 3; Wherein, lithium battery group 19 is power sources of wearable type lower limb power-assisting robot system each several part, and takes the general-purpose interface mode to be connected between the wearable type lower limb power-assisting robot; Microcontroller 18 drives DC servo reducing motor 8 by certain moving law rotation and output torque with drive pattern and the control algolithm of default, and the photoelectric encoder subsidiary according to DC servo reducing motor 8, thigh reciprocal force sensor 27, shank reciprocal force sensor 24 and sole distributed pressure sensor 15 wait the detected human body sport parameter information of each sensing module, the real motion situation of real-time analysis lower limb power-assisting robot, and give servo-control system self with the analysis result immediate feedback, to send command adapted thereto the working condition of DC servo reducing motor 8 is regulated, form a closed-loop control system, embody wearable type lower limb power-assisting robot to the intelligent coordinated property of human body power-assisted; The place ahead is fallen down prediction and alarm circuit 1 and rear and is fallen down prediction and alarm circuit 16 and all comprise attitude detecting sensor and acceleration transducer, body posture information and limbs acceleration information when on the one hand human body being dressed the walking of lower limb power-assisting robot detect in real time, can in time send alarm signal on the other hand when detection information is tending towards unusual, microcontroller 18 sends command adapted thereto control DC servo reducing motor 8 thereupon and in time changes operating mode to prevent the generation of falling over of human body behavior; But the assistant mode of the setting assisting users manual intervention wearable type lower limb power-assisting robot of manual manipulator 30 is with better adaptation hommization operation.
The structure of power-assisted pedipulator 48 is set to:
Shown in Fig. 1 and Fig. 3 a, the upper end of hip joint rotary stopper dish 4 is articulated in the bottom of boss 3, and connects firmly with the inboard of hip joint disk 5; The discoid top of big leg connecting rod 7 connects firmly on first axle 59, and first axle 59 is supported on the inboard of hip joint disk 5 by first rolling bearing 57 and second rolling bearing 58 and can rotates around the central axis of hip joint disk 5; Wherein, hip joint rotary stopper dish 4 is used for limiting big leg connecting rod 7 around the rotary moveable scope of human hip, prevents from because the anglec of rotation is excessive human hip being caused damage.
Shown in Fig. 1 and Fig. 3 b, knee joint rotary stopper dish 9 connects firmly the inboard at the knee joint disk 53 of the lower end that is positioned at thigh connecting rod 7; The body 8A of DC servo reducing motor 8 is fixedly mounted on the outside of knee joint disk 53; The discoid upper end of shank connecting rod 11 connects firmly on the output shaft 8B of DC servo reducing motor 8, and the output shaft 8B of DC servo reducing motor 8 is supported on the central axis rotation of the inboard and joint disk 53 of can staying with one's parents in order to make them happy of knee joint disk 53 by the 3rd rolling bearing 60 and the 4th rolling bearing 61; Wherein, DC servo reducing motor 8 is power set of wearable type lower limb power-assisting robot, specifically comprise assemblies such as DC servo motor, precision speed reduction device and photoelectric encoder, can export torque according to certain rules according to the control instruction that servo-control system is sent, drive between big leg connecting rod 7 and the shank connecting rod 11 and produce relative rotary motion, then drive the joint generation relative rotary motion of staying with one's parents in order to make them happy between human body thigh and the shank by thigh binder 28 and the shank binder 23 that is worn on the human body, realize that the lower limb power-assisting robot is to the active assist function of human body knee joint; Knee joint rotary stopper dish 9 is used for limiting shank connecting rod 11 around the rotary moveable scope of human body knee joint, prevents from because the anglec of rotation is excessive human body knee joint being caused damage.
Shown in Fig. 1 and Fig. 3 c, ankle joint rotary stopper dish 65 connects firmly the inboard at the ankle joint disk 12 of the lower end that is positioned at shank connecting rod 11; The discoid sidepiece 13A of sole 13 connects firmly on second axle 64, and second axle 64 is supported on the inboard of ankle joint disk 12 by the 5th rolling bearing 62 and the 6th rolling bearing 63 and can rotates around the central axis of ankle joint disk 12; Wherein, ankle joint rotary stopper dish 65 is used for limiting sole 13 around the rotary moveable scope of human body ankle joint, prevents from because the anglec of rotation is excessive the human body ankle joint being caused damage.
As depicted in figs. 1 and 2, the inboard of big leg connecting rod 7 links by thigh reciprocal force sensor 27 and thigh binder 28, links by shank reciprocal force sensor 24 and shank binder 23 in the inboard of shank connecting rod 11; Thigh reciprocal force sensor 27 and shank reciprocal force sensor 24 are tied up optimal perceived position at human body shank people-machine touch interaction by thigh binder 28 and shank binder 23 respectively, be used for detecting the size and Orientation of man-machine interaction power, judge and prediction in order to timely and accurately body motion information is made; Fixedly install foot's binder 14 at sole 13; Sole distributed pressure sensor 15 is multi-disc and is fixedly installed on respectively on the sole 13, be used for the comprehensive detection user when dressing the walking of lower limb power-assisting robot to the real-time pressure information of sole 13, as the auxiliary perception obtaining means to human-machine interactive information.
Shown in Fig. 1, Fig. 2, Fig. 4 a and Fig. 4 b, thigh reciprocal force sensor 27 is made up of the first front shroud 27A, the first elastomer 27B and the first back shroud 27C; A side and the thigh binder 28 of the first front shroud 27A connect firmly, and the side of the first back shroud 27C connects firmly with the inboard of big leg connecting rod 7, and the first elastomer 27B is connected between the first front shroud 27A and the first back shroud 27C; When the user when dressing the walking of lower limb power-assisting robot, man-machine interaction power on the thigh binder 28 reaches on the first elastomer 27B by the first front shroud 27A, cause that strain takes place the first elastomer 27B, and then the resistance that causes the first foil gauge 27D changes, four first foil gauge 27D that are pasted with circumference uniform distribution respectively in cross spring beam root and the corresponding position, end of the first elastomer 27B, thereby form two groups of Hui Sitong bridge circuits in orthogonal direction, be respectively applied to measure two groups of strain values on the mutually perpendicular direction, and then can detect respectively along the thigh direction and perpendicular to the man-machine interaction power size on the thigh direction; The first back shroud 27C is used for the first foil gauge 27D and magnification circuit plate are carried out seal protection on the one hand, is used on the other hand associated lead is fixed.
Shown in Fig. 1, Fig. 2, Fig. 5 a and Fig. 5 b, shank reciprocal force sensor 24 is made up of the second front shroud 24A, the second elastomer 24B and the second back shroud 24C; A side and the shank binder 23 of the second front shroud 24A connect firmly, and the side of the second back shroud 24C and the inboard of shank connecting rod 11 connect firmly, and the second elastomer 24B is connected between the second front shroud 24A and the second back shroud 24C; When the user when dressing the walking of lower limb power-assisting robot, man-machine interaction power on the shank binder 23 reaches on the second elastomer 24B by the second front shroud 24A, cause that strain takes place the second elastomer 24B, and then the resistance that causes the second foil gauge 24D changes, four second foil gauge 24D that are pasted with circumference uniform distribution respectively in cross spring beam root and the corresponding position, end of the second elastomer 24B, thereby form two groups of Hui Sitong bridge circuits in orthogonal direction, be respectively applied to measure two groups of strain values on the mutually perpendicular direction, and then can detect respectively along the shank direction and perpendicular to the man-machine interaction power size on the shank direction; The second back shroud 24C is used for the second foil gauge 24D and magnification circuit plate are carried out seal protection on the one hand, is used on the other hand associated lead is fixed, and as shown in figure 15, the first foil gauge 27D has identical distribution form with the second foil gauge 24D.
In concrete the enforcement, corresponding structure setting also comprises:
Shown in Fig. 1, Fig. 2 and Figure 14 a, the servo-actuated support elastic parts 26 of shank are set between support 17 and shank connecting rod 11, the servo-actuated support elastic parts 26 of shank are to be made of the first cover for seat 26A of coaxial setting and the first bar core 26B, but the first cover for seat 26A and first bar core 26B relative motion vertically each other under compression force; The upper end of the first cover for seat 26A links with ball pivot by " L " shape support 29 and support 17, and the lower end of the first bar core 26B links with ball pivot with the protruding seat 25 that connects firmly in shank connecting rod 11 outsides; Wherein, shank servo-actuated support elastic parts 26 realized wearable type lower limb power-assisting robot to human hip with electric boosting function, in passive driving human hip rotation, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts 26 of suitable shank that it is just compressed by load when resting state, produce counteracting force and prop up load, thereby the load that human body is born effectively is passed to sole ground, when human body is dressed the walking of lower limb power-assisting robot, compression stress can be released again, promotes human hip and rotates; When both legs are walked jointly, the servo-actuated support elastic parts 26 of a shank at hip joint place play the carrying effect, the servo-actuated support elastic parts 26 of another shank work to drive hip joint and rotate, the servo-actuated support elastic parts 26 of two shanks of left and right sides lower limb hocket, realized the coordination exercise of both legs effectively, reduce the heavy burden sense of user in dressing lower limb power-assisted machinery walking process, promoted man-machine harmony.
Shown in Fig. 1, Fig. 2 and Figure 14 b, the servo-actuated support elastic parts 21 of foot are set between sole 13 and shank connecting rod 11, the servo-actuated support elastic parts 21 of foot are to be made of the second cover for seat 21A of coaxial setting and the second bar core 21B, but the second cover for seat 21A and second bar core 21B relative motion vertically each other under compression force; The lower end of the second cover for seat 21A and the little free bearing 20 that connects firmly at sole 13 rear portions are hinged, the upper end of the second bar core 21B be the end that cantilever connects firmly the small rack 22 on shank connecting rod 11 and be hinged; Wherein, foot servo-actuated support elastic parts 21 realized wearable type lower limb power-assisting robot to the human body ankle joint with electric boosting function, in passive driving human body ankle joint rotation, also played the effect of supporting the above load of foot, select the servo-actuated support elastic parts 21 of suitable foot that it is just compressed by load when resting state, produce counteracting force and prop up load, thereby the load that human body is born effectively is passed to sole ground, when human body is dressed the walking of lower limb power-assisting robot, compression stress can be released again, promotes the human body ankle joint and rotates; The servo-actuated support elastic parts 21 of foot match with the servo-actuated support elastic parts 26 of shank, play servo-actuated power-assisted, motion buffering and supplemental support effect to human body lower limbs jointly; Here, the way of realization of the servo-actuated support elastic parts 26 of shank or the servo-actuated support elastic parts 21 of foot can be air spring, also can be the big stroke linear compression spring of tape guide tube.
As shown in Figure 1, it is that big leg connecting rod 7 segmentations are set to connecting rod 7A and thigh lower link 7B on the thigh that foldable structure is set, and connecting rod 7A is to be connected with thigh folding means 6 foldings with thigh lower link 7B on the thigh; 11 segmentations of shank connecting rod are set to connecting rod 11A and shank lower link 11B on the shank, and connecting rod 11A is to be connected with shank folding means 10 foldings with shank lower link 11B on the shank; Thigh folding means 6 and shank folding means 10 can be used to lower limb power-assisted machinery is launched locking or folding packing up, and be convenient to the user lower limb power-assisting robot is carried out the function switching between wearing work and collection are carried.
Shown in Figure 10, Figure 11 a and Figure 11 b, the structure of thigh folding means 6 is set to: thigh folding means 6 is the four-bar linkages that are made of first rod member 50, second rod member 31, the 3rd rod member 32 and the 4th rod member 51, first rod member 50 connects firmly the bottom of connecting rod 7A on thigh, the 4th rod member 51 connects firmly on the top of thigh lower link 7B, and first rod member 50, second rod member 31, the 3rd rod member 32 and the 4th rod member 51 head and the tail successively are hinged; Now each hinged center is designated as E1, E2, E3 and E4 successively, if slightly firmly pull the terminal coupler body of the 3rd rod member 32, make E1, E2, E3 three point on a straight line and satisfy the position of E1 between E2 and E3, then this four-bar linkage is in the dead point duty, just can first rod member 50 and 51 clampings of the 4th rod member is fastening, and the terminal coupler body of oppositely pulling the 3rd rod member 32 can be removed the clamp position to first rod member 50 and the 4th rod member 51; Therefore, the user can realize to the expansion locking of big leg connecting rod 7 or to azido functional very easily by the action of reasonable operation thigh folding means 6.
Shown in Figure 12, Figure 13 a and Figure 13 b, the structure of shank folding means 10 is set to: shank folding means 10 is to be made of first projection 34, second projection 33 and the screw rod 35 that is arranged at both sides, shank connecting rod 11 front and back respectively, first projection 34 connects firmly the bottom of connecting rod 11A on shank, and second projection 33 connects firmly the top at shank lower link 11B; First projection 34 and second projection 33 are hinged along the sidepiece central axis; Screw rod 35 respectively by first projection 34 and second projection 33 the two one of screw screw in or screw out another corresponding with it screw; When manual adjustment first projection 34 and second projection 33 along the angle at hinged center when screw rod 35 and corresponding another screw are in coaxial position, the screw rod 35 that twists both sides, shank connecting rod 11 front and back is respectively put until the deep-seated that engagement enters in another corresponding with it screw, first projection 34 and second projection 33 can be fastenedly connected; The screw rod 35 that oppositely twists both sides, shank connecting rod 11 front and back is respectively put until the deep-seated from another corresponding with it screw and is withdrawed from fully, can remove the state that is fastenedly connected of first projection 34 and second projection 33; Therefore, the user can realize to the expansion locking of shank connecting rod 11 or to azido functional very easily by the action of reasonable operation shank folding means 10.
As shown in Figure 6 and Figure 7, the method for folding of wearable type lower limb power-assisting robot carries out as follows:
1, the servo-actuated support elastic parts 26 of shank is unloaded from power-assisted pedipulator 48, being in when overlapping the position with the line of centres of big leg connecting rod 7 and shank connecting rod 11 is original state, utilizes thigh folding means 6 and shank folding means 10 successively with the hinged center of the upper end edge of hip joint rotary stopper dish 4 and boss 3 bottoms half-twist laterally;
2, with power-assisted pedipulator 48 at shank folding means 10 places laterally to folded;
3, with power-assisted pedipulator 48 at thigh folding means 6 places to the inside to folded; Namely get the portable body 49 of wearable type lower limb power-assisting robot;
As Fig. 6, Fig. 7, Fig. 8 a, Fig. 8 b and shown in Figure 9, be provided for loading and transporting the case that pulls of wearable type lower limb power-assisting robot, be to arrange one to can be used for taking up and hauling the portable body 49 of wearable type lower limb power-assisting robot and the casing 54 of the servo-actuated support elastic parts 26 of shank that quilt is removed stage makeup and costume, wherein the space three-dimensional size of casing 54 should adapt with overall dimensions and the volume of portable body 49; Be provided with braces 56 at the back of casing 54, be respectively arranged with first handle 42, second handle 38, telescopic lever 37, castor 43 and carriage 55 in the different lateral location of casing 54; The structure set-up mode of casing 54 both had been convenient to the user and is selected for use three kinds of different modes such as hand pulling type, portable or Backpack type that wearable type lower limb power-assisting robot is carried, and was conducive to the user again when not using wearable type lower limb power-assisting robot it is collected; In wearable type lower limb power-assisting robot work process, interior empty casing 54 is carried on the back in the human body shoulder by braces 56 on the one hand, utilize carriage 55 to be supported on the support 17 on the other hand, the overwhelming majority load that this moment, casing 54 was applied on the human body is carried by the servo-actuated support elastic parts 26 of shank, has reduced the heavy burden sense of human body in dressing lower limb power-assisted machinery walking process effectively; And behind wearable type lower limb power-assisting robot end-of-job, the user can pull delivery by the casing 54 that telescopic lever 37 is equipped with inside portable body 49 like a cork; And when running into when being not suitable for terrain environment that hand pulling type carries, the user can carry out portable carrying by the casing 54 that first handle 42 or second handle 38 are equipped with portable body 49 with inside, also can carry out Backpack type by braces 56 to carry; In a word, carry mode by above three kinds of differences, can make the user better adapt to different environments for use and occasion.
The wearable type lower limb power-assisting robot of present embodiment can be applicable to the mid-aged population daily life care applications that lower limb are weak or the joint action is inconvenient to some extent, help its expansion lower extremity movement ability when walking and stair activity, for the sound general population of limb function, scientific investigation equipment when the walking-replacing tool when the wearable type lower limb power-assisting robot of present embodiment also can be used as hiking or field exploration uses, the motor capacity of carrying weight when helping it to strengthen walking, improve limit of sports record, sense lessens fatigue; The wearable type lower limb power-assisting robot energy consumption of present embodiment is low and cost performance is high, has wide commercial application prospect.
Claims (5)
1. wearable type lower limb power-assisting robot is characterized in that arranging:
One lower limb power-assisted machinery is that the lateral symmetry at wearable belt (2) arranges wearable power-assisted pedipulator (48); The left and right sides of described belt (2) is a fixed boss (3) respectively, fixedly installs a support (17) at the rear side middle part of described belt (2);
One servo-control system, the lithium battery group (19) of the bottom that comprise the top microcontroller (18) that is fixedly installed on described support (17), is fixed on support (17), prediction and alarm circuit (16) is fallen down at the rear that the place ahead that is fixed on the front side of described belt (2) falls down prediction and alarm circuit (1), be fixed on the rear side of belt (2), and is fixedly installed on the manual manipulator (30) on the belt left and right sides boss (3);
The structure of described power-assisted pedipulator (48) is set to:
The upper end of hip joint rotary stopper dish (4) is articulated in the bottom of described boss (3), and connects firmly with the inboard of hip joint disk (5); The discoid top of big leg connecting rod (7) connects firmly on first axle (59), and described first axle (59) is supported on the inboard of described hip joint disk (5) by first rolling bearing (57) and second rolling bearing (58) and can rotates around the central axis of hip joint disk (5);
Knee joint rotary stopper dish (9) connects firmly the inboard at the knee joint disk (53) of the lower end that is positioned at described big leg connecting rod (7); The body (8A) of DC servo reducing motor (8) is fixedly mounted on the outside of knee joint disk (53); The discoid upper end of little leg connecting rod (11) connects firmly on the output shaft (8B) of described DC servo reducing motor (8), and the output shaft (8B) of described DC servo reducing motor (8) is supported on the central axis rotation of the inboard and joint disk (53) of can staying with one's parents in order to make them happy of described knee joint disk (53) by the 3rd rolling bearing (60) and the 4th rolling bearing (61);
Ankle joint rotary stopper dish (65) connects firmly the inboard at the ankle joint disk (12) of the lower end that is positioned at shank connecting rod (11); The discoid sidepiece (13A) of sole (13) connects firmly on second axle (64), and described second axle (64) is supported on the inboard of described ankle joint disk (12) by the 5th rolling bearing (62) and the 6th rolling bearing (63) and can rotates around the central axis of ankle joint disk (12);
The inboard of described big leg connecting rod (7) links by thigh reciprocal force sensor (27) and thigh binder (28), links by shank reciprocal force sensor (24) and shank binder (23) in the inboard of described little leg connecting rod (11); Fixedly install foot's binder (14) at described sole (13); Sole distributed pressure sensor (15) is multi-disc and is fixedly installed on respectively on the described sole (13);
Described thigh reciprocal force sensor (27) is made up of first front shroud (27A), first elastomer (27B) and first back shroud (27C); One side of described first front shroud (27A) and described thigh binder (28) connect firmly, the inboard of one side of described first back shroud (27C) and described big leg connecting rod (7) connects firmly, and described first elastomer (27B) is connected between described first front shroud (27A) and described first back shroud (27C); Four first foil gauges (27D) that are pasted with circumference uniform distribution respectively in cross spring beam root and the corresponding position, end of described first elastomer (27B);
Described shank reciprocal force sensor (24) is made up of second front shroud (24A), second elastomer (24B) and second back shroud (24C); One side of described second front shroud (24A) and described shank binder (23) connect firmly, the inboard of one side of described second back shroud (24C) and described little leg connecting rod (11) connects firmly, and described second elastomer (24B) is connected between described second front shroud (24A) and described second back shroud (24C); Four second foil gauges (24D) that are pasted with circumference uniform distribution respectively in cross spring beam root and the corresponding position, end of described second elastomer (24B).
2. wearable type lower limb power-assisting robot according to claim 1 is characterized in that:
Between described support (17) and described little leg connecting rod (11), the servo-actuated support elastic parts of shank (26) are set, the servo-actuated support elastic parts of described shank (26) are to be made of first cover for seat (26A) of coaxial setting and the first bar core (26B), described first cover for seat (26A) and the first bar core (26B) but under compression force relative motion vertically each other; The upper end of described first cover for seat (26A) links with ball pivot by " L " shape support (29) and described support (17), and the lower end of the described first bar core (26B) links with ball pivot with the protruding seat (25) that connects firmly in described little leg connecting rod (11) outside;
Between described sole (13) and described little leg connecting rod (11), the servo-actuated support elastic parts of foot (21) are set, the servo-actuated support elastic parts of described foot (21) are to be made of second cover for seat (21A) of coaxial setting and the second bar core (21B), described second cover for seat (21A) and the second bar core (21B) but under compression force relative motion vertically each other; The lower end of described second cover for seat (21A) and the little free bearing (20) that connects firmly at described sole (13) rear portion are hinged, the upper end of the described second bar core (21B) be the end that cantilever connects firmly the small rack (22) on described little leg connecting rod (11) and be hinged.
3. wearable type lower limb power-assisting robot according to claim 1, it is characterized in that arranging foldable structure, be that described big leg connecting rod (7) segmentation is set to connecting rod on the thigh (7A) and thigh lower link (7B), connecting rod on the described thigh (7A) is to be connected with thigh folding means (6) folding with thigh lower link (7B); Described little leg connecting rod (11) segmentation is set to connecting rod on the shank (11A) and shank lower link (11B), and connecting rod on the described shank (11A) is to be connected with shank folding means (10) folding with shank lower link (11B);
The structure of described thigh folding means (6) is set to: described thigh folding means (6) is the four-bar linkage that is made of first rod member (50), second rod member (31), the 3rd rod member (32) and the 4th rod member (51), described first rod member (50) connects firmly the bottom of connecting rod on described thigh (7A), described the 4th rod member (51) connects firmly on the top of described thigh lower link (7B), and described first rod member (50), second rod member (31), the 3rd rod member (32) and the 4th rod member (51) head and the tail successively are hinged;
The structure of described shank folding means (10) is set to: described shank folding means (10) is to be made of first projection (34), second projection (33) and the screw rod (35) that is arranged at both sides before and after the described little leg connecting rod (11) respectively, described first projection (34) connects firmly the bottom of connecting rod on described shank (11A), and described second projection (33) connects firmly the top at described shank lower link (11B); Described first projection (34) is hinged along the sidepiece central axis with second projection (33); Described screw rod (35) respectively by first projection (34) and second projection (33) the two one of screw screw in or back-out corresponding another screw with it.
4. the method for folding of the described wearable type lower limb of claim 3 power-assisting robot is characterized in that carrying out as follows:
A, the servo-actuated support elastic parts of described shank (26) are unloaded from described power-assisted pedipulator (48), being in when overlapping the position with the line of centres of described big leg connecting rod (7) and little leg connecting rod (11) is original state, utilizes described thigh folding means (6) and shank folding means (10) successively with the hinged center of the upper end edge of described hip joint rotary stopper dish (4) and described boss (3) bottom half-twist laterally;
B, described power-assisted pedipulator (48) is located laterally folded at shank folding means (10);
C, described power-assisted pedipulator (48) is located to the inside folded at thigh folding means (6); Namely get the portable body (49) of wearable type lower limb power-assisting robot.
5. case that pulls that is used for the described wearable type lower limb of shipment claim 3 power-assisting robot, it is characterized in that: arrange one and can be used for taking up and hauling the portable body (49) of the described wearable type lower limb of claim 4 power-assisting robot and the casing (54) of the servo-actuated support elastic parts of shank (26) that quilt is removed stage makeup and costume, be provided with braces (56) at the back of described casing (54), different lateral location at described casing (54) are respectively arranged with first handle (42), second handle (38), telescopic lever (37), castor (43) and carriage (55), described casing (54) can utilize described carriage (55) to be supported on the support (17), and carries on the back in the human body shoulder by described braces (56).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410515227.XA CN104306137B (en) | 2013-06-26 | 2013-06-26 | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case |
| CN201310257360.5A CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN201410515251.3A CN104257490B (en) | 2013-06-26 | 2013-06-26 | A kind of method for folding of wearable type lower limb power-assisting robot |
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| CN201310257360.5A CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
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| CN201410515251.3A Division CN104257490B (en) | 2013-06-26 | 2013-06-26 | A kind of method for folding of wearable type lower limb power-assisting robot |
| CN201410515227.XA Division CN104306137B (en) | 2013-06-26 | 2013-06-26 | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case |
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| CN201310257360.5A Active CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN201410515251.3A Expired - Fee Related CN104257490B (en) | 2013-06-26 | 2013-06-26 | A kind of method for folding of wearable type lower limb power-assisting robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104306137B (en) | 2016-05-25 |
| CN103330635B (en) | 2014-11-05 |
| CN104306137A (en) | 2015-01-28 |
| CN104257490B (en) | 2016-04-13 |
| CN104257490A (en) | 2015-01-07 |
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