CN103860358A - Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot - Google Patents

Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot Download PDF

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Publication number
CN103860358A
CN103860358A CN201410063123.XA CN201410063123A CN103860358A CN 103860358 A CN103860358 A CN 103860358A CN 201410063123 A CN201410063123 A CN 201410063123A CN 103860358 A CN103860358 A CN 103860358A
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lug
thigh
hole
ball bearing
contact ball
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CN201410063123.XA
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CN103860358B (en
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唐志勇
徐晓东
刘棣斐
裴忠才
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Beihang University
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Beihang University
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Abstract

The invention discloses a thigh and shank device with a knee joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The thigh and shank device is characterized in that knee joints are driven by adopting hydraulic cylinders, and the response speed and the bearing capacity of the exoskeleton auxiliary supporting robot are increased; the waist is connected with thighs through telescopic rods, and shanks are connected with feet through telescopic rods; one ends of the hydraulic cylinders are connected with the thighs through supports, pin shafts and joint bearings, piston rod ends are connected with the shanks through hydraulic cylinder connecting pieces, the knee joints are connecting components of the thighs and the shanks, sensors are used for measuring angular displacements of the knee joints, and the moving control that the knee joints of a human body are followed by exoskeletons is realized. According to the high and shank device with the knee joint parameter measurement suitable for the exoskeleton auxiliary supporting robot, disclosed by the invention, only the knee joints are controlled by the hydraulic cylinders, other joints are all used for adapting to moving requirements of leg joints of the human body, and the other joints comprise hip joints which are provided with the sensors, ankle joints, plantar structures, side swinging arms of the waist, globe joints of the thighs and the like; the structural characteristics of the human body are artificially simulated by the exoskeleton auxiliary supporting robot, the thigh and shank device is suitable for the human body to wear, the moving flexibility is maintained, the structure is simple, and a user can be helped to support the load weight.

Description

A kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot
Technical field
The present invention's design belongs to service robot field, relates to supplemental support and the rehabilitation training of lower limb exoskeleton robot for human body lower limbs.
Background technology
The mankind's both legs provide heavy burden and shipping platform, and especially, under the environment that is not suitable for wheeled transportation, biped demonstrates very strong mobility.Heavy burden is one of the most general problem that will face of human lives.
For soldier, fireman and disaster relief team member, payload accounts for most of its TBW, is their duty-bound and bear that these load both cannot avoid.Carry overcharge and not only allow people feel tired, also have potential injury mentally and physically simultaneously.In order to alleviate this burden, lower limb supplemental support ectoskeleton plant equipment is arisen at the historic moment.
Militarily, numerous Advanced Equipments have promoted perception and the attack precision of soldier to battlefield, but carrying so many equipment often makes soldier dog-tired, is difficult to adhere to long-time autonomous operation.
On civilian, China forest, hill path, ladder road, the road surface in coastline and gully is a lot of, this road vehicles is difficult to normal operation, the goods and materials of many urgent needs can only lean on manpower transportation, and the mankind's muscle power cannot be compared with the bearing capacity of vehicle, China's 512 violent earthquakes just occur in this region with a varied topography, Sichuan, a lot of severely afflicated areas were located in dangerous situation at that time, the transportation of disaster relief supplies can only solve by manpower, if adopt lower limb supplemental support ectoskeleton plant equipment, can be by improving people's bearing capacity, promote that disaster relief supplies transport to and calamity after the speed of reconstruction.
China is stepping into aging, suffering from cardiovascular and cerebrovascular disease makes middle-older patient occur that the number of hemiplegia is on the increase, and because vehicle accident causes the number of nerve damage or limb injury also more and more, this class patient is except early stage operative treatment and necessary Drug therapy, and rehabilitation training correct, science is played very important effect for recovery and the raising of extremity motor function.And lower limb supplemental support ectoskeleton plant equipment also can become lower limb imbalance person's training aids and auxiliary walking device.
Summary of the invention
The object of this invention is to provide a kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, guaranteeing the flexible of the position operations such as waist, shank, ankle and foot, while making people dress ectoskeleton supplemental support robot, motion is not interrupted, kinematic parameter when waist, shank, foot movement are provided simultaneously, is beneficial to the effective control to ectoskeleton supplemental support robot; The ectoskeleton supplemental support machine of the present invention's design is artificially simulated organization of human body feature, be applicable to human body and dress, be combined well with human body, move flexible, simple in structure, can help user load-supporting weight, be a kind of supplemental support equipment reliable, novel structure that uses.
For waist structure, after guaranteeing that people dresses, it is flexible that the waist of ectoskeleton supplemental support robot and hip joint move, when people is dressed, waist and hip joint are not interrupted, the requirement of simultaneous adaptation different human body to ectoskeleton supplemental support robot, need waist width to regulate, the length of thigh can regulate, and can also measure hip joint angular displacement.
For leg structure, after guaranteeing that people dresses, knee joint and people are synchronized with the movement, and knee joint adopts hydraulic-driven, has reduced knee joint driving element size, is conducive to the raising of robot overall performance.
For foot structure, guarantee the operation of ankle joint and foot flexibly, not interrupted after people is dressed, can measure the pressure in ankle joint angular displacement and vola simultaneously.
The present invention is a kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, and this device adopts Driven by Hydraulic Cylinder knee joint, has improved response speed and the bearing capacity of ectoskeleton supplemental support robot; Waist is connected with thigh by expansion link, realize the adjusting of thigh length, meet the needs of different heights, one end of hydraulic cylinder is connected with thigh with oscillating bearing by support, bearing pin, tailpiece of the piston rod is connected with shank by pressure cylinder connecting component, realizes kneed driving, and knee joint is the link of thigh and shank, sensor is used for measuring knee angle displacement, realizes ectoskeleton and follow the motor control of human body knee joint.Shank is connected with foot by expansion link, to adjust shank length, meets differing heights people's needs.The robot of the present invention's design only has knee joint to be controlled by hydraulic cylinder, and all the other joints are all the requirements for adapting to human leg joint motions, comprise hip joint, ankle joint and the sole structure of sensor installation, also comprise side-sway, the ball-joint of thigh etc. of waist.Machine of the present invention is artificially simulated organization of human body feature, is applicable to human body and dresses, and keeps motion flexible, simple in structure, can help user load-supporting weight.
The advantage of ectoskeleton supplemental support of the present invention robot is:
1. ectoskeleton supplemental support machine of the present invention is artificially simulated the symmetrical structure of organization of human body feature, be applicable to human body and dress, be combined well with human body, move flexible, simple in structure, can help user load-supporting weight, be a kind of supplemental support equipment reliable, novel structure that uses.
2. the width adjusting of waist, due to people's individual variation, have fat or thin, height point, everyone waistline is different, in the time of ectoskeleton Robot Design, has designed the fine adjusting that realizes human body waist width of width adjusting apparatus.
3. the altitude mixture control of waist, the design of expansion link, for thigh length is regulated, because everyone thigh length is certain, after therefore this length of telescopic bar regulates, adopts the method being connected, and thigh length is fixed.
4. the bent plate of waist design and the revolute pair structure of thigh, the swing of simulation human hip, the swing angle that can measure in real time thigh by angular displacement sensor, thigh is provided with globe joint structure, swings for the omnirange of simulating human hip.
5. knee joint adopts Driven by Hydraulic Cylinder, to control kneed motion, realizes following that human body knee joint is moved, and by the detection of plantar pressure, realizes the description of human motion intention, is beneficial to the PREDICTIVE CONTROL to exoskeleton robot.Because knee joint adopts Driven by Hydraulic Cylinder, improve the bearing capacity of robot, for the research of exoskeleton robot lays the foundation.
6. the Hooke of ankle joint hinge structure, realizes the front and back of human body ankle and swings, and can measure in real time the swing angle of ankle by angular displacement sensor; The pressure gauge of sole: sole have can movable part before and after sole and shoe pad, form unique human foot model configuration, the movable part of sole is fixed on shoe pad, realize the pursuit movement of shoe pad, by 3 pressure transducers are set, realize human foot and press force measurement, realize the accurate judgement of human body walking intention, provide technical support for the control system of exoskeleton robot realizes.
Accompanying drawing explanation
Fig. 1 be of the present invention there is ectoskeleton supplemental support robot that joint parameter measures face structure chart.
Figure 1A is a visual angle structure chart of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Figure 1B is another visual angle structure chart of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 2 is the structure chart of the left and right lower limb assembly of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 2 A is the exploded view of the hydraulic-driven part in the lower limb assembly of left and right of the present invention.
Fig. 2 B is knee joint in the lower limb assembly of left and right of the present invention and the exploded view of thigh and calf.
Fig. 2 C is the structure chart of the left thigh expansion link in the left leg assembly of the present invention.
Fig. 2 D is the structure chart of the right thigh expansion link in the left leg assembly of the present invention.
Fig. 2 E is the structure chart of the left thigh in the left leg assembly of the present invention.
Fig. 2 F is another visual angle structure chart of the left thigh in the left leg assembly of the present invention.
Fig. 2 G is the structure chart of the right thigh in the left leg assembly of the present invention.
Fig. 2 H is another visual angle structure chart of the right thigh in the left leg assembly of the present invention.
Fig. 2 I is the structure chart of the left leg in the left leg assembly of the present invention.
Fig. 2 J is the structure chart of the right leg in the left leg assembly of the present invention.
Fig. 2 K is another visual angle structure chart of the right leg in the left leg assembly of the present invention.
Fig. 2 L is another visual angle structure chart of the left leg in the left leg assembly of the present invention.
Fig. 3 is the structure chart of the left and right foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 3 A is the exploded view of the left foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 3 B is the structure chart of the left ankle joint in the left foot component of the present invention.
Fig. 3 C is the exploded view of the left foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 3 D is the structure chart of the right ankle joint in the right foot component of the present invention.
Fig. 4 is the structure chart of the lumbar device of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
Fig. 4 A is the exploded view of the lumbar device of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.
1. lumbar device The left regulating block of 1A. 1A1. joint 1A2.EA lug
1A3.EB lug 1A4.EA lug grooves The right regulating block of 1B. 1B1. joint
1B2.EC lug 1B3.ED lug 1B4.EB lug grooves The left twisted plate of 1C.
1C1.A through hole 1C2.EE lug 1C3.EF lug 1C4.EC lug grooves
1C5.EA dead eye 1C6.EB dead eye The right twisted plate of 1D. 1D1.B through hole
1D2.EG lug 1D3.EH lug 1D4.ED lug grooves 1D5.EC dead eye
1D6.ED dead eye 1E. bends and stretches bar in a left side 1E1.C through hole 1E2.C pin-and-hole
1E3.C ball-and-socket 1F. bends and stretches bar in the right side 1F1.D through hole 1F2.D pin-and-hole
1F3.D ball-and-socket 1G.A fixture block 1H.B fixture block 1H1.H bearing blind hole
1J.C fixture block 1K.D fixture block 1K1.K bearing blind hole 1L. left limit piece
The left button of 1M. 1N. right limit piece The right button of 1P. The left hip joint of 1Q.
1Q1.E angular displacement sensor 1Q2.E sleeve 1Q3.Q angular contact ball bearing 1Q4. the 3rd rotating shaft
1Q5.R angular contact ball bearing 1Q6.G end cap The right hip joint of 1R. 1R1.F angular displacement sensor
1R2.F sleeve 1R3.S angular contact ball bearing 1R4. the 4th rotating shaft 1R5.T angular contact ball bearing
1R6.H end cap 1S. the first rotating shaft 1T. the second rotating shaft 1U.M angular contact ball bearing
1V.N angular contact ball bearing 1W.O angular contact ball bearing 1Y.P angular contact ball bearing 2. left leg assembly
2A. left thigh expansion link 2A1. left handed twist lid 2A2. ball pivot end 2A3. cylindrical end
2B. left leg expansion link 2B1.AB through hole 2C. left thigh 2C1.AA lug
2C2.AB lug 2C3. thigh blind hole The lower contact of 2C4. thigh 2C5.AA through hole
2C6. pin hole 2C7. supporting plate face 2D. left leg 2D1.AE lug
2D2.AF lug 2D3.AG lug 2D4.AH lug 2D5.AI lug
2D6.AJ lug 2D7.A lug grooves 2D8.B lug grooves 2D9.A dead eye
2D10.B dead eye 2D11.AE through hole 2D12.AF through hole 2D13. shank blind hole
2E. left socle 2E1. fixing head 2E2.AC lug 2E3.AD lug
2E4.AC through hole 2E5.AD through hole 2E6.C lug grooves 2F. upper left bearing pin
2G. lower-left bearing pin 2H.A angular displacement sensor 2J.A angular contact ball bearing 2K.B angular contact ball bearing
2L.C sleeve The left knee axis of 2M. 2N.I bearing (ball) cover 3. right leg assembly
3A. right thigh expansion link The right torsion lid of 3A1. 3A2. ball pivot end 3A3. cylindrical end
3B. right leg expansion link 3B1.BB through hole 3C. right thigh 3C1.BA lug
3C2.BB lug 3C3. thigh blind hole The lower contact of 3C4. thigh 3C5.BA through hole
3C6. pin hole 3C7. supporting plate face 3D. right leg 3D1.BE lug
3D2.BF lug 3D3.BG lug 3D4.BH lug 3D5.BI lug
3D6.BJ lug 3D7.A lug grooves 3D8.B lug grooves 3D9.A dead eye
3D10.B dead eye 3D11.BE through hole 3D12.BF through hole ?
3D13. shank blind hole 3E. right support 3E1. fixing head 3E2.BC lug
3E3.BD lug 3E4.BC through hole 3E5.BD through hole 3E6.C lug grooves
3F. upper right bearing pin 3G. bottom right bearing pin 3H.B angular displacement sensor 3J.C angular contact ball bearing
3K.D angular contact ball bearing 3L.D sleeve The right knee axis of 3M. 3N.J bearing (ball) cover
4. left foot component The left ankle joint of 4A. 4A1.C angular displacement sensor 4A2.A sleeve
4A3.E angular contact ball bearing 4A4. the 5th rotating shaft 4A5. the 6th rotating shaft 4A6.F angular contact ball bearing
4A7.A end cap 4A8.B end cap 4A9.G angular contact ball bearing 4A10.H angular contact ball bearing
4A11.C end cap 4B. upper left bearing 4B1.CA lug 4B2.CB lug
4B3.CA lug grooves 4B4.CA dead eye 4B5.CB dead eye 4B6. pin-and-hole
4B7.CA through hole The left sufficient pin of 4B8. 4C. lower-left bearing 4C1.CC lug
4C2.CD lug 4C3.CB lug grooves 4C4.CC dead eye 4C5.CD dead eye
4C6. connecting plate The left front sole of 4D. The left back sole of 4E. The left sole of 4F.
4F1.A pressure transducer 4F2.B pressure transducer 4F3.C pressure transducer 4F4.A countersunk head blind hole
4F5.B countersunk head blind hole 4F6.C countersunk head blind hole 5. right foot component The right ankle joint of 5A.
5A1.D angular displacement sensor 5A2.B sleeve 5A3.I angular contact ball bearing 5A4. the 7th rotating shaft
5A5. the 8th rotating shaft 5A6.J angular contact ball bearing 5A7.D end cap 5A8.E end cap
5A9.K angular contact ball bearing 5A10.L angular contact ball bearing 5A11.F end cap 5B. upper right bearing
5B1.DA lug 5B2.DB lug 5B3.DA lug grooves 5B4.DA dead eye
5B5.DB dead eye 5B6. pin-and-hole 5B7.DA through hole The right sufficient pin of 5B8.
5C. bottom right bearing 5C1.DC lug 5C2.DD lug 5C3.DB lug grooves
5C4.DC dead eye 5C5.DD dead eye 5C6. connecting plate The right front sole of 5D.
The right back sole of 5E. The right sole of 5F. 5F1.D pressure transducer 5F2.E pressure transducer
5F3.F pressure transducer 5F4.D countersunk head blind hole 5F5.E countersunk head blind hole 5F6.F countersunk head blind hole
6. left hydraulic cylinder 6A. upper piston rod 6B. lower piston rod ?
7. right hydraulic cylinder 7A. upper piston rod 7B. lower piston rod ?
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is a kind of ectoskeleton supplemental support robot that joint parameter is measured that has, and this ectoskeleton supplemental support robot includes lumbar device 1, thigh and calf part device and foot device.Described thigh and calf part device comprises left leg assembly 2 and right leg assembly 3; On left leg assembly 2, left hydraulic cylinder 6 is installed, right hydraulic cylinder 7 is installed on right leg assembly 3.Described foot device includes left foot component 4 and right foot component 5.Waist, shank and foot feature that ectoskeleton supplemental support machine of the present invention is artificially simulated human body design.
In the present invention, in lumbar device 1, be designed with left and right hip joint.In left leg assembly 2, be designed with left knee joint, in right leg assembly 3, be designed with right knee joint.In left foot component 4, be designed with left ankle joint, in right foot component 5, be designed with right ankle joint.
In the present invention, the outer ring, the inner ring that are installed as conventional application bearing of axle and bearing, bearing and dead eye fix.
Lumbar device 1
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, Fig. 4 A, lumbar device 1 includes that bar 1E is bent and stretched on left regulating block 1A, right regulating block 1B, left twisted plate 1C, right twisted plate 1D, a left side, bar 1F, A fixture block 1G, B fixture block 1H, C fixture block 1J, D fixture block 1K, left limit piece 1L, the left 1M of button, right limit piece 1N, the right 1P of button, left hip joint 1Q, right hip joint 1R, the first rotating shaft 1S, the second rotating shaft 1T, M angular contact ball bearing 1U, N angular contact ball bearing 1V, O angular contact ball bearing 1W, P angular contact ball bearing 1Y are bent and stretched in the right side.
Wherein, left hip joint 1Q includes E angular displacement sensor 1Q1, E sleeve 1Q2, Q angular contact ball bearing 1Q3, the 3rd rotating shaft 1Q4, R angular contact ball bearing 1Q5, G end cap 1Q6; The 3rd rotating shaft 1Q4 is placed in the EC lug grooves 1C4 of left twisted plate 1C, and on the 3rd rotating shaft 1Q4, be socketed with a left side and bend and stretch bar 1E, the 3rd rotating shaft 1Q4 and a left side are bent and stretched bar 1E and are adopted pin fixed installation, in the C pin-and-hole 1E2 of bar 1E is bent and stretched on a left side, pin is installed, this pin, along reaching the blind hole on the 3rd rotating shaft 1Q4, bends and stretches the fixing of bar 1E thereby realize the 3rd rotating shaft 1Q4 with a left side.One end of the 3rd rotating shaft 1Q4 is socketed with Q angular contact ball bearing 1Q3, and the other end of the 3rd rotating shaft 1Q4 is socketed with R angular contact ball bearing 1Q5.Q angular contact ball bearing 1Q3 is arranged in the EA dead eye 1C5 of left twisted plate 1C, and E sleeve 1Q2 is installed on the outer panel face of EE lug 1C2.R angular contact ball bearing 1Q5 is arranged in the EB dead eye 1C6 of left twisted plate 1C, and G end cap 1Q6 is installed on the outer panel face of EF lug 1C3.It is upper that one end of E angular displacement sensor 1Q1 is arranged on the 3rd rotating shaft 1Q4, in the time of the 3rd rotating shaft 1Q4 motion, measures the kinematic parameter of left half hip joint by E angular displacement sensor 1Q1.
Wherein, right hip joint 1R includes F angular displacement sensor 1R1, F sleeve 1R2, S angular contact ball bearing 1R3, the 4th rotating shaft 1R4, T angular contact ball bearing 1R5, H end cap 1R6; The 4th rotating shaft 1R4 is placed in the ED lug grooves 1D4 of right twisted plate 1D, and on the 4th rotating shaft 1R4, be socketed with the right side and bend and stretch bar 1F, the 4th rotating shaft 1R4 and the right side are bent and stretched bar 1F and are adopted pin fixed installation, in the D pin-and-hole 1F2 of bar 1F is bent and stretched on the right side, pin is installed, this pin, along reaching the blind hole on the 4th rotating shaft 1R4, bends and stretches the fixing of bar 1F thereby realize the 4th rotating shaft 1R4 with the right side.One end of the 4th rotating shaft 1R4 is socketed with S angular contact ball bearing 1R3, and the other end of the 4th rotating shaft 1R4 is socketed with T angular contact ball bearing 1R5.S angular contact ball bearing 1R3 is arranged in the EC dead eye 1D5 of right twisted plate 1D, and F sleeve 1R2 is installed on the outer panel face of EG lug 1D2.T angular contact ball bearing 1R5 is arranged in the ED dead eye 1D6 of right twisted plate 1D, and H end cap 1R6 is installed on the outer panel face of EH lug 1D3.It is upper that one end of F angular displacement sensor 1R1 is arranged on the 4th rotating shaft 1R4, in the time of the 4th rotating shaft 1R4 motion, measures the kinematic parameter of right half hip joint by F angular displacement sensor 1R1.
Shown in Fig. 4 A, left regulating block 1A is provided with joint 1A1, EA lug 1A2, EB lug 1A3, between EA lug 1A2 and EB lug 1A3, is EA lug grooves 1A4.Joint 1A1 is arranged between A fixture block 1G and B fixture block 1H, and fixes with A fixture block 1G and B fixture block 1H respectively.EA lug grooves 1A4 is for inserting the ED lug 1B3 of right regulating block 1B.
Shown in Fig. 4 A, right regulating block 1B is provided with joint 1B1, EC lug 1B2, ED lug 1B3, between EC lug 1B2 and ED lug 1B3, is EB lug grooves 1B4.Joint 1B1 is arranged between C fixture block 1J and D fixture block 1K, and fixes with C fixture block 1J and D fixture block 1K respectively.EB lug grooves 1B4 is for inserting the EA lug 1A2 of left regulating block 1A.Left regulating block 1A docks fixing with the lug on right regulating block 1B, can realize the adjusting of length between two regulating blocks by the hole on lug.
Shown in Fig. 4 A, one end of left twisted plate 1C is provided with A through hole 1C1, and this A through hole 1C1 is used for placing the first rotating shaft 1S; The other end of left twisted plate 1C is provided with EE lug 1C2, EF lug 1C3, between EE lug 1C2 and EF lug 1C3, is EC lug grooves 1C4, and EE lug 1C2 is provided with EA dead eye 1C5, and EF lug 1C3 is provided with EB dead eye 1C6.
The upper end that EC lug grooves 1C4 bends and stretches bar 1E for placing a left side, the lower end that bar 1E is bent and stretched on a left side is provided with C ball-and-socket 1E3, this C ball-and-socket 1E3 is for placing the ball pivot end 2A2 of left thigh expansion link 2A, when inserting a left side, bends and stretches after the C ball-and-socket 1E3 of bar 1E the ball pivot end 2A2 of left thigh expansion link 2A, then bend and stretch the lower end of bar 1E on a left side and install left handed twist lid 2A1, realize and left bend and stretch being connected of bar 1E and left thigh expansion link 2A by left handed twist lid 2A1, and then realize being connected between left half waist and left thigh.
EA dead eye 1C5 is used for placing Q angular contact ball bearing 1Q3, and the outer ring of Q angular contact ball bearing 1Q3 and EA dead eye 1C5 tight fit, the inner ring of Q angular contact ball bearing 1Q3 is socketed in one end of the 3rd rotating shaft 1Q4, the upper end that on the 3rd rotating shaft 1Q4, a left side is installed and bends and stretches bar 1E.
EB dead eye 1C6 is used for placing R angular contact ball bearing 1Q5, and the outer ring of R angular contact ball bearing 1Q5 and EB dead eye 1C6 tight fit, the inner ring of R angular contact ball bearing 1Q5 is socketed in the other end of the 3rd rotating shaft 1Q4, the upper end that on the 3rd rotating shaft 1Q4, a left side is installed and bends and stretches bar 1E.
Shown in Fig. 4 A, one end of right twisted plate 1D is provided with B through hole 1D1, and this B through hole 1D1 is used for placing the second rotating shaft 1T; The other end of right twisted plate 1D is provided with EG lug 1D2, EH lug 1D3, between EG lug 1D2 and EH lug 1D3, is ED lug grooves 1D4, and EG lug 1D2 is provided with EC dead eye 1D5, and EH lug 1D3 is provided with ED dead eye 1D6.
The upper end that ED lug grooves 1D4 bends and stretches bar 1F for placing the right side, the lower end that bar 1F is bent and stretched on the right side is provided with D ball-and-socket 1F3, this D ball-and-socket 1F3 is for placing the ball pivot end 3A2 of right thigh expansion link 3A, when inserting the right side, bends and stretches after the D ball-and-socket 1D3 of bar 1F the ball pivot end 3A2 of right thigh expansion link 3A, then bend and stretch the lower end of bar 1F on the right side upper right torsion lid 3A1 is installed, realize and rightly bend and stretch being connected of bar 1F and right thigh expansion link 3A by right torsion lid 3A1, and then realize being connected between right half waist and right thigh.
EC dead eye 1D5 is used for placing S angular contact ball bearing 1R3, and the outer ring of S angular contact ball bearing 1R3 and EC dead eye 1D5 tight fit, the inner ring of S angular contact ball bearing 1R3 is socketed in one end of the 4th rotating shaft 1R4, the upper end that on the 4th rotating shaft 1R4, the right side is installed and bends and stretches bar 1F.
ED dead eye 1D6 is used for placing T angular contact ball bearing 1R5, and the outer ring of T angular contact ball bearing 1R5 and ED dead eye 1D6 tight fit, the inner ring of T angular contact ball bearing 1R5 is socketed in the other end of the 4th rotating shaft 1R4, the upper end that on the 4th rotating shaft 1R4, the right side is installed and bends and stretches bar 1F.
Shown in Fig. 4 A, A fixture block 1G, B fixture block 1H, C fixture block 1J are identical with the structure of D fixture block 1K.
A fixture block 1G is provided with bearing blind hole, and M angular contact ball bearing 1U is installed in this bearing blind hole.On the outer panel face of A fixture block 1G, the left 1M of button is installed, by fasten rope on left button 1M and right button 1P, the convenient lumbar device 1 by the present invention's design is bundled in the waist place of human body.
B fixture block 1H is provided with H bearing blind hole 1H1, in this H bearing blind hole 1H1, N angular contact ball bearing 1V is installed.
C fixture block 1J is provided with bearing blind hole, and O angular contact ball bearing 1W is installed in this bearing blind hole.On the outer panel face of C fixture block 1J, the right 1P of button is installed.
D fixture block 1K is provided with K bearing blind hole 1K1, in this K bearing blind hole 1K1, P angular contact ball bearing 1Y is installed.
One end of the first rotating shaft 1S is socketed with M angular contact ball bearing 1U, and the other end of the first rotating shaft 1S is socketed with N angular contact ball bearing 1V.
One end of the second rotating shaft 1T is socketed with O angular contact ball bearing 1W, and the other end of the second rotating shaft 1T is socketed with P angular contact ball bearing 1Y.
In the present invention, A fixture block 1G and B fixture block 1H are staggered relatively, and in upper end clamping, left limit piece 1L are installed.C fixture block 1J and D fixture block 1K are staggered relatively, and in upper end clamping, right limit piece 1N are installed.
In the present invention, button design in the left and right of waist structure guarantees that ectoskeleton waist and people dress.Regulating block coordinates with fixture block, axle and bearing, makes hip joint in waist structure flexible operation on the length of waist, width, and while making people dress exoskeleton robot, waist and hip joint are not interrupted, the requirement of simultaneous adaptation different human body to exoskeleton robot.Need ectoskeletal waist width to regulate, the length of thigh can regulate, and a kind of sensor of measuring hip joint angular displacement also will be provided, and is beneficial to effective control of exoskeleton robot.The feature of waist design of the present invention is for simulating human body waist completely, after human body is dressed, be combined well with human body, move flexible, simple in structure, simulating waist and hip joint motion completely, is a kind of use Novel waist and hip joint simulation and angle displacement measuring device reliable, novel structure.
Waist structure of the present invention is symmetrical structure, design the left and right adjusting piece of waist width adjusting, according to the various combination of 3 groups of apertures that arrange in the adjustable block of two of left and right, realize the adjusting to waist waistline width, by two pairs of clamping plate, two rotating shafts, realize being connected of regulating block and waist twisted plate, realize the degree of freedom that swings of waist, twisted plate is realized the swing of thigh by the connection of hip joint, realize the measurement of thigh amplitude of fluctuation by E, F angular displacement sensor, for the coordination control of robot.The spherical hinge structure that is connected to that bends and stretches bar and thigh expansion link, makes the swing of thigh any direction more flexible.Waist structure of the present invention, waist is realized waist waistline width adjusting, thigh and is realized by expansion link the adjusting of thigh length by regulating block, and the scope of application of robot improves greatly like this.The rotational freedom of clamping plate and waist twisted plate is realized the side-sway degree of freedom of waist, and the rotation of thigh expansion link and twisted plate realizes the swing degree of freedom of robot.Exoskeleton robot has been realized the adaptation completely to human hip and waist like this.Measure by the pendulum angle to thigh, the control of robot has been brought to convenience.
(A) width adjusting device of waist, due to people's individual variation, have fat or thin, height point, everyone waistline is different, in the time of ectoskeleton Robot Design, design the fine adjusting that realizes human body waist width of width adjusting apparatus (left and right adjusting piece).
(B) arrangement for adjusting height of waist: the design of thigh expansion link, for thigh length is regulated, because everyone thigh length is certain, after therefore this length of telescopic bar regulates, adopt the method being connected, thigh length is fixed.
(C) measurement of hip joint: bending and stretching bar and thigh expansion link is revolute pair structure, the swing of simulation human hip, the swing angle that can measure in real time thigh by angular displacement sensor, thigh is provided with globe joint structure, swings for the omnirange of simulating human hip.
The lumbar device 1 of the present invention's design has formed motion simulation and measurement, the width of waist and the adjusting of oscillation adjustment and thigh length of hip joint, has expanded the adaptability of exoskeleton robot.
Left leg assembly 2
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 2, left leg assembly 2 includes left thigh expansion link 2A, left leg expansion link 2B, left thigh 2C, left leg 2D, left socle 2E, upper left bearing pin 2F, lower-left bearing pin 2G and left knee joint, and described left knee joint is made up of A angular displacement sensor 2H, A angular contact ball bearing 2J, B angular contact ball bearing 2K, C sleeve 2L, left knee axis 2M and I bearing (ball) cover 2N.
A angular displacement sensor 2H is arranged in C sleeve 2L, and the sensitivity end of A angular displacement sensor 2H inserts in left knee axis 2M; One end of left knee axis 2M is socketed with A angular contact ball bearing 2J, and the other end of left knee axis 2M is socketed with B angular contact ball bearing 2K; Left knee axis 2M is arranged in the AA through hole 2C5 of lower contact 2C4 of left thigh 2C; B angular contact ball bearing 2K is arranged in the A dead eye 2D9 on AE lug 2D1, and installs I bearing (ball) cover 2N at the outer panel face of AE lug 2D1; A angular contact ball bearing 2J is arranged in the B dead eye 2D10 on AF lug 2D2, in the B of left leg 2D dead eye 2D10, first install after A angular contact ball bearing 2J, again one end of C sleeve 2L is arranged in B dead eye 2D10, and C sleeve 2L is fixed on the outer panel face of AF lug 2D2, C sleeve 2L is used for holding out against A angular contact ball bearing 2J, simultaneously also for A angular displacement sensor 2H is installed.
Shown in Figure 2, one end of left thigh expansion link 2A is ball pivot 2A1, after the left side that ball pivot 2A1 inserts waist feature 1 is bent and stretched in the ball-and-socket of bar 1E, tightens by left handed twist lid 2A1; The other end of left thigh expansion link 2A is cylinder 2A1, and cylinder 2A1 inserts in the thigh blind hole 2C3 of left thigh 2C.Under the drive of left hydraulic cylinder 6, the cylindrical end of left thigh expansion link 2A moves in thigh blind hole 2C3.The lower end of left leg expansion link 2B is provided with AB through hole 2B1, and this AB through hole 2B1 is for left sufficient pin 4B8(as shown in Figure 3) pass; The upper end of left leg expansion link 2B is inserted in the shank blind hole 2D13 of left leg 2D lower end.
Shown in Fig. 2 A, the upper end of left thigh 2C is provided with AA lug 2C1, AB lug 2C1, thigh blind hole 2C3; This thigh blind hole 2C3 is for placing the cylinder 2A1 of left thigh expansion link 2A, and by placing screw in the hole on AA lug 2C1, AB lug 2C1, this screw coordinates with nut, realizes spacing the cylinder 2A1 of left thigh expansion link 2A in thigh blind hole 2C3.AA lug 2C1 and AB lug 2C1 realize the function of clamping plate.The fixing head 2E1 of left socle 2E is installed on the supporting plate face 2C7 relative with AA lug 2C1, AB lug 2C1.The lower end of left thigh 2C is provided with thigh lower contact 2C4, the end of thigh lower contact 2C4 is provided with AA through hole 2C5 and pin hole 2C6, AA through hole 2C5 passes for left knee axis 2M, pin hole 2C6 is interior for placing pin, this pin is used for holding out against left knee axis 2M, and left knee axis 2M is not moved in AA through hole 2C5.
Shown in Fig. 2 B, left socle 2E is provided with fixing head 2E1, AC lug 2E2, AD lug 2E3, AC lug 2E2 is provided with AC through hole 2E4, AD lug 2E3 is provided with AD through hole 2E5, between AC lug 2E2 and AD lug 2E3, be C lug grooves 2E6, C lug grooves 2E6 is for placing the upper piston rod 6A of left hydraulic cylinder 6, and one end of upper left bearing pin 2F connects a nut after passing in turn the through hole on AD through hole 2E5, the upper piston rod 6A on AD lug 2E3, the AC through hole 2E4 on AC lug 2E2.In the present invention, realize the installation of the upper piston rod 6A of left thigh 2C upper end and left hydraulic cylinder 6 by left socle 2E.
Shown in Fig. 2, Fig. 2 C, the end, lower end of left leg 2D is provided with AI lug 2D5, AJ lug 2D6, shank blind hole 2D13, the upper end of this shank blind hole 2D13 for placing left leg expansion link 2B, and by placing screw in the hole on AI lug 2D5, AJ lug 2D6, this screw coordinates with nut, realizes spacing the upper end of left leg expansion link 2B in shank blind hole 2D13.AI lug 2D5 and AJ lug 2D6 realize the function of clamping plate.Left leg 2D is provided with AE lug 2D1, AF lug 2D2, AG lug 2D3, AH lug 2D4.
Between AE lug 2D1 and AF lug 2D2, be A lug grooves 2D7, this A lug grooves 2D7 is for placing the lower contact 2C4 of left thigh 2C; AE lug 2D1 is provided with A dead eye 2D9, and this A dead eye 2D9 is used for placing B angular contact ball bearing 2K; AF lug 2D2 is provided with B dead eye 2D10, and this B dead eye 2D10 is used for placing A angular contact ball bearing 2J.
Between AG lug 2D3 and AH lug 2D4, be B lug grooves 2D8, AG lug 2D3 is provided with AE through hole 2D11, and AH lug 2D4 is provided with AF through hole 2D12; This B lug grooves 2D8, for placing the lower piston rod 6B of left hydraulic cylinder 6, connects a nut after the through hole of one end of lower-left bearing pin 2G on AE through hole 2D11, lower piston rod 6B through on AG lug 2D3, the AF through hole 2D12 on AH lug 2D4.In the present invention, realize the installation of lower piston rod 6B and the left leg 2D of left hydraulic cylinder 6 by lower-left bearing pin 2G.
Right leg assembly 3
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 3, right leg assembly 3 includes right thigh expansion link 3A, right leg expansion link 3B, right thigh 3C, right leg 3D, right support 3E, upper right bearing pin 3F, bottom right bearing pin 3G and right knee joint, and described right knee joint is made up of B angular displacement sensor 3H, C angular contact ball bearing 3J, D angular contact ball bearing 3K, D sleeve 3L, right knee axis 3M and J bearing (ball) cover 3N.
B angular displacement sensor 3H is arranged in D sleeve 3L, and the sensitivity end of B angular displacement sensor 3H inserts in right knee axis 3M; One end of right knee axis 3M is socketed with C angular contact ball bearing 3J, and the other end of right knee axis 3M is socketed with D angular contact ball bearing 3K; Right knee axis 3M is arranged in the BA through hole 3C5 of lower contact 3C4 of right thigh 3C; D angular contact ball bearing 3K is arranged in the A dead eye 3D9 on BE lug 3D1, and installs H bearing (ball) cover 3N at the outer panel face of BE lug 3D1; C angular contact ball bearing 3J is arranged in the B dead eye 3D10 on BF lug 3D2, in the B of right leg 3D dead eye 3D10, first install after C angular contact ball bearing 3J, again one end of D sleeve 3L is arranged in B dead eye 3D10, and D sleeve 3L is fixed on the outer panel face of BF lug 3D2, D sleeve 3L is used for holding out against C angular contact ball bearing 3J, simultaneously also for B angular displacement sensor 3H is installed.
Shown in Figure 3, one end of right thigh expansion link 3A is ball pivot 3A1, after the right side that ball pivot 3A1 inserts waist feature 1 is bent and stretched in the ball-and-socket of bar 1F, tightens by right torsion lid 3A1; The other end of right thigh expansion link 3A is cylinder 3A1, and cylinder 3A1 inserts in the thigh blind hole 3C3 of right thigh 3C.Under the drive of right hydraulic cylinder 6, the cylindrical end of right thigh expansion link 3A moves in thigh blind hole 3C3.The lower end of right leg expansion link 3B is provided with BB through hole 3B1, and this BB through hole 3B1 is for right sufficient pin 5B8(as shown in Figure 3) pass; The upper end of right leg expansion link 3B is inserted in the shank blind hole 3D13 of right leg 3D lower end.
Shown in Fig. 3 A, the upper end of right thigh 3C is provided with BA lug 3C1, BB lug 3C1, thigh blind hole 3C3; This thigh blind hole 3C3 is for placing the cylinder 3A1 of right thigh expansion link 3A, and by placing screw in the hole on BA lug 3C1, BB lug 3C1, this screw coordinates with nut, realizes spacing the cylinder 3A1 of right thigh expansion link 3A in thigh blind hole 3C3.BA lug 3C1 and BB lug 3C1 realize the function of clamping plate.The fixing head 3E1 of right support 3E is installed on the supporting plate face 3C7 relative with BA lug 3C1, BB lug 3C1.The lower end of right thigh 3C is provided with thigh lower contact 3C4, the end of thigh lower contact 3C4 is provided with BA through hole 3C5 and pin hole 3C6, BA through hole 3C5 passes for right knee axis 3M, pin hole 3C6 is interior for placing pin, this pin is used for holding out against right knee axis 3M, and right knee axis 3M is not moved in BA through hole 3C5.
Shown in Fig. 3 B, right support 3E is provided with fixing head 3E1, BC lug 3E2, BD lug 3E3, BC lug 3E2 is provided with BC through hole 3E4, BD lug 3E3 is provided with BD through hole 3E5, between BC lug 3E2 and BD lug 3E3, be C lug grooves 3E6, C lug grooves 3E6 is for placing the upper piston rod 6A of right hydraulic cylinder 6, and one end of upper right bearing pin 3F connects a nut after passing in turn the through hole on BD through hole 2E5, the upper piston rod 6A on BD lug 3E3, the BC through hole 3E4 on BC lug 2E2.In the present invention, realize the installation of the upper piston rod 6A of right thigh 3C upper end and right hydraulic cylinder 6 by right support 3E.
Shown in Fig. 3, Fig. 3 C, the end, lower end of right leg 3D is provided with BI lug 3D5, BJ lug 3D6, shank blind hole 3D13, the upper end of this shank blind hole 3D13 for placing right leg expansion link 3B, and by placing screw in the hole on BI lug 3D5, BJ lug 3D6, this screw coordinates with nut, realizes spacing the upper end of right leg expansion link 3B in shank blind hole 3D13.BI lug 3D5 and BJ lug 3D6 realize the function of clamping plate.Right leg 3D is provided with BE lug 3D1, BF lug 3D2, BG lug 3D3, BH lug 3D4.
Between BE lug 3D1 and BF lug 3D2, be A lug grooves 3D7, this A lug grooves 3D7 is for placing the lower contact 3C4 of right thigh 3C; BE lug 3D1 is provided with A dead eye 3D9, and this A dead eye 3D9 is used for placing D angular contact ball bearing 3K; BF lug 3D2 is provided with B dead eye 3D10, and this B dead eye 3D10 is used for placing C angular contact ball bearing 3J.
Between BG lug 3D3 and BH lug 3D4, be B lug grooves 3D8, BG lug 3D3 is provided with BE through hole 3D11, and BH lug 3D4 is provided with BF through hole 3D12; This B lug grooves 3D8, for placing the lower piston rod 6B of right hydraulic cylinder 6, connects a nut after the through hole of one end of bottom right bearing pin 3G on BE through hole 3D11, lower piston rod 6B through on BG lug 3D3, the BF through hole 3D12 on BH lug 3D4.In the present invention, realize the installation of lower piston rod 6B and the right leg 3D of right hydraulic cylinder 6 by bottom right bearing pin 3G.
In the present invention, left leg assembly 2 adopts Driven by Hydraulic Cylinder with the knee joint in right leg assembly 3, to control kneed motion, realize following human body knee joint motion, detection by left foot component 4 with the plantar pressure of right foot component 5, realize the description of human motion intention, be beneficial to the PREDICTIVE CONTROL to robot motion.Because knee joint adopts Driven by Hydraulic Cylinder, improve the bearing capacity of robot.
In the present invention, the knee joint of robot and people's knee joint are synchronized with the movement, and adopt hydraulic-driven, have reduced the size of knee joint driving element, and this is conducive to the raising of robot overall performance, and use reliable.
A distinguishing feature of knee design of the present invention adopts hydraulic cylinder (left hydraulic cylinder 6, right hydraulic cylinder 7) to drive exactly, has greatly improved response speed and the bearing capacity of ectoskeleton supplemental support robot.Leg assembly is connected with the bar that bends and stretches of lumbar device by thigh expansion link (left thigh expansion link 2A, right thigh expansion link 3A), realize the adjusting of thigh length, meet the needs of different heights, the upper piston rod end of hydraulic cylinder is connected with thigh upper end by support, bearing pin, the lower piston rod end of hydraulic cylinder is connected with shank by bearing pin, realizes kneed driving.Knee joint is the link of thigh and shank, and angular displacement sensor (A angular displacement sensor 2H, B angular displacement sensor 3H) is wherein for measuring knee angle displacement, realizes ectoskeleton supplemental support robot and follow the motor control of human body knee joint.Shank is connected by the sufficient pin on the upper bracket of shank expansion link and foot component, to adjust shank length, meets differing heights people's needs.Ectoskeleton supplemental support robot only has knee joint to be controlled by hydraulic cylinder, and all the other joints are all the requirements for adapting to human leg joint motions, comprises hip joint, ankle joint and sole structure, also comprises side-sway, the ball-joint of thigh etc. of waist.Motor fitness and joint angle that the ectoskeleton supplemental support robot of the present invention's design has realized human body lower limbs detect.
Left foot component 4
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 3, Fig. 3 A, Fig. 3 B, left foot component 4 includes left ankle joint 4A, upper left bearing 4B, lower-left bearing 4C, left front sole 4D, left back sole 4E and left sole 4F.
Shown in Figure 4, upper left bearing 4B is provided with CA lug 4B1, CB lug 4B2, pin-and-hole 4B6, CA through hole 4B7, CA lug 4B1 is provided with CA dead eye 4B4, CB lug 4B2 is provided with CB dead eye 4B5, between CA lug 4B1 and CB lug 4B2, be CA lug grooves 4B3, described CA lug grooves 4B3 is interior for placing the 5th rotating shaft 4A4 of left ankle joint 4A.
Pin-and-hole 4B6 is used for placing left sufficient pin 4B8, and one end of this left sufficient pin 4B8 is in turn through the AB through hole 2B1 of pin-and-hole 4B6, left leg expansion link 2B, another pin-and-hole corresponding with pin-and-hole 4B6.Left sufficient pin 4B8 is for realizing being connected of left foot component 4 and left leg 2.
The lower end of CA through hole 4B7 for placing left leg expansion link 2B.
CA dead eye 4B4 is for installing the E angular contact ball bearing 4A3 of left ankle joint 4A.
CB dead eye 4B5 is for installing the F angular contact ball bearing 4A6 of left ankle joint 4A.
Shown in Figure 4, lower-left bearing 4C is provided with CC lug 4C1, CD lug 4C2, connecting plate 4C6, CC lug 4C1 is provided with CC dead eye 4C4, CD lug 4C2 is provided with CD dead eye 4C5, between CC lug 4C1 and CD lug 4C2, be CB lug grooves 4C3, described CB lug grooves 4C3 is interior for placing the 6th rotating shaft 4A5 of left ankle joint 4A.
Shown in Figure 4, left sole 4F comprises footwear joint 4F7 and left foot plate 4F8, and the fixing head 4C6 of lower-left bearing 4C is installed on footwear joint 4F7, and left front sole 4D, left back sole 4E are installed on left foot plate 4F8; Footwear joint 4F7 is provided with A countersunk head blind hole 4F4, and this A countersunk head blind hole 4F4 is for A pressure transducer 4F1; Left foot plate 4F8 is provided with B countersunk head blind hole 4F5, C countersunk head blind hole 4F6, and B countersunk head blind hole 4F5 is for B pressure transducer 4F2; C countersunk head blind hole 4F6 is for C pressure transducer 4F3.
Shown in Fig. 4, Fig. 4 A, left ankle joint 4A includes C angular displacement sensor 4A1, A sleeve 4A2, E angular contact ball bearing 4A3, the 5th rotating shaft 4A4, the 6th rotating shaft 4A5, F angular contact ball bearing 4A6, A end cap 4A7, B end cap 4A8, G angular contact ball bearing 4A9, H angular contact ball bearing 4A10 and C end cap 4A11.C angular displacement sensor 4A1 is arranged in A sleeve 4A2, and in the sensitivity end of C angular displacement sensor 4A1 insertion the 6th rotating shaft 4A5, A sleeve 4A2 is fixed on the outer panel face of CA lug 4B1 of upper left bearing 4B.
The 5th rotating shaft 4A4 is placed in the CB lug grooves 4C3 between CC lug 4C1 and the CD lug 4C2 of lower-left bearing 4C.One end of the 5th rotating shaft 4A4 is socketed with G angular contact ball bearing 4A9, and the other end of the 5th rotating shaft 4A4 is socketed with H angular contact ball bearing 4A10.G angular contact ball bearing 4A9 is arranged in the CC dead eye 4C4 of CC lug 4C1 of lower-left bearing 4C, and in the outside of CC lug 4C1, B end cap 4A8 is installed.H angular contact ball bearing 4A10 is arranged in the CD dead eye 4C5 of CD lug 4C2 of lower-left bearing 4C, and in the outside of CD lug 4C2, C end cap 4A11 is installed.
The 6th rotating shaft 4A5 is placed in the CA lug grooves 4B3 between CA lug 4B1 and the CB lug 4B2 of upper left bearing 4B.One end of the 6th rotating shaft 4A5 is socketed with E angular contact ball bearing 4A3, and the other end of the 6th rotating shaft 4A5 is socketed with F angular contact ball bearing 4A6.E angular contact ball bearing 4A3 is arranged in the CA dead eye 4B4 of CA lug 4B1 of upper left bearing 4B.F angular contact ball bearing 4A6 is arranged in the CB dead eye 4B5 of CB lug 4B2 of upper left bearing 4B, and in the outside of CB lug 4B2, A end cap 4A7 is installed.
Right foot component 5
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 3, Fig. 3 C, Fig. 3 D, right foot component 5 includes right ankle joint 5A, upper right bearing 5B, bottom right bearing 5C, right front sole 5D, right back sole 5E and right sole 5F.
Shown in Fig. 3 C, upper right bearing 5B is provided with DA lug 5B1, DB lug 5B2, pin-and-hole 5B6, DA through hole 5B7, DA lug 5B1 is provided with DA dead eye 5B4, DB lug 5B2 is provided with DB dead eye 5B5, between DA lug 5B1 and DB lug 5B2, be DA lug grooves 5B3, described DA lug grooves 5B3 is interior for placing the 7th rotating shaft 5A4 of right ankle joint 5A.
Pin-and-hole 5B6 is used for placing right sufficient pin 5B8, and one end of this right sufficient pin 5B8 is in turn through the BB through hole 3B1 of pin-and-hole 5B6, right leg expansion link 3B, another pin-and-hole corresponding with pin-and-hole 5B6.Right sufficient pin 5B8 is for realizing being connected of right foot component 5 and right leg 3.
The lower end of DA through hole 5B7 for placing right leg expansion link 3B.
DA dead eye 5B4 is for installing the J angular contact ball bearing 5A6 of right ankle joint 5A.
DB dead eye 5B5 is for installing the I angular contact ball bearing 5A3 of right ankle joint 5A.
Shown in Fig. 3 C, bottom right bearing 5C is provided with DC lug 5C1, DD lug 5C2, connecting plate 5C6, DC lug 5C1 is provided with DC dead eye 5C4, DD lug 5C2 is provided with DD dead eye 5C5, between DC lug 5C1 and DD lug 5C2, be DB lug grooves 5C3, described DB lug grooves 5C3 is interior for placing the 8th rotating shaft 5A5 of right ankle joint 5A.
Shown in Fig. 3 C, right sole 5F comprises footwear joint 5F7 and right crus of diaphragm plate 5F8, and the fixing head 5C6 of bottom right bearing 5C is installed on footwear joint 5F7, and right front sole 5D, right back sole 5E are installed on right crus of diaphragm plate 5F8; Footwear joint 5F7 is provided with D countersunk head blind hole 5F4, and this D countersunk head blind hole 5F4 is for D pressure transducer 5F1; Right crus of diaphragm plate 5F8 is provided with E countersunk head blind hole 5F5, F countersunk head blind hole 5F6, and E countersunk head blind hole 5F5 is for E pressure transducer 5F2; F countersunk head blind hole 5F6 is for F pressure transducer 5F3.
Shown in Fig. 3, Fig. 3 A, right ankle joint 5A includes D angular displacement sensor 5A1, B sleeve 5A2, I angular contact ball bearing 5A3, the 7th rotating shaft 5A4, the 8th rotating shaft 5A5, J angular contact ball bearing 5A6, D end cap 5A7, E end cap 5A8, K angular contact ball bearing 5A9, L angular contact ball bearing 5A10 and F end cap 5A11.D angular displacement sensor 5A1 is arranged in B sleeve 5A2, and in the sensitivity end of D angular displacement sensor 5A1 insertion the 8th rotating shaft 5A5, B sleeve 5A2 is fixed on the outer panel face of DA lug 5B1 of upper right bearing 5B.
The 7th rotating shaft 5A4 is placed in the DB lug grooves 5C3 between DC lug 5C1 and the DD lug 5C2 of bottom right bearing 5C.One end of the 7th rotating shaft 5A4 is socketed with K angular contact ball bearing 5A9, and the other end of the 7th rotating shaft 5A4 is socketed with L angular contact ball bearing 5A10.K angular contact ball bearing 5A9 is arranged in the DC dead eye 5C4 of DC lug 5C1 of bottom right bearing 5C, and in the outside of DC lug 5C1, E end cap 5A8 is installed.L angular contact ball bearing 5A10 is arranged in the DD dead eye 5C5 of DD lug 5C2 of bottom right bearing 5C, and in the outside of DD lug 5C2, F end cap 5A11 is installed.
The 8th rotating shaft 5A5 is placed in the DA lug grooves 5B3 between DA lug 5B1 and the DB lug 5B2 of upper right bearing 5B.One end of the 8th rotating shaft 5A5 is socketed with I angular contact ball bearing 5A3, and the other end of the 8th rotating shaft 5A5 is socketed with J angular contact ball bearing 5A6.I angular contact ball bearing 5A3 is arranged in the DA dead eye 5B4 of DA lug 5B1 of upper right bearing 5B.J angular contact ball bearing 5A6 is arranged in the DB dead eye 5B5 of DB lug 5B2 of upper right bearing 5B, and in the outside of DB lug 5B2, E end cap 5A7 is installed.
In the present invention, to have realized ankle joint be plane Hooke's hinge two degree of freedom structure in the cooperation of upper undersetting, two rotating shafts, four bearings.I.e. the 5th rotating shaft is through the 6th rotating shaft, and the two ends of the 5th rotating shaft are socketed respectively bearing, and this bearing is arranged on the lug of undersetting; The two ends of the 6th rotating shaft are socketed respectively bearing, and this bearing is arranged on the lug of upper bracket.The design of plane Hooke's hinge ankle joint can realize the front and back of human body ankle and swing, and measures in real time the swing angle of ankle by angular displacement sensor.
In the present invention, foot component structure is for guaranteeing the flexible of ankle joint and foot operation, and when people is dressed, ankle is not interrupted, can measure ankle joint angular displacement and plantar pressure simultaneously, is beneficial to the effective control to foot component.It is flexible, simple in structure that the foot component of the present invention's design has motion, simulates ankle motion completely, is a kind of use novel ankle joint and sole structure and angular displacement and pressure gauge reliable, low cost of manufacture.
The ankle joint mechanism design having at present all adopts spherical hinge structure form, and this structure has run into difficulty to the measurement of ankle joint direction of advance angular displacement, due to the restriction of spherical hinge structure, can not measure this angular displacement, and this control to robot impacts.The foot structure of the present invention's design, ankle joint mechanism has adopted plane Hooke's hinge two degree of freedom structure, before and after, rotating shaft and left and right rotating shaft realize respectively the front and back of sole and swing, and realized by other position around the rotational freedom of shank, in the time of robot control, need the pendulum angle of fore-and-aft direction to measure, therefore angular displacement sensor has been installed this side up, for measuring the pendulum angle before and after sole.Undersetting is arranged on sole, and on undersetting, angular displacement sensor has been installed, and the rotational angle of ankle joint is measured, and has met the measurement requirement of robot to ankle joint angular displacement.Shank expansion link is inserted in upper bracket, and front and back rotating shaft, bearing (ball) cover, bearing are fixed in the lug of upper bracket, realize the front and back rotational freedom of ankle, and realize the measurement of this angle by the angular displacement sensor in rotating shaft before and after being installed to; Left and right rotating shaft is inserted in undersetting fixing, and the axis of front and back rotating shaft is vertical with the axis maintenance of left and right rotating shaft, realizes the degree of freedom that swings of ankle; Between forefoot and hind paw and sole, pressure transducer is installed, and forefoot and hind paw and sole are fixed together, sole contacts with ground, when human body walking, plantar pressure changes, by the detection of pressure transducer, can judge people's walking intention, realize the good control of ectoskeleton supplemental support robot.

Claims (4)

1. a thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, is characterized in that: described thigh and calf part device comprises left leg assembly (2) and right leg assembly (3); Left hydraulic cylinder (6) is installed on left leg assembly (2), right hydraulic cylinder (7) is installed on right leg assembly (3);
Left leg assembly (2) includes left thigh expansion link (2A), left leg expansion link (2B), left thigh (2C), left leg (2D), left socle (2E), upper left bearing pin (2F), lower-left bearing pin (2G) and left knee joint, and described left knee joint is made up of A angular displacement sensor (2H), A angular contact ball bearing (2J), B angular contact ball bearing (2K), C sleeve (2L), left knee axis (2M) and I bearing (ball) cover (2N);
A angular displacement sensor (2H) is arranged in C sleeve (2L), and A angular displacement sensor (2H) inserts in left knee axis (2M); One end of left knee axis (2M) is socketed with A angular contact ball bearing (2J), and the other end of left knee axis 2M is socketed with B angular contact ball bearing (2K); Left knee axis (2M) is arranged in the AA through hole (2C5) of lower contact (2C4) of left thigh (2C); B angular contact ball bearing (2K) is arranged in the A dead eye (2D9) on AE lug (2D1), and installs I bearing (ball) cover (2N) at the outer panel face of AE lug (2D1); A angular contact ball bearing (2J) is arranged in the B dead eye (2D10) on AF lug (2D2), in the B dead eye (2D10) of left leg (2D), first install after A angular contact ball bearing (2J), again one end of C sleeve (2L) is arranged in B dead eye (2D10), and C sleeve (2L) is fixed on the outer panel face of AF lug (2D2);
One end of left thigh expansion link (2A) is ball pivot (2A1), and the other end of left thigh expansion link (2A) is cylinder (2A1), and cylinder (2A1) is inserted in the thigh blind hole (2C3) of left thigh (2C); The lower end of left leg expansion link (2B) is provided with AB through hole (2B1), and this AB through hole (2B1) passes for left sufficient pin (4B8); The upper end of left leg expansion link (2B) is inserted in the shank blind hole (2D13) of left leg (2D) lower end;
The upper end of left thigh (2C) is provided with thigh blind hole (2C3), and this thigh blind hole (2C3) is for placing the cylinder (2A1) of left thigh expansion link 2A; The lower end of left thigh (2C) is provided with thigh lower contact (2C4), and the end of thigh lower contact (2C4) is provided with AA through hole (2C5) and pin hole (2C6), and AA through hole (2C5) passes for left knee axis (2M);
Left socle (2E) is provided with fixing head (2E1), AC lug (2E2), AD lug (2E3), AC lug (2E2) is provided with AC through hole (2E4), AD lug (2E3) is provided with AD through hole (2E5), between AC lug (2E2) and AD lug (2E3), be C lug grooves (2E6), C lug grooves (2E6) is for placing the upper piston rod (6A) of left hydraulic cylinder (6), one end of upper left bearing pin (2F) is in turn through the AD through hole (2E5) on AD lug (2E3), through hole on upper piston rod (6A), after AC through hole (2E4) on AC lug (2E2), connect a nut,
The end, lower end of left leg (2D) is provided with shank blind hole (2D13), and this shank blind hole (2D13) is for placing the upper end of left leg expansion link (2B); Left leg (2D) is provided with AE lug (2D1), AF lug (2D2), AG lug (2D3), AH lug (2D4);
Between AE lug (2D1) and AF lug (2D2), be A lug grooves (2D7), this A lug grooves (2D7) is for placing the lower contact (2C4) of left thigh (2C); AE lug (2D1) is provided with A dead eye (2D9), and this A dead eye (2D9) is for placing B angular contact ball bearing (2K); AF lug 92D2) be provided with B dead eye (2D10), this B dead eye (2D10) is for placing A angular contact ball bearing (2J);
Between AG lug (2D3) and AH lug (2D4), be B lug grooves (2D8), AG lug (2D3) is provided with AE through hole (2D11), and AH lug (2D4) is provided with AF through hole (2D12); This B lug grooves (2D8) is for placing the lower piston rod (6B) of left hydraulic cylinder (6), and one end of lower-left bearing pin (2G) connects a nut after the AF through hole (2D12) passing on the AE through hole (2D11) on AG lug (2D3), through hole, the AH lug (2D4) on lower piston rod (6B);
Right leg assembly (3) includes right thigh expansion link (3A), right leg expansion link (3B), right thigh (3C), right leg (3D), right support (3E), upper right bearing pin (3F), bottom right bearing pin (3G) and right knee joint, and described right knee joint is made up of B angular displacement sensor (3H), C angular contact ball bearing (3J), D angular contact ball bearing (3K), D sleeve (3L), right knee axis (3M) and J bearing (ball) cover 3N;
B angular displacement sensor (3H) is arranged in D sleeve (3L), and B angular displacement sensor (3H) inserts in right knee axis 3M; One end of right knee axis (3M) is socketed with C angular contact ball bearing (3J), and the other end of right knee axis (3M) is socketed with D angular contact ball bearing (3K); Right knee axis 3M is arranged in the BA through hole (3C5) of lower contact (3C4) of right thigh (3C); D angular contact ball bearing (3K) is arranged in the A dead eye (3D9) on BE lug 3D1, and installs H bearing (ball) cover (3N) at the outer panel face of BE lug (3D1); C angular contact ball bearing (3J) is arranged in the B dead eye (3D10) on BF lug (3D2), in the B dead eye (3D10) of right leg (3D), first install after C angular contact ball bearing (3J), again one end of D sleeve (3L) is arranged in B dead eye 3D10, and D sleeve (3L) is fixed on the outer panel face of BF lug (3D2), D sleeve 3L is used for holding out against C angular contact ball bearing 3J, simultaneously also for B angular displacement sensor (3H) is installed;
One end of right thigh expansion link (3A) is ball pivot (3A1), and the other end of right thigh expansion link (3A) is cylinder (3A1), and cylinder (3A1) is inserted in the thigh blind hole (3C3) of right thigh (3C); The lower end of right leg expansion link (3B) is provided with BB through hole (3B1), and this BB through hole (3B1) passes for right sufficient pin (5B8); The upper end of right leg expansion link (3B) is inserted in the shank blind hole (3D13) of right leg (3D) lower end;
The upper end of right thigh (3C) is provided with thigh blind hole (3C3), and this thigh blind hole (3C3) is for placing the cylinder (3A1) of right thigh expansion link (3A); The lower end of right thigh (3C) is provided with thigh lower contact (3C4), and the end of thigh lower contact (3C4) is provided with BA through hole (3C5) and pin hole (3C6), and BA through hole (3C5) passes for right knee axis (3M);
Right support (3E) is provided with fixing head (3E1), BC lug (3E2), BD lug (3E3), BC lug (3E2) is provided with BC through hole (3E4), BD lug (3E3) is provided with BD through hole (3E5), between BC lug (3E2) and BD lug (3E3), be C lug grooves (3E6), C lug grooves (3E6) is for placing the upper piston rod (6A) of right hydraulic cylinder (6), one end of upper right bearing pin (3F) is in turn through the BD through hole (2E5) on BD lug (3E3), through hole on upper piston rod (6A), after BC through hole (3E4) on BC lug (2E2), connect a nut,
The end, lower end of right leg (3D) is provided with shank blind hole (3D13), and this shank blind hole (3D13) is for placing the upper end of right leg expansion link (3B); Right leg (3D) is provided with BE lug (3D1), BF lug (3D2), BG lug (3D3), BH lug (3D4);
Between BE lug (3D1) and BF lug (3D2), be A lug grooves (3D7), this A lug grooves (3D7) is for placing the lower contact (3C4) of right thigh (3C); BE lug (3D1) is provided with A dead eye (3D9), and this A dead eye (3D9) is for placing D angular contact ball bearing (3K); BF lug (3D2) is provided with B dead eye (3D10), and this B dead eye (3D10) is for placing C angular contact ball bearing (3J);
Between BG lug (3D3) and BH lug (3D4), be B lug grooves (3D8), BG lug (3D3) is provided with BE through hole (3D11), and BH lug (3D4) is provided with BF through hole (3D12); This B lug grooves (3D8) is for placing the lower piston rod (6B) of right hydraulic cylinder (6), and one end of bottom right bearing pin (3G) connects a nut after the BF through hole (3D12) passing on the BE through hole (3D11) on BG lug (3D3), through hole, the BH lug (3D4) on lower piston rod (6B); In the present invention, realize the installation of lower piston rod (6B) Yu the right leg (3D) of right hydraulic cylinder (6) by bottom right bearing pin (3G).
2. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: left leg assembly (2) adopts Driven by Hydraulic Cylinder with the knee joint in right leg assembly (3).
3. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: the upper end of left leg assembly (2) and right leg assembly (3) and waist be connected to spherical hinge structure.
4. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: the lower end of left leg assembly (2) and right leg assembly (3) and foot be connected to plane Hooke's hinge structure.
CN201410063123.XA 2014-02-25 2014-02-25 A kind of size leg device with knee joint parameter measurement suitable for ectoskeleton Auxiliary support robot Expired - Fee Related CN103860358B (en)

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