CN103330635B - 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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- CN103330635B CN103330635B CN201310257360.5A CN201310257360A CN103330635B CN 103330635 B CN103330635 B CN 103330635B CN 201310257360 A CN201310257360 A CN 201310257360A CN 103330635 B CN103330635 B CN 103330635B
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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 present invention relates to a kind of wearable type lower limb power-assisting robot, its method for folding and the case that pulls for loading and transporting, especially be applied to the mid-aged population daily life care applications that lower limb are weak or joint action is inconvenient to some extent, help it when walking and stair activity, to expand the exercise ability of lower limbs, 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, there is the aching and limp symptom such as weak of lower limb in the impact of the various factorss such as leg muscle strain, the 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 health treatment, medical apparatus and instruments is auxiliary to be waited routinely outside way, develop power-assisting robot technology and become the most effective current Novel intelligent nursing intervention, wherein wearable type lower limb power-assisting robot technology is a class the closest with human body relation.Have at present Shuo Jia research institution both at home and abroad and carried out the research to wearable type lower limb power-assisting robot technology, indivedual achievements in research have even been converted into launch and have sold, the power-assisted machinery of developing as Univ California-Berkeley takes the exoskeleton robot HAL that BLEEX and the Japanese Cybernics of University of tsukuba laboratory development go out, although feature richness and power-assisted are respond well, but the power source and the sensing equipment that due to robot body, adopt are numerous, cause manufacturing cost high, lost cost performance, and because mechanism is complicated and device is heavy, make robot control difficulty large, 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 ankle motion module, motion of knee joint module, hip joint motion module, driver module, several most of formations such as waist and support frame module, by direct current generator, coordinate screw nut driven mechanism to drive each joint motions module, the lower limb power-assisted of realization during to human body walking, there is man-machine sports coordination good, the advantages such as compact conformation, Dan Gai robot overall setup is comparatively complicated heavy, lack cushioning and supporting device, make the heavy burden sense of human body wearing exoskeleton robot strong, also inconvenient user carrying robot.
ZL201020568411.8 has reported " a kind of human exoskeleton loaded walking aiding device driving with linear electric motors ", by backrest, hip joint parts, thigh parts, shank parts, anklebone parts, base plate, power supply, control device, the each several part such as sensor and driving device forms, by each joint of straight-line electric cylinder telescopic drive human body lower limbs, rotate, thereby power-assisted is provided to the human body of the walking of bearing a heavy burden, there is volume little, energy consumption is low, be easy to the advantages such as control and low cost of manufacture, but because the shared axial dimension of linear electric motors self is large and retrained by shift motion, limited the range of activity of joint of the lower extremity, because all needing separate straight lines motor, each joint drives again, the coordination exercise that is unfavorable for whole human body lower limbs is controlled, and this walking power assisting device does not possess portable function, affected user's routine use.
ZL201210370645.5 has reported a kind of " portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot ", comprise the thigh support component connecting successively, knee components, shank support component and ankle joint foot parts, adopt motor to drive the mode of screw pair drivening rod to drive joint motions, there is volume light and handy, be applicable to dressing 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, affected the harmony of man-machine interaction, reduced again the safety that user uses this robot, moreover, the portable performance of this robot is only to have the detachable compound mode of convenient type between each parts for composition leg mechanism, its process is comparatively time-consuming, and this robot self can not change portable body into, lack and specifically take up and delivery instrument, collection problem after unresolved user uses, therefore versatility is poor.
Summary of the invention
The present invention is for avoiding the existing weak point of above-mentioned prior art, a kind of wearable type lower limb power-assisting robot is provided, its method for folding and the case that pulls for loading and transporting, this robot can effectively alleviate the heavy burden sense that is worn on human body, there is security performance high, man-machine harmony is controlled simple, servo-actuated power-assisted is effective, cost performance high, by its method for folding Ke Jianggai robot, change the portable body of compact conformation into, coordinate the case that pulls for loading and transporting to may be implemented in a variety of ways being convenient for carrying and collecting of user Dui Gai robot, to better meet the daily routines nursing demands such as the walking of mid-aged population and stair activity.
The present invention is that technical solution problem adopts following technical scheme:
The construction features of wearable type lower limb power-assisting robot of the present invention is to arrange:
One lower limb assistance mechanical device 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, at the rear side middle part of described belt, is fixedly installed a support;
One servo-control system, comprise be fixedly installed on described support microcontroller above, be fixed on the lithium battery group of the bottom of support, 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 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 with the bottom of described boss, and connects firmly with the inner side of hip joint disk; The discoid top of large leg connecting rod connects firmly in the first axle, and described the first axle is supported on the inner side of described hip joint disk and can be rotated around the central axis of hip joint disk by the first rolling bearing and the second rolling bearing;
Knee joint rotary stopper dish connects firmly in the inner side of knee joint disk that is positioned at the lower end of described large 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 central axis that the output shaft of described DC servo reducing motor is supported on the inner side of described knee joint disk the joint disk of can staying with one's parents in order to make them happy by the 3rd rolling bearing and the 4th rolling bearing rotates;
Ankle joint rotary stopper dish connects firmly in the inner side of ankle joint disk that is positioned at the lower end of shank connecting rod; The discoid sidepiece of sole connects firmly in the second axle, and described the second axle is supported on the inner side of described ankle joint disk and can be rotated around the central axis of ankle joint disk by the 5th rolling bearing and the 6th rolling bearing;
The inner side of described large leg connecting rod is connected by thigh reciprocal force sensor and thigh binder, in the inner side of described little leg connecting rod, by shank reciprocal force sensor and shank binder, is connected; On described sole, be fixedly installed foot's binder; Sole distributed pressure sensor is multi-disc and is fixedly installed on respectively on described sole;
Described thigh reciprocal force sensor is comprised of the first front shroud, the first elastomer and the first back shroud; One side of described the first front shroud and described thigh binder connect firmly, and a side of described the first back shroud and the inner side of described large leg connecting rod connect firmly, and described the first elastomer is connected between described the first front shroud and described the first back shroud; In described the first elastomeric cross spring beam root and corresponding position, end, be pasted with respectively four the first foil gauges of circumference uniform distribution;
Described shank reciprocal force sensor is comprised of the second front shroud, the second elastomer and the second back shroud; One side of described the second front shroud and described shank binder connect firmly, and a side of described the second back shroud and the inner side of described little leg connecting rod connect firmly, and described the second elastomer is connected between described the second front shroud and described the second back shroud; In described the second elastomeric cross spring beam root and corresponding position, end, be pasted with respectively four the second foil gauges of circumference uniform distribution;
The construction features of wearable type lower limb power-assisting robot of the present invention is also:
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 consist of the first cover for seat coaxially arranging and the first bar core, and described the first cover for seat and the first bar core can be movable relatively vertically each other under compression force; The upper end of described the first cover for seat is connected with ball pivot by " L " shape support and described support, and the lower end of described the first bar core is connected with ball pivot with the projection seat connecting firmly in 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 consist of the second cover for seat coaxially arranging and the second bar core, and described the second cover for seat and the second bar core can be movable relatively vertically each other under compression force; The lower end of described the second cover for seat and the little free bearing connecting firmly at described sole rear portion are hinged, the upper end of described the 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 is also: foldable structure is set, be to be connecting rod and thigh lower link on thigh by described large leg connecting rod subsection setup, on described thigh, connecting rod is to be connected with thigh folding means folding with thigh lower link; By described shank connecting rod subsection setup, be connecting rod and shank lower link on shank, on described shank, connecting rod is to be connected with shank folding means folding with shank lower link;
The structure of described thigh folding means is set to: described thigh folding means is the four-bar linkage consisting of the first rod member, the second rod member, the 3rd rod member and the 4th rod member, described the 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 the first rod member, the second rod member, the 3rd rod member and the 4th rod member successively head and the tail are hinged;
The structure of described shank folding means is set to: described shank folding means is by the first projection, the second projection and is arranged at respectively the screw rod of both sides before and after described shank connecting rod and forms, described the first projection connects firmly the bottom of connecting rod on described shank, and described the second projection connects firmly the top at described shank lower link; Described the first projection and the second projection are hinged along sidepiece central axis; Described screw rod respectively by the first projection and the second projection the two one of screw screw in or screw out another screw of answering in contrast.
The feature of the method for folding of wearable type lower limb power-assisting robot of the present invention is to carry out as follows:
A, the servo-actuated support elastic parts of described shank are unloaded from described power-assisted pedipulator, the line of centres of described large leg connecting rod and little leg connecting rod of take is original state when overlapping position, utilizes described thigh folding means and shank folding means successively by the hinged center of the upper end edge of described hip joint rotary stopper dish and described boss bottom half-twist laterally;
B, by described power-assisted pedipulator at shank folding means place laterally to folded;
C, by described power-assisted pedipulator at thigh folding means place to the inside to folded; Obtain the portable body of wearable type lower limb power-assisting robot;
The present invention for the construction features that pulls case of loading and transporting described wearable type lower limb power-assisting robot is: arrange one and can be used for taking up and haul the portable body of the wearable type lower limb power-assisting robot described in claim and the casing of the servo-actuated support elastic parts of shank of being removed stage makeup and costume, back at described casing is provided with braces, in the different lateral location of described casing, be respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, described casing can utilize described bracket support on support, and carries on the back in shoulders of human body by described braces.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, performance safety of the present invention is reliable.Because wearable type lower limb power-assisting robot of the present invention adopts DC servo reducing motor at knee joint disk place, drive, output torque is large, and control accuracy is high; Because having adopted thigh reciprocal force sensor and shank reciprocal force sensor, the present invention detects respectively the size and Orientation of man-machine interaction power again, can timely and accurately body motion information be judged and be predicted, be provided with sole distributed pressure sensor as the auxiliary perception obtaining means to real time human-machine interaction information simultaneously, make user when wearing lower limb power-assisting robot of the present invention carries out autonomous and stair activity, there is steadily the speed of travel and stronger climbing capacity reliably; The present invention is structurally provided with hip joint rotary stopper dish, knee joint rotary stopper dish and ankle joint rotary stopper dish, can prevent the skeleton damage causing because joint rotation angle is excessive; When user is about to face while falling down danger, the present invention can fall down prediction and alarm circuit by forward and backward side and produce in time alarm signal, user, with applying by the setting of manual manipulator human intervention to correct the athletic posture of lower limb power-assisting robot, makes it to produce the rational act that more meets user intent.
2, in the present invention, the structure of the servo-actuated support elastic parts of shank and foot arranges advantages of simple, under compression force, cover for seat and the bar core of the servo-actuated support elastic parts of shank and foot all can be movable relatively each other vertically, can be user enough auxiliary bearing capacities are provided when walking or stair activity, coordinate the effectively health of supporting user of lower limb assistance mechanical device, improved the holistic resistant behavior of man-machine interactive system, reduce the heavy burden sense of human body in dressing lower limb assistance mechanical device 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 in 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 the rotation of passive matrix human hip, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts of suitable shank can make it when resting state, just by load, be compressed, produce counteracting force and prop up load, thereby can make the load that human body bears effectively be passed to sole ground, when human body is dressed lower limb power-assisting robot walking of the present invention, compression stress can be released again, promotion human hip rotates, when both legs are walked jointly, the servo-actuated support elastic parts of a shank at hip joint place play carrying effect, the servo-actuated support elastic parts of another shank play a part to drive hip joint to rotate, the servo-actuated support elastic parts of two shanks of left and right lower limb hocket, and have effectively realized the coordination exercise of both legs.
4, portable performance of the present invention is practical, and user collects conveniently.Because the present invention is provided with foldable structure, 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, large leg connecting rod and little leg connecting rod are all in launching locking state completely; And after wearable type lower limb power-assisting robot of the present invention work completes, user can all be adjusted to maximum to overlapping state by large leg connecting rod and little leg connecting rod, hip joint disk, knee joint disk and ankle joint disk place associated components are set simultaneously and 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, facilitate user to be inserted to pull in case take up, haul or collect; The casing back that pulls case due to the present invention is again provided with braces, in the different lateral location of casing, be respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, make user can select three kinds of different modes such as hand pulling type, portable or Backpack type to carry wearable type lower limb power-assisting robot of the present invention, better to adapt to different environments for use and occasion.
An independent power source of DC servo reducing motor 5, only due to wearable type lower limb power-assisting robot of the present invention with knee joint disk place, coordinate shank and the servo-actuated support elastic parts of foot, realized the active power-assisted of human body knee joint and the multi-functionals such as servo-actuated power-assisted to human hip and ankle joint, therefore 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 joint action is inconvenient to some extent, help it when walking and stair activity, to expand the exercise ability of lower limbs, for the sound general population of limb function, scientific investigation equipment when walking-replacing tool when the present invention also can be used as hiking or field exploration uses, and has wide commercial application prospect.
Accompanying drawing explanation
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 in the present invention;
Fig. 3 b is knee joint place partial sectional view in the present invention;
Fig. 3 c is ankle partial sectional view in the present invention;
Fig. 4 a is thigh reciprocal force sensor place top view in the present invention;
Fig. 4 b is the A-A view of Fig. 4 a;
Fig. 5 a is shank reciprocal force sensor place top view in the present invention;
Fig. 5 b is the B-B view of Fig. 5 a;
Fig. 6 is that the present invention is worn on human body schematic diagram;
Fig. 7 is the folding rear portable pattern schematic figure of the present invention;
Fig. 8 a is the portable case closing lid structural representation that pulls in the present invention;
Fig. 8 b is the portable case cover-opening structure schematic diagram that pulls in the present invention;
Fig. 9 is that in the present invention, user utilizes the portable case haul lower limb power-assisting robot schematic diagram that pulls;
Figure 10 is thigh folding means structural representation in the present invention;
Figure 11 a is that in the present invention, thigh folding means is looked schematic diagram in launching locking state master completely;
Figure 11 b be in the present invention thigh folding means in launching locking state schematic side view completely;
Figure 12 is shank folding means structural representation in the present invention;
Figure 13 a is that in the present invention, shank folding means is looked schematic diagram in launching locking state master completely;
Figure 13 b be in the present invention shank folding means in launching locking state schematic side view completely;
Figure 14 a is the servo-actuated support elastic modular construction of shank schematic diagram in the present invention;
Figure 14 b is the servo-actuated support elastic modular construction of foot schematic diagram in the present invention;
Figure 15 is the second foil gauge distribution schematic diagram in the present invention.
Number in the figure: 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 large leg connecting rods; Connecting rod on 7A thigh; 7B thigh lower link; 8 DC servo reducing motors; 8A body; 8B output shaft; 9 knee joint rotary stopper dishes; 10 shank folding means; 11 little leg connecting rods; Connecting rod on 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; Prediction and alarm circuit is fallen down at 16 rears; 17 supports; 18 microcontrollers; 19 lithium battery groups; 20 little free bearings; The 21 servo-actuated support elastic parts of foot; 21A the second cover for seat; 21B the second bar core; 22 small racks; 23 shank binders; 24 shank reciprocal force sensors; 24A the second front shroud; 24B the second elastomer; 24C the second cover plate; 24D the second foil gauge; 25 projection seats; The servo-actuated support elastic parts of 26 shank; 26A the first cover for seat; 26B the first bar core; 27 thigh reciprocal force sensors; 27A the first front shroud; 27B the first elastomer; 27C the first back shroud; 27D the 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 foot wheels; 48 power-assisted pedipulators; 49 portable bodies; 50 first rod members; 51 the 4th rod members; 53 knee joint disks; 54 casings; 55 brackets; 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 the present embodiment wearable type lower limb power-assisting robot is set to:
Referring to Fig. 1, Fig. 2 and Fig. 6, lower limb assistance mechanical device 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, at the rear side middle part of belt 2, is fixedly installed a support 17; Power-assisted pedipulator 48 is bonded to human body shank and foot by thigh binder 28, shank binder 23He foot binder 14 respectively, and belt 2 is bonded to human body waist, and support 17 is for carrying and microcontroller 18, lithium battery group 19, bracket 55 and casing 54 are installed;
Servo-control system comprise be fixedly installed on support 17 microcontroller 18 above, be fixed on the lithium battery group 19 of 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 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 general-purpose interface mode to be connected between 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, the human body sport parameter information that each sensing modules such as shank reciprocal force sensor 24 and sole distributed pressure sensor 15 detect, the real motion situation of real-time analysis lower limb power-assisting robot, and by analysis result immediate feedback to servo-control system self, to send command adapted thereto, the working condition of DC servo reducing motor 8 is regulated, form a closed-loop control system, embody the intelligent coordinated property of wearable type lower limb power-assisting robot to 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 while on the one hand human body being dressed to the walking of lower limb power-assisting robot detect in real time, when detection information is tending towards abnormal, can send in time alarm signal on the other hand, microcontroller 18 sends command adapted thereto thereupon and controls the timely operating mode that changes of DC servo reducing motor 8 to prevent the generation of falling over of human body behavior, the setting of manual manipulator 30 can assisting users manual intervention wearable type lower limb power-assisting robot assistant mode, better to adapt to hommization operation.
The structure of power-assisted pedipulator 48 is set to:
As shown in Fig. 1 and Fig. 3 a, the upper end of hip joint rotary stopper dish 4 is articulated with the bottom of boss 3, and connects firmly with the inner side of hip joint disk 5; The discoid top of large leg connecting rod 7 connects firmly in the first axle 59, and the first axle 59 is supported on the inner side of hip joint disk 5 and can be rotated around the central axis of hip joint disk 5 by the first rolling bearing 57 and the second rolling bearing 58; Wherein, hip joint rotary stopper dish 4, for limiting large leg connecting rod 7 around the rotary moveable scope of human hip, prevents from, because the anglec of rotation is excessive, human hip is caused to damage.
As shown in Fig. 1 and Fig. 3 b, knee joint rotary stopper dish 9 connects firmly in the inner side of knee joint disk 53 that is positioned at the lower end of 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 central axis that the output shaft 8B of DC servo reducing motor 8 is supported on the inner side of knee joint disk 53 the joint disk 53 of can staying with one's parents in order to make them happy by the 3rd rolling bearing 60 and the 4th rolling bearing 61 rotates; Wherein, DC servo reducing motor 8 is power set of wearable type lower limb power-assisting robot, specifically comprise the assemblies such as DC servo motor, precision speed reduction device and photoelectric encoder, the control instruction that can send according to servo-control system is exported torque according to certain rules, drive between large leg connecting rod 7 and shank connecting rod 11 and produce relative rotary motion, then by being worn on thigh binder 28 on human body and shank binder 23, drive the joint of staying with one's parents in order to make them happy between human body thighs and shank to produce relative rotary motion, realize the active assist function of lower limb power-assisting robot to human body knee joint; Knee joint rotary stopper dish 9, 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 is caused to damage.
As shown in Fig. 1 and Fig. 3 c, ankle joint rotary stopper dish 65 connects firmly in the inner side of ankle joint disk 12 that is positioned at the lower end of shank connecting rod 11; The discoid sidepiece 13A of sole 13 connects firmly in the second axle 64, and the second axle 64 is supported on the inner side of ankle joint disk 12 and can be rotated around the central axis of ankle joint disk 12 by the 5th rolling bearing 62 and the 6th rolling bearing 63; Wherein, ankle joint rotary stopper dish 65, for limiting sole 13 around the rotary moveable scope of model of human ankle, prevents from, because the anglec of rotation is excessive, model of human ankle is caused to damage.
As depicted in figs. 1 and 2, the inner side of large leg connecting rod 7 is connected by thigh reciprocal force sensor 27 and thigh binder 28, in the inner side of shank connecting rod 11, by shank reciprocal force sensor 24 and shank binder 23, is connected; Thigh reciprocal force sensor 27 and shank reciprocal force sensor 24 are tied up the 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, to timely and accurately body motion information is judged and predicted; On sole 13, be fixedly installed foot's binder 14; Sole distributed pressure sensor 15 is multi-disc and is fixedly installed on respectively on sole 13, is used for comprehensive detection user real-time pressure information to sole 13 when dressing the walking of lower limb power-assisting robot, as the auxiliary perception obtaining means to human-machine interactive information.
As shown in Figure 1, Figure 2, shown in Fig. 4 a and Fig. 4 b, thigh reciprocal force sensor 27 is comprised 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 a side of the first back shroud 27C connects firmly with the inner side of large leg connecting rod 7, and the first elastomer 27B is connected between the first front shroud 27A and the first back shroud 27C, when user is when dressing the walking of lower limb power-assisting robot, man-machine interaction power on thigh binder 28 reaches on the first elastomer 27B by the first front shroud 27A, cause that strain occurs the first elastomer 27B, and then the resistance that causes the first foil gauge 27D changes, four the first foil gauge 27D that are pasted with respectively circumference uniform distribution in cross spring beam root and the corresponding position, end of the first elastomer 27B, thereby in orthogonal direction, form two groups of Hui Sitong bridge roads, be respectively used to measure two groups of strain values in mutually perpendicular direction, and then can detect respectively along thigh direction and perpendicular to the man-machine interaction power size in thigh direction, the first back shroud 27C is used for the first foil gauge 27D and magnification circuit plate to carry out seal protection on the one hand, is used on the other hand associated lead to be fixed.
As shown in Figure 1, Figure 2, shown in Fig. 5 a and Fig. 5 b, shank reciprocal force sensor 24 is comprised 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 a side of the second back shroud 24C and the inner side 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 user is when dressing the walking of lower limb power-assisting robot, man-machine interaction power on shank binder 23 reaches on the second elastomer 24B by the second front shroud 24A, cause that strain occurs the second elastomer 24B, and then the resistance that causes the second foil gauge 24D changes, four the second foil gauge 24D that are pasted with respectively circumference uniform distribution in cross spring beam root and the corresponding position, end of the second elastomer 24B, thereby in orthogonal direction, form two groups of Hui Sitong bridge roads, be respectively used to measure two groups of strain values in mutually perpendicular direction, and then can detect respectively along shank direction and perpendicular to the man-machine interaction power size in shank direction, the second back shroud 24C is used for the second foil gauge 24D and magnification circuit plate to carry out seal protection on the one hand, is used on the other hand associated lead to be fixed, and as shown in figure 15, the first foil gauge 27D has identical distribution form with the second foil gauge 24D.
In concrete enforcement, corresponding structure setting also comprises:
As shown in Figure 1, Figure 2 with shown in 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 consist of the first cover for seat 26A coaxially arranging and the first bar core 26B, and the first cover for seat 26A and the first bar core 26B can be movable relatively vertically each other under compression force; The upper end of the first cover for seat 26A is connected with ball pivot by " L " shape support 29 and support 17, and the lower end of the first bar core 26B is connected with ball pivot with the projection seat 25 connecting 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 the rotation of passive matrix human hip, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts 26 of suitable shank can make it when resting state, just by load, be compressed, produce counteracting force and prop up load, thereby can make the load that human body bears effectively be 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 carrying effect, the servo-actuated support elastic parts 26 of another shank play a part to drive hip joint to rotate, the servo-actuated support elastic parts 26 of two shanks of left and right lower limb hocket, effectively realized the coordination exercise of both legs, reduce the heavy burden sense of user in dressing lower limb assistance mechanical device walking process, promoted man-machine harmony.
As shown in Figure 1, Figure 2 with shown in 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 consist of the second cover for seat 21A coaxially arranging and the second bar core 21B, and the second cover for seat 21A and the second bar core 21B can be movable relatively vertically each other under compression force; The lower end of the second cover for seat 21A and the little free bearing 20 connecting 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 model of human ankle with electric boosting function, in the rotation of passive matrix model of human ankle, also played the effect of supporting the above load of foot, select the servo-actuated support elastic parts 21 of suitable foot can make it when resting state, just by load, be compressed, produce counteracting force and prop up load, thereby can make the load that human body bears effectively be passed to sole ground, when human body is dressed the walking of lower limb power-assisting robot, compression stress can be released again, promotes model of human ankle and rotates; The servo-actuated support elastic parts 21 of foot match with the servo-actuated support elastic parts 26 of shank, jointly play servo-actuated power-assisted, motion buffering and supplemental support effect to human body lower limbs; Here, the way of realization of the servo-actuated support elastic parts 21 of the servo-actuated support elastic parts of shank 26Huo foot can be air spring, can be also the large stroke linear Compress Spring of tape guide cylinder.
As shown in Figure 1, it is to be connecting rod 7A and thigh lower link 7B on thigh by large leg connecting rod 7 subsection setups that foldable structure is set, and on thigh, connecting rod 7A is to be connected with thigh folding means 6 foldings with thigh lower link 7B; By shank connecting rod 11 subsection setups, be connecting rod 11A and shank lower link 11B on shank, on shank, connecting rod 11A is to be connected with shank folding means 10 foldings with shank lower link 11B; Thigh folding means 6 and shank folding means 10 can be used to lower limb assistance mechanical device to launch locking or folding packing up, and be convenient to user lower limb power-assisting robot is carried out to function switching between wearing work and collection are carried.
As 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 consist of the first rod member 50, the second rod member 31, the 3rd rod member 32 and the 4th rod member 51, the 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 the first rod member 50, the second rod member 31, the 3rd rod member 32 and the 4th rod member 51 successively head and the tail are hinged; Now each hinged center is designated as to E1, E2, E3 and E4 successively, if slightly firmly pull the end coupler body of the 3rd rod member 32, make E1, E2, E3 three point on a straight line and meet the position of E1 between E2 and E3, this four-bar linkage is in dead point duty, just can the first rod member 50 and the clamping of the 4th rod member 51 is fastening, and the end coupler body of oppositely pulling the 3rd rod member 32 can be removed the clamp position to the first rod member 50 and the 4th rod member 51; Therefore, user can realize to the expansion locking of large leg connecting rod 7 or to azido functional very easily by the action of reasonable operation thigh folding means 6.
As 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 consist of the first projection 34, the second projection 33 and the screw rod 35 that is arranged at respectively shank connecting rod 11 both sides, front and back, the first projection 34 connects firmly the bottom of connecting rod 11A on shank, and the second projection 33 connects firmly the top at shank lower link 11B; The first projection 34 and the second projection 33 are hinged along sidepiece central axis; Screw rod 35 respectively by the first projection 34 and the second projection 33 the two one of screw screw in or screw out another screw of answering in contrast; When manual adjustment the first projection 34 and the second projection 33 along the angle at hinged center until screw rod 35 with corresponding another screw during in coaxial position, twist respectively the screw rod 35 of shank connecting rod 11 both sides, front and back until the deep-seated that engagement enters in another screw of answering is in contrast put, the first projection 34 and the second projection 33 can be fastenedly connected; Oppositely twist respectively the screw rod 35 of shank connecting rod 11 both sides, front and back until the deep-seated from another screw of answering is in contrast put exits completely, can remove the state that is fastenedly connected of the first projection 34 and the second projection 33; Therefore, 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 are unloaded from power-assisted pedipulator 48, the large leg connecting rod 7 of take is original state with the line of centres of shank connecting rod 11 when overlapping position, utilizes thigh folding means 6 and shank folding means 10 successively by the hinged center of the upper end edge of hip joint rotary stopper dish 4 and boss 3 bottoms half-twist laterally;
2, by power-assisted pedipulator 48 at shank folding means 10 places laterally to folded;
3, by power-assisted pedipulator 48 at thigh folding means 6 places to the inside to folded; Obtain the portable body 49 of wearable type lower limb power-assisting robot;
As shown in Fig. 6, Fig. 7, Fig. 8 a, Fig. 8 b and Fig. 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 haul 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 of being 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; At the back of casing 54, be provided with braces 56, in the different lateral location of casing 54, be respectively arranged with the first handle 42, the second handle 38, telescopic lever 37, castor 43 and bracket 55; The structure set-up mode of casing 54 had both been convenient to user and is selected three kinds of different modes such as hand pulling type, portable or Backpack type to carry wearable type lower limb power-assisting robot, was conducive to again user when not using wearable type lower limb power-assisting robot, it is collected; In wearable type lower limb power-assisting robot work process, the casing 54 of interior sky is carried on the back in shoulders of human body by braces 56 on the one hand, utilize on the other hand bracket 55 to be supported on support 17, the overwhelming majority load that now casing 54 is applied on human body is carried by the servo-actuated support elastic parts 26 of shank, has effectively reduced the heavy burden sense of human body in dressing lower limb assistance mechanical device walking process; And after wearable type lower limb power-assisting robot end-of-job, the casing 54 that user can be equipped with inside portable body 49 like a cork by telescopic lever 37 pulls delivery; And when running into while being not suitable for terrain environment that hand pulling type carries, the casing 54 that user can be equipped with portable body 49 by inside by the first handle 42 or the second handle 38 carries out portable carrying, and also can carry out Backpack type by braces 56 to carry; In a word, by above three kinds of different carrying modes, can make 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 joint action is inconvenient to some extent, help it when walking and stair activity, to expand the exercise ability of lower limbs, for the sound general population of limb function, scientific investigation equipment when the walking-replacing tool when 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 while 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 (2)
1. a wearable type lower limb power-assisting robot, is characterized in that arranging:
One lower limb assistance mechanical device 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, at the rear side middle part of described belt (2), is fixedly installed a support (17);
One servo-control system, comprise be fixedly installed on described support (17) microcontroller (18) above, be fixed on the lithium battery group (19) of 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 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 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 with the bottom of described boss (3), and connects firmly with the inner side of hip joint disk (5); The discoid top of large leg connecting rod (7) connects firmly in the first axle (59) upper, and described the first axle (59) is supported on the inner side of described hip joint disk (5) and can be rotated around the central axis of hip joint disk (5) by the first rolling bearing (57) and the second rolling bearing (58);
Knee joint rotary stopper dish (9) connects firmly in the inner side of knee joint disk (53) that is positioned at the lower end of described large 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 at the output shaft (8B) of described DC servo reducing motor (8) upper, and the output shaft (8B) of described DC servo reducing motor (8) is supported on the central axis rotation of the inner side of described knee joint disk (53) the joint disk (53) of can staying with one's parents in order to make them happy by the 3rd rolling bearing (60) and the 4th rolling bearing (61);
Ankle joint rotary stopper dish (65) connects firmly in the inner side of ankle joint disk (12) that is positioned at the lower end of shank connecting rod (11); The discoid sidepiece (13A) of sole (13) connects firmly in the second axle (64) upper, and described the second axle (64) is supported on the inner side of described ankle joint disk (12) and can be rotated around the central axis of ankle joint disk (12) by the 5th rolling bearing (62) and the 6th rolling bearing (63);
The inner side of described large leg connecting rod (7) is connected by thigh reciprocal force sensor (27) and thigh binder (28), in the inner side of described little leg connecting rod (11), by shank reciprocal force sensor (24) and shank binder (23), is connected; On described sole (13), be fixedly installed foot's binder (14); Sole distributed pressure sensor (15) is multi-disc and is fixedly installed on respectively on described sole (13);
Described thigh reciprocal force sensor (27) is comprised of the first front shroud (27A), the first elastomer (27B) and the first back shroud (27C); One side of described the first front shroud (27A) and described thigh binder (28) connect firmly, the inner side of one side of described the first back shroud (27C) and described large leg connecting rod (7) connects firmly, and described the first elastomer (27B) is connected between described the first front shroud (27A) and described the first back shroud (27C); Four the first foil gauges (27D) that are pasted with respectively circumference uniform distribution in cross spring beam root and the corresponding position, end of described the first elastomer (27B);
Described shank reciprocal force sensor (24) is comprised of the second front shroud (24A), the second elastomer (24B) and the second back shroud (24C); One side of described the second front shroud (24A) and described shank binder (23) connect firmly, the inner side of one side of described the second back shroud (24C) and described little leg connecting rod (11) connects firmly, and described the second elastomer (24B) is connected between described the second front shroud (24A) and described the second back shroud (24C); Four the second foil gauges (24D) that are pasted with respectively circumference uniform distribution in cross spring beam root and the corresponding position, end of described the second elastomer (24B);
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 consist of the first cover for seat (26A) coaxially arranging and the first bar core (26B), and described the first cover for seat (26A) and the first bar core (26B) can be movable relatively vertically each other under compression force; The upper end of described the first cover for seat (26A) is connected with ball pivot by " L " shape support (29) and described support (17), and the lower end of described the first bar core (26B) is connected with ball pivot with the projection seat (25) connecting 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 consist of the second cover for seat (21A) coaxially arranging and the second bar core (21B), and described the second cover for seat (21A) and the second bar core (21B) can be movable relatively vertically each other under compression force; The lower end of described the second cover for seat (21A) and the little free bearing (20) connecting firmly at described sole (13) rear portion are hinged, the upper end of described the 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.
2. wearable type lower limb power-assisting robot according to claim 1, it is characterized in that arranging foldable structure, be to be connecting rod on thigh (7A) and thigh lower link (7B) by described large leg connecting rod (7) subsection setup, connecting rod on described thigh (7A) is to be connected with thigh folding means (6) folding with thigh lower link (7B); By described little leg connecting rod (11) subsection setup, be connecting rod on shank (11A) and shank lower link (11B), connecting rod on 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 consisting of the first rod member (50), the second rod member (31), the 3rd rod member (32) and the 4th rod member (51), described the 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 the first rod member (50), the second rod member (31), the 3rd rod member (32) and the 4th rod member (51) successively head and the tail are hinged;
The structure of described shank folding means (10) is set to: described shank folding means (10) is to consist of the first projection (34), the second projection (33) and the screw rod (35) that is arranged at respectively both sides before and after described little leg connecting rod (11), described the first projection (34) connects firmly the bottom of connecting rod on described shank (11A), and described the second projection (33) connects firmly the top at described shank lower link (11B); Described the first projection (34) is hinged along sidepiece central axis with the second projection (33); Described screw rod (35) respectively by the first projection (34) and the second projection (33) the two one of screw screw in or screw out another screw of answering in contrast.
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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 |
| CN201410515227.XA Expired - Fee Related 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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| CN114029928B (en) * | 2021-08-12 | 2023-05-05 | 重庆交通大学 | Follow-up bionic multi-rod virtual wearable hip joint |
| CN113771004B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up power-assisted exoskeleton body posture control device |
| CN113771005B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up control electric drive power-assisted exoskeleton device |
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| CN114770457A (en) * | 2022-04-20 | 2022-07-22 | 天津大学医疗机器人与智能系统研究院 | Manipulator and slave operation end using same |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104257490A (en) | 2015-01-07 |
| CN104306137A (en) | 2015-01-28 |
| CN104257490B (en) | 2016-04-13 |
| CN103330635A (en) | 2013-10-02 |
| CN104306137B (en) | 2016-05-25 |
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