CN104257490A - Method for folding wearable lower limb assisting robots - Google Patents

Method for folding wearable lower limb assisting robots Download PDF

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Publication number
CN104257490A
CN104257490A CN201410515251.3A CN201410515251A CN104257490A CN 104257490 A CN104257490 A CN 104257490A CN 201410515251 A CN201410515251 A CN 201410515251A CN 104257490 A CN104257490 A CN 104257490A
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China
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shank
folding
link
thigh
rod
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CN201410515251.3A
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Chinese (zh)
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CN104257490B (en
Inventor
张强
葛运建
张丹
双丰
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中国科学院合肥物质科学研究院
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Priority to CN201410515251.3A priority Critical patent/CN104257490B/en
Priority to CN201310257360.5A priority patent/CN103330635B/en
Publication of CN104257490A publication Critical patent/CN104257490A/en
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Publication of CN104257490B publication Critical patent/CN104257490B/en

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Abstract

The invention discloses a method for folding wearable lower limb assisting robots. The method is characterized by comprising detaching leg following support elastic components from assisting mechanical legs, and sequentially outwardly turning hinge centers of the upper end edges of hip joint rotation limiting discs and the lower portions of bosses by 90-degree angles by the aid of thigh folding components and shank folding components; outwardly and oppositely folding the assisting mechanical legs at the shank folding components; inwardly and oppositely folding the assisting mechanical legs at the thigh folding components; obtaining portable bodies of the wearable lower limb assisting robots. The wearable lower limb assisting robots are in initial states when central connecting lines of thigh connecting rods and shank connecting rods are at mutual coincidence positions. The method has the advantages that the wearable lower limb assisting robots can be turned into the portable bodies with compact structures and can be used with loading and transporting trolley cases, so that users can conveniently carry and store the wearable lower limb assisting robots in various modes, and daily activity and nursing requirements such as walking and stair ascending and descending of the users can be effectively met.

Description

A kind of method for folding of wearable type lower limb power-assisting robot

The application is application number: 2013102573605; The applying date is: on June 26th, 2013; Denomination of invention is: a kind of wearable type lower limb power-assisting robot, its method for folding and the divisional application pulling case for loading and transporting.

Technical field

The present invention relates to a kind of method for folding of wearable type lower limb power-assisting robot, especially the mid-aged population daily life care applications that lower limb are weak or joint action is inconvenient is to some extent applied to, help its expansion the exercise ability of lower limbs when walking and stair activity, belong to nursing type power-assisting robot technical field.

Background technology

Along with Chinese society progresses into the aged tendency of population stage, increasing middle-aged and elderly people is by joint degeneration, osteoporosis, there is the aching and limp symptom such as weak of lower limb in the impact of the various factors such as leg muscle strain, the basic daily routines such as walking and stair activity are had a strong impact on, in order to solve this kind of problem, ensure the normal body motion of mid-aged population, except taking traditional physical training, Traditional Chinese health is treated, 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.Existing Shuo Jia research institution has carried out the research to wearable type lower limb power-assisting robot technology both at home and abroad at present, indivedual achievement in research has even been converted into launch and has sold, the power-assisted machinery developed as Univ California-Berkeley takes the exoskeleton robot HAL that BLEEX and Japanese University of tsukuba Cybernics laboratory development go out, although feature richness and power-assisted is respond well, but due to robot body adopt power source and sensing equipment numerous, manufacturing cost is caused to remain high, lose cost performance, and because mechanism is complicated and device is heavy, make robot controlling difficulty large, the heavy burden sense being worn on human body is stronger, portability is poor, be difficult to penetration and promotion.

ZL201310034245.1 reports " a kind of wearable lower limb exoskeleton assistant robot ", by ankle motion module, motion of knee joint module, hip joint motion module, driver module, a few major part such as waist and support frame module is formed, screw nut driven mechanism is coordinated to drive each joint motions module by direct current generator, realize lower limb power-assisted during human body walking, there is man-machine sports coordination good, the advantages such as compact conformation, but this 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 with robot.

ZL201020568411.8 reports " human exoskeleton loaded walking aiding device that a kind of linear electric motors drive ", by backrest, hip joint components, thigh parts, lower leg component, anklebone parts, base plate, power supply, control device, the each several part such as sensor and driving device is formed, rotated by each joint of electric cylinder telescopic drive human body lower limbs of rectilinear motion, thus provide power-assisted to the human body of walking with load, there is volume little, energy consumption is low, be easy to control and the advantages such as low cost of manufacture, but axial dimension is comparatively large and retrain by shift motion shared by linear electric motors self, limit the range of activity of joint of the lower extremity, again because each joint all needs separate straight lines motor to drive, be unfavorable for that the coordination exercise of whole human body lower limbs controls, and this walking power assisting device does not possess portable function, have impact on the routine use of user.

ZL201210370645.5 reports one " portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot ", comprise the thigh support parts connected successively, knee components, calf support part and ankle joint foot parts, motor is adopted 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, but this robot does not possess the tumble-preventing device for the sensing module and necessity detecting human-machine interactive information and human motion attitude, both be unfavorable for that external skeleton robot implemented Based Intelligent Control, have impact on the harmony of man-machine interaction, again reduce the safety that user uses this robot, moreover, the portable performance of this robot is only there is 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 the weak point for avoiding existing for above-mentioned prior art, a kind of method for folding of wearable type lower limb power-assisting robot is provided, this robot effectively can alleviate the heavy burden sense being worn on human body, there is security performance high, man-machine harmony controls simple, servo-actuated power-assisted is effective, cost performance high, this robot can be changed into the portable body of compact conformation by its method for folding, coordinate and may be implemented in a variety of ways user's being convenient for carrying and collection this robot for the case that pulls loaded and transported, to better meet the daily routines nursing demand such as walking and stair activity of mid-aged population.

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 arranges:

One lower limb assistance mechanical device arranges wearable power-assisted pedipulator in the lateral symmetry of wearable belt; Left and right sides consolidation one boss respectively of described belt, is fixedly installed a support in the middle part of the rear side of described belt;

One servo-control system, comprise the lithium battery group being fixedly installed on microcontroller above described support, being fixed on the bottom of support, the front being fixed on the front side of described belt falls down prediction and alarm circuit, be fixed on the rear of the rear side of belt falls down prediction and alarm circuit, and is fixedly installed on the manual manipulator on the boss of the belt left and right sides;

The vibrational power flow of described power-assisted pedipulator is:

The upper end thereof of hip joint rotary stopper dish in the bottom of described boss, and connects firmly with the inner side of hip joint disk; The discoid top of thick link connects firmly in the first axle, and described first axle is supported on the inner side of described hip joint disk by the first rolling bearing and the second rolling bearing and can rotates around the central axis of hip joint disk;

Knee joint rotary stopper dish connects firmly the inner side of the knee joint disk in the lower end being positioned at described thick link; The body of DC servo reducing motor is fixedly mounted on the outside of knee joint disk; The discoid upper end of shank link connects firmly on the output shaft of described DC servo reducing motor, and the output shaft of described DC servo reducing motor is supported on the inner side of described knee joint disk by the 3rd rolling bearing and the 4th rolling bearing and the central axis of joint disk of can staying with one's parents in order to make them happy rotates;

Ankle joint rotary stopper dish connects firmly the inner side of the ankle joint disk in the lower end being positioned at shank link; The discoid sidepiece of sole connects firmly on the second mandrel, and described second axle is supported on the inner side of described ankle joint disk by the 5th rolling bearing and the 6th rolling bearing and can rotates around the central axis of ankle joint disk;

The inner side of described thick link is connected by thigh reciprocal force sensor and thigh bandage, is connected by shank reciprocal force sensor and shank binder in the inner side of described shank link; Described sole is fixedly installed foot's binder; Sole distributed pressure sensor is that multi-disc is fixedly installed on described sole respectively;

Described thigh reciprocal force sensor is made up of the first front shroud, the first elastomer and the first back shroud; Side and the described thigh bandage of described first front shroud connect firmly, and the side of described first back shroud and the inner side of described thick link connect firmly, and described first elastomer is connected between described first front shroud and described first back shroud; Four first foil gauges of circumference uniform distribution are pasted with respectively at described first elastomeric cross spring beam root and corresponding position, end;

Described shank reciprocal force sensor is made up of the second front shroud, the second elastomer and the second back shroud; Side and the described shank binder of described second front shroud connect firmly, and the side of described second back shroud and the inner side of described shank link connect firmly, and described second elastomer is connected between described second front shroud and described second back shroud; Four second foil gauges of circumference uniform distribution are pasted with respectively at described second elastomeric cross spring beam root and corresponding position, end;

The construction features of wearable type lower limb power-assisting robot of the present invention is also:

The servo-actuated support elastomeric element of leg is set between described support and described shank link, the servo-actuated support elastomeric element of described leg is made up of the first cover for seat coaxially arranged and the first bar core, and described first cover for seat and the first bar core can be movable relatively vertically each other under compression force; The upper end of described first cover for seat is connected with ball pivot by " L " shape support and described support, and lower end and the projection seat connected firmly outside described shank link of described first bar core are connected with ball pivot;

The servo-actuated support elastomeric element of foot is set between described sole and described shank link, the servo-actuated support elastomeric element of described foot is made up of the second cover for seat coaxially arranged and the second bar core, and described second cover for seat and the second bar core can be movable relatively vertically each other under compression force; The lower end of described second cover for seat is hinged at the little free bearing at described sole rear portion with connecting firmly, and the upper end of described second bar core is hinged with the end of the small rack connected firmly on described shank link in cantilever.

The construction features of wearable type lower limb power-assisting robot of the present invention is also: arrange foldable structure, be be connecting rod and thigh lower link on thigh by described thick link subsection setup, on described thigh, connecting rod and thigh lower link are connected with thigh folding means folding; Be connecting rod and shank lower link on shank by described shank link subsection setup, on described shank, connecting rod and shank lower link are connected with shank folding means folding;

The vibrational power flow of described thigh folding means is: described thigh folding means is the four-bar linkage be made up of the first rod member, the second rod member, the 3rd rod member and the 4th rod member, described first rod member connects firmly the bottom of connecting rod on described thigh, described 4th rod member connects firmly on the top of described thigh lower link, and described first rod member, the second rod member, the 3rd rod member and the 4th rod member successively head and the tail are hinged;

The vibrational power flow of described shank folding means is: described shank folding means is made up of the first projection, the second projection and the screw rod that is arranged at both sides before and after described shank link respectively, described first projection connects firmly the bottom of connecting rod on described shank, and described second projection connects firmly the top at described shank lower link; Described first projection and the second projection hinged along sidepiece central axis; Described screw rod screws in respectively by the screw of one of both the first projection and the second projection or screws out another screw corresponded.

The feature of the method for folding of wearable type lower limb power-assisting robot of the present invention is carried out as follows:

A, servo-actuated for described leg support elastomeric element to be unloaded from described power-assisted pedipulator, with the line of centres of described thick link and shank link be in overlap position time for original state, utilize described thigh folding means and shank folding means successively by the upper end edge of described hip joint rotary stopper dish and the hinged center half-twist laterally of described boss bottom;

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 loading and transporting the construction features pulling case of described wearable type lower limb power-assisting robot is: arrange one can be used for the wearable type lower limb power-assisting robot taking up and haul described in claim portable body and by the casing of the servo-actuated support elastomeric element of leg of removing stage makeup and costume, the back of described casing is provided with braces, the different lateral location of described casing are respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, described casing can utilize described bracket support on support, and is carried 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 of the present invention is safe and reliable.Because wearable type lower limb power-assisting robot of the present invention adopts DC servo reducing motor to drive at knee joint disk place, output torque is large, and control accuracy is high; The size and Orientation of man-machine interaction power is detected again respectively owing to present invention employs thigh reciprocal force sensor and shank reciprocal force sensor, can judge body motion information timely and accurately and predict, be provided with sole distributed pressure sensor as the auxiliary perception obtaining means to real time human-machine interaction information simultaneously, make user have steadily the speed of travel and stronger climbing capacity reliably when dressing lower limb power-assisting robot of the present invention and carrying out autonomous and stair activity; 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 caused because joint rotation angle is excessive; When user be about to face fall down danger time, the present invention falls down prediction and alarm circuit by forward and backward side and produces alarm signal in time, user applies human intervention to correct the athletic posture of lower limb power-assisting robot by arranging of manual manipulator immediately, makes it to produce the rational act more meeting user intent.

2, the vibrational power flow advantages of simple of the servo-actuated support elastomeric element of leg and foot in the present invention, under compression force, cover for seat and the bar core of the servo-actuated support elastomeric element of leg and foot all can be movable relatively each other vertically, can be user and provide enough auxiliary bearing capacities when walking or stair activity, coordinate lower limb assistance mechanical devices can the health of effective supporting user, improve the holistic resistant behavior of man-machine interactive system, decreasing human body dressing the heavy burden sense in lower limb assistance mechanical device walking process, facilitating man-machine harmony.

3, simple, the servo-actuated power-assisted of the man-machine cooperation control of the present invention is effective.The servo-actuated support elastomeric element of leg and foot achieve respectively power-assisted pedipulator in the present invention to human hip, ankle joint with electric boosting function, in the power-assisted process that DC servo reducing motor Direct driver human body knee joint at knee joint disk place rotates, the servo-actuated support elastomeric element of leg is while passive matrix human hip rotates, also the effect of the above load of leg-supporting is served, select the servo-actuated support elastomeric element of suitable leg can make it when resting state just by load compression, produce counteracting force and prop up load, thus the load that human body can be made to bear effectively is passed to sole ground, when human body dresses lower limb power-assisting robot of the present invention walking, compression stress can be released again, promotion human hip rotates, when both legs are walked jointly, the servo-actuated support elastomeric element of a leg at hip joint place plays carrying effect, the servo-actuated support elastomeric element of another leg plays a part to drive hip joint to rotate, the servo-actuated support elastomeric element of two legs of left and right lower limb hockets, and have effectively achieved 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, thick link and shank link are all in and launch locking state completely; And after wearable type lower limb power-assisting robot of the present invention work completes, thick link and shank link can all be adjusted to maximum to overlapping state by user, hip joint disk, knee joint disk and ankle joint disk place associated components are set simultaneously and rotate to proper angle, wearable type lower limb power-assisting robot of the present invention can be made to change the portable body of volume compact into, facilitate user to be inserted to pull in case and take up, haul or collect; The casing back pulling case due to the present invention is again provided with braces, the different lateral location of casing are respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, make user that three kinds of different modes such as hand pulling type, portable or Backpack type can be selected to carry wearable type lower limb power-assisting robot of the present invention, better to adapt to different environment for use and occasion.

5, because wearable type lower limb power-assisting robot of the present invention only has a DC servo reducing motor independent power source at knee joint disk place, coordinate leg and the servo-actuated support elastomeric element of foot, achieve to the active power-assisted of human body knee joint and to multi-functionals such as the servo-actuated power-assisteds of 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 its expansion the exercise ability of lower limbs when walking and stair activity, for the general population that limb function is sound, 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 overall mechanical design front view of the present invention;

Fig. 2 is overall mechanical design 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 portablely in the present invention pulls case closing lid structural representation;

Fig. 8 b portablely in the present invention pulls case cover-opening structure schematic diagram;

Fig. 9 is that in the present invention, user utilizes the portable case that pulls to haul lower limb power-assisting robot schematic diagram;

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 in expansion locking state schematic front view completely;

Figure 11 b is that in the present invention, thigh folding means is in expansion 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 in expansion locking state schematic front view completely;

Figure 13 b is that in the present invention, shank folding means is in expansion locking state schematic side view completely;

Figure 14 a is leg servo-actuated support elastomeric element structural representation in the present invention;

Figure 14 b is foot's servo-actuated support elastomeric element structural representation 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 front; 2 belts; 3 boss; 4 hip joint rotary stopper dishes; 5 hip joint disks; 6 thigh folding means; 7 thick link; 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 shank link; 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 elastomeric elements of foot; 21A second cover for seat; 21B second bar core; 22 small racks; 23 shank binders; 24 shank reciprocal force sensors; 24A second front shroud; 24B second elastomer; 24C second cover plate; 24D second foil gauge; 25 projection seats; The servo-actuated support elastomeric element of 26 leg; 26A first cover for seat; 26B first bar core; 27 thigh reciprocal force sensors; 27A first front shroud; 27B first elastomer; 27C first back shroud; 27D first foil gauge; 28 thigh bandage; 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.

Detailed description of the invention

The vibrational power flow of the present embodiment wearable type lower limb power-assisting robot is:

See Fig. 1, Fig. 2 and Fig. 6, lower limb assistance mechanical device arranges wearable power-assisted pedipulator 48 in the lateral symmetry of wearable belt 2; Left and right sides consolidation one boss 3 respectively of belt 2, is fixedly installed a support 17 in the middle part of the rear side of belt 2; Power-assisted pedipulator 48 is bonded to human leg and foot respectively by thigh bandage 28, shank binder 23 and foot's binder 14, and belt 2 is bonded to human body waist, and support 17 is for carrying and install microcontroller 18, lithium battery group 19, bracket 55 and casing 54;

Servo-control system comprises the lithium battery group 19 being fixedly installed on microcontroller 18 above support 17, being fixed on the bottom of support 17, the front being fixed on the front side of belt 2 falls down prediction and alarm circuit 1, be fixed on the rear of the rear side of belt 2 falls down prediction and alarm circuit 16, 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 components, takes general-purpose interface mode to be connected with between wearable type lower limb power-assisting robot, microcontroller 18 drives DC servo reducing motor 8 to rotate and output torque by certain moving law with the drive pattern of default and control algolithm, 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, regulated to send the working condition of command adapted thereto to DC servo reducing motor 8, form a closed-loop control system, embody wearable type lower limb power-assisting robot to the intelligent coordinated property of human body power-assisted, front 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, on the one hand the body posture information during power-assisting robot walking of human body wearing lower limb and limbs acceleration information are detected in real time, can send alarm signal in time when Detection Information is tending towards exception 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 the assistant mode of assisting users manual intervention wearable type lower limb power-assisting robot, better to adapt to hommization operation.

The vibrational power flow of power-assisted pedipulator 48 is:

As shown in Fig. 1 and Fig. 3 a, the upper end thereof of hip joint rotary stopper dish 4 in the bottom of boss 3, and connects firmly with the inner side of hip joint disk 5; The discoid top of thick link 7 connects firmly in the first axle 59, and the first axle 59 is supported on the inner side of hip joint disk 5 by the first rolling bearing 57 and the second rolling bearing 58 and can rotates around the central axis of hip joint disk 5; Wherein, hip joint rotary stopper dish 4, for limiting the rotary moveable scope of thick link 7 around human hip, prevents from causing damage because the anglec of rotation is excessive to human hip.

As shown in Fig. 1 and Fig. 3 b, knee joint rotary stopper dish 9 connects firmly the inner side of the knee joint disk 53 in the lower end being positioned at thick link 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 link 11 connects firmly on the output shaft 8B of DC servo reducing motor 8, and the output shaft 8B of DC servo reducing motor 8 is supported on the inner side of knee joint disk 53 by the 3rd rolling bearing 60 and the 4th rolling bearing 61 and the central axis of joint disk 53 of can staying with one's parents in order to make them happy 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 Driving Torque according to certain rules that can send according to servo-control system, drive between thick link 7 and shank link 11 and produce relative rotary motion, then driving joint of staying with one's parents in order to make them happy between human thigh and shank to produce relative rotary motion by being worn on thigh bandage 28 on human body and shank binder 23, realizing the active assist function of lower limb power-assisting robot to human body knee joint; Knee joint rotary stopper dish 9, for limiting the rotary moveable scope of shank link 11 around human body knee joint, prevents from causing damage because the anglec of rotation is excessive to human body knee joint.

As shown in Fig. 1 and Fig. 3 c, ankle joint rotary stopper dish 65 connects firmly the inner side of the ankle joint disk 12 in the lower end being positioned at shank link 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 by the 5th rolling bearing 62 and the 6th rolling bearing 63 and can rotates around the central axis of ankle joint disk 12; Wherein, ankle joint rotary stopper dish 65, for limiting the rotary moveable scope of sole 13 around model of human ankle, prevents from causing damage because the anglec of rotation is excessive to model of human ankle.

As depicted in figs. 1 and 2, the inner side of thick link 7 is connected by thigh reciprocal force sensor 27 and thigh bandage 28, is connected by shank reciprocal force sensor 24 and shank binder 23 in the inner side of shank link 11; Thigh reciprocal force sensor 27 and shank reciprocal force sensor 24 are tied up in the optimal perceived position of human leg people-machine touch interaction respectively by thigh bandage 28 and shank binder 23, be used for detecting the size and Orientation of man-machine interaction power, to judge body motion information timely and accurately and to predict; Sole 13 is fixedly installed foot's binder 14; Sole distributed pressure sensor 15 is fixedly installed on sole 13 respectively in multi-disc, is used for the real time pressure information of comprehensive detection user when dressing the walking of lower limb power-assisting robot to sole 13, 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 made up of the first front shroud 27A, the first elastomer 27B and the first back shroud 27C, side and the thigh bandage 28 of the first front shroud 27A connect firmly, and the side of the first back shroud 27C and the inner side of thick link 7 connect firmly, 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 bandage 28 reaches on the first elastomer 27B by the first front shroud 27A, the first elastomer 27B is caused to strain, and then cause the resistance of the first foil gauge 27D to change, four first foil gauge 27D of circumference uniform distribution are pasted with respectively at the cross spring beam root of the first elastomer 27B and corresponding position, end, thus on 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 along thigh direction and perpendicular to the man-machine interaction power size on thigh direction respectively, first back shroud 27C mono-aspect is used for carrying out seal protection to the first foil gauge 27D and magnification circuit plate, is used for being fixed associated lead on the other hand.

As shown in Figure 1, Figure 2, shown in Fig. 5 a and Fig. 5 b, shank reciprocal force sensor 24 is made up of the second front shroud 24A, the second elastomer 24B and the second back shroud 24C, side and the shank binder 23 of the second front shroud 24A connect firmly, and the side of the second back shroud 24C and the inner side of shank link 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, the second elastomer 24B is caused to strain, and then cause the resistance of the second foil gauge 24D to change, four second foil gauge 24D of circumference uniform distribution are pasted with respectively at the cross spring beam root of the second elastomer 24B and corresponding position, end, thus on 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 along shank direction and perpendicular to the man-machine interaction power size on shank direction respectively, second back shroud 24C mono-aspect is used for carrying out seal protection to the second foil gauge 24D and magnification circuit plate, and be used for being fixed associated lead on the other hand, as shown in figure 15, the first foil gauge 27D has identical distribution form with the second foil gauge 24D.

In concrete enforcement, corresponding vibrational power flow also comprises:

As shown in Figure 1, Figure 2 with shown in Figure 14 a, the servo-actuated support elastomeric element 26 of leg is set between support 17 and shank link 11, the servo-actuated support elastomeric element 26 of leg is made up of the first cover for seat 26A coaxially arranged 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 lower end and the projection seat 25 connected firmly outside shank link 11 of the first bar core 26B are connected with ball pivot; Wherein, the servo-actuated support elastomeric element 26 of leg achieve wearable type lower limb power-assisting robot to human hip with electric boosting function, while passive matrix human hip rotates, also the effect of the above load of leg-supporting is served, select the servo-actuated support elastomeric element 26 of suitable leg can make it when resting state just by load compression, produce counteracting force and prop up load, thus the load that human body can be made to bear effectively is passed to sole ground, when human body dresses 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 elastomeric element 26 of a leg at hip joint place plays carrying effect, the servo-actuated support elastomeric element 26 of another leg plays a part to drive hip joint to rotate, the servo-actuated support elastomeric element 26 of two legs of left and right lower limb hockets, have effectively achieved the coordination exercise of both legs, decreasing user dressing the heavy burden sense in lower limb assistance mechanical device walking process, facilitating man-machine harmony.

As shown in Figure 1, Figure 2 with shown in Figure 14 b, the servo-actuated support elastomeric element 21 of foot is set between sole 13 and shank link 11, the servo-actuated support elastomeric element 21 of foot is made up of the second cover for seat 21A coaxially arranged 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 is hinged at the little free bearing 20 at sole 13 rear portion with connecting firmly, and the upper end of the second bar core 21B is hinged with the end of the small rack 22 connected firmly on shank link 11 in cantilever; Wherein, the servo-actuated support elastomeric element 21 of foot achieve wearable type lower limb power-assisting robot to model of human ankle with electric boosting function, while passive matrix model of human ankle rotates, also the effect supporting the above load of foot is served, select the servo-actuated support elastomeric element 21 of suitable foot can make it when resting state just by load compression, produce counteracting force and prop up load, thus the load that human body can be made to bear effectively is passed to sole ground, when human body dresses the walking of lower limb power-assisting robot, compression stress can be released again, promotes model of human ankle and rotates; Foot's servo-actuated support elastomeric element 21 matches with the servo-actuated support elastomeric element 26 of leg, jointly plays the servo-actuated power-assisted to human body lower limbs, motion buffering and supplemental support effect; Here, the way of realization of the servo-actuated support elastomeric element 21 of leg servo-actuated support elastomeric element 26 or foot can be air spring, also can be the Long Distances linear compression spring of tape guide cylinder.

As shown in Figure 1, arranging foldable structure is be connecting rod 7A and thigh lower link 7B on thigh by thick link 7 subsection setup, and on thigh, connecting rod 7A and thigh lower link 7B are connected with thigh folding means 6 folding; Be connecting rod 11A and shank lower link 11B on shank by shank link 11 subsection setup, on shank, connecting rod 11A and shank lower link 11B are connected with shank folding means 10 folding; Thigh folding means 6 and shank folding means 10 can be used to carry out expansion locking or fold packing up to lower limb assistance mechanical device, are convenient to user and between wearing work and collection are carried, carry out function switching to lower limb power-assisting robot.

As shown in Figure 10, Figure 11 a and Figure 11 b, the vibrational power flow of thigh folding means 6 is: thigh folding means 6 is the four-bar linkages be made up of the first rod member 50, second rod member 31, the 3rd rod member 32 and the 4th rod member 51, first rod member 50 connects firmly the bottom of connecting rod 7A on thigh, 4th rod member 51 connects firmly on the top of thigh lower link 7B, and the first rod member 50, 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 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, then this four-bar linkage is in dead point duty, just can by the first rod member 50 and the 4th rod member 51 clamping fastener, and the end coupler body oppositely pulling the 3rd rod member 32 can remove the clamp position to the first rod member 50 and the 4th rod member 51; Therefore, user can be realized to the expansion locking of thick link 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 vibrational power flow of shank folding means 10 is: shank folding means 10 is made up of the first projection 34, second projection 33 and the screw rod 35 that is arranged at both sides before and after shank link 11 respectively, first projection 34 connects firmly the bottom of connecting rod 11A on shank, and the second projection 33 connects firmly on the top of shank lower link 11B; First projection 34 and the second projection 33 hinged along sidepiece central axis; Screw rod 35 screws in respectively by the screw of one of both the first projection 34 and the second projection 33 or screws out another screw corresponded; When manually adjustment the first projection 34 and the second projection 33 are along the angle at hinged center until when screw rod 35 and another corresponding screw are in coaxial position, twist the screw rod 35 of both sides before and after shank link 11 respectively until engagement enters the most deep location in another screw corresponded, the first projection 34 and the second projection 33 can be fastenedly connected; Oppositely twist the screw rod 35 of both sides before and after shank link 11 respectively until exit completely from the most deep location another screw corresponded, the state that is fastenedly connected of the first projection 34 and the second projection 33 can be removed; Therefore, user can be realized to the expansion locking of shank link 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, servo-actuated for leg support elastomeric element 26 is unloaded from power-assisted pedipulator 48, with thick link 7 and the line of centres of shank link 11 be in overlap position time for original state, utilize thigh folding means 6 and shank folding means 10 successively by the hinged center half-twist laterally of the upper end edge of hip joint rotary stopper dish 4 and boss 3 bottom;

2, by power-assisted pedipulator 48 at shank folding means 10 place laterally to folded;

3, by power-assisted pedipulator 48 at thigh folding means 6 place 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, arrange and pull case for what load and transport wearable type lower limb power-assisting robot, be arrange one can be used for taking up and hauling wearable type lower limb power-assisting robot portable body 49 and by the casing 54 of the servo-actuated support elastomeric element 26 of leg of removing stage makeup and costume, wherein the space three-dimensional size of casing 54 should adapt with the overall dimensions of portable body 49 and volume; The back of casing 54 is provided with braces 56, the different lateral location of casing 54 are respectively arranged with the first handle 42, second handle 38, telescopic lever 37, castor 43 and bracket 55; The vibrational power flow 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 to collect it; In wearable type lower limb power-assisting robot work process, casing 54 1 aspect of interior sky is carried on the back in shoulders of human body by braces 56, bracket 55 is utilized to be supported on support 17 on the other hand, now casing 54 be applied to most loads on human body carry by the servo-actuated support elastomeric element 26 of leg, effectively reduce human body and dressing the heavy burden sense in lower limb assistance mechanical device walking process; And after wearable type lower limb power-assisting robot end-of-job, the casing 54 that portable body 49 is equipped with by telescopic lever 37 in inside by user like a cork carries out pulling delivery; And when run into be not suitable for terrain environment that hand pulling type carries time, the casing 54 that portable body 49 to be equipped with by the first handle 42 or the second handle 38 in inside by user carries out portable carrying, and also carries out Backpack type by braces 56 and carries; In a word, by above three kinds of different carrying modes, user can be made better to adapt to different environment 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 its expansion the exercise ability of lower limbs when walking and stair activity, for the general population that limb function is sound, 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 weight is carried when helping it to strengthen walking, improve limit of sports record, lessen fatigue sense; 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 method for folding for wearable type lower limb power-assisting robot, is characterized in that: the version arranging described wearable type lower limb power-assisting robot is:
One lower limb assistance mechanical device arranges wearable power-assisted pedipulator (48) in the lateral symmetry of wearable belt (2); The left and right sides consolidation one boss (3) respectively of described belt (2), is fixedly installed a support (17) in the middle part of the rear side of described belt (2);
One servo-control system, comprise the lithium battery group (19) being fixedly installed on microcontroller (18) above described support (17), being fixed on the bottom of support (17), the front being fixed on the front side of described belt (2) falls down prediction and alarm circuit (1), be fixed on the rear of the rear side of belt (2) falls down prediction and alarm circuit (16), and is fixedly installed on the manual manipulator (30) on belt left and right sides boss (3);
The vibrational power flow of described power-assisted pedipulator (48) is:
The upper end thereof of hip joint rotary stopper dish (4) in the bottom of described boss (3), and connects firmly with the inner side of hip joint disk (5); The discoid top of thick link (7) connects firmly in the first axle (59), and described first axle (59) is supported on the inner side of described hip joint disk (5) by the first rolling bearing (57) and the second rolling bearing (58) and can rotates around the central axis of hip joint disk (5);
Knee joint rotary stopper dish (9) connects firmly the inner side of the knee joint disk (53) in the lower end being positioned at described thick link (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 link (11) connects firmly on the output shaft (8B) of described DC servo reducing motor (8), and the output shaft (8B) of described DC servo reducing motor (8) is supported on the inner side of described knee joint disk (53) by the 3rd rolling bearing (60) and the 4th rolling bearing (61) and the central axis of joint disk (53) of can staying with one's parents in order to make them happy rotates;
Ankle joint rotary stopper dish (65) connects firmly the inner side of the ankle joint disk (12) in the lower end being positioned at shank link (11); The discoid sidepiece (13A) of sole (13) connects firmly in the second axle (64), and described second axle (64) is supported on the inner side of described ankle joint disk (12) by the 5th rolling bearing (62) and the 6th rolling bearing (63) and can rotates around the central axis of ankle joint disk (12);
The inner side of described thick link (7) is connected by thigh reciprocal force sensor (27) and thigh bandage (28), is connected by shank reciprocal force sensor (24) and shank binder (23) in the inner side of described shank link (11); Described sole (13) is fixedly installed foot's binder (14); Sole distributed pressure sensor (15) is fixedly installed on described sole (13) respectively in multi-disc;
Described thigh reciprocal force sensor (27) is made up of the first front shroud (27A), the first elastomer (27B) and the first back shroud (27C); Side and the described thigh bandage (28) of described first front shroud (27A) connect firmly, the side of described first back shroud (27C) and the inner side of described thick link (7) connect firmly, and described first elastomer (27B) is connected between described first front shroud (27A) and described first back shroud (27C); Four first foil gauges (27D) of circumference uniform distribution are pasted with respectively at the cross spring beam root of described first elastomer (27B) and corresponding position, end;
Described shank reciprocal force sensor (24) is made up of the second front shroud (24A), the second elastomer (24B) and the second back shroud (24C); Side and the described shank binder (23) of described second front shroud (24A) connect firmly, the side of described second back shroud (24C) and the inner side of described shank link (11) connect firmly, and described second elastomer (24B) is connected between described second front shroud (24A) and described second back shroud (24C); Four second foil gauges (24D) of circumference uniform distribution are pasted with respectively at the cross spring beam root of described second elastomer (24B) and corresponding position, end;
Foldable structure is set, be be connecting rod (7A) and thigh lower link (7B) on thigh by described thick link (7) subsection setup, on described thigh, connecting rod (7A) and thigh lower link (7B) are connected with thigh folding means (6) folding; Be connecting rod (11A) and shank lower link (11B) on shank by described shank link (11) subsection setup, on described shank, connecting rod (11A) and shank lower link (11B) are connected with shank folding means (10) folding;
The vibrational power flow of described thigh folding means (6) is: described thigh folding means (6) is by the first rod member (50), second rod member (31), the four-bar linkage that 3rd rod member (32) and the 4th rod member (51) are formed, described first rod member (50) connects firmly the bottom of connecting rod (7A) on described thigh, described 4th rod member (51) connects firmly on the top of described thigh lower link (7B), described first rod member (50), second rod member (31), 3rd rod member (32) and the 4th rod member (51) successively head and the tail are hinged,
The vibrational power flow of described shank folding means (10) is: described shank folding means (10) is by the first projection (34), the second projection (33) and is arranged at the screw rod (35) of both sides before and after described shank link (11) respectively and forms, described first projection (34) connects firmly the bottom of connecting rod (11A) on described shank, and described second projection (33) connects firmly the top described shank lower link (11B); Described first projection (34) is hinged along sidepiece central axis with the second projection (33); Described screw rod (35) screws in respectively by the screw of one of both the first projection (34) and the second projection (33) or screws out another screw corresponded;
The method for folding of described wearable type lower limb power-assisting robot carries out as follows:
A, servo-actuated for described leg support elastomeric element (26) to be unloaded from described power-assisted pedipulator (48), with the line of centres of described thick link (7) and shank link (11) be in overlap position time for original state, utilize described thigh folding means (6) and shank folding means (10) successively by the upper end edge of described hip joint rotary stopper dish (4) and the hinged center half-twist laterally of described boss (3) bottom;
B, by described power-assisted pedipulator (48) at shank folding means (10) place laterally to folded;
C, by described power-assisted pedipulator (48) at thigh folding means (6) place to the inside to folded; Obtain the portable body (49) of wearable type lower limb power-assisting robot.
2. the method for folding of wearable type lower limb power-assisting robot according to claim 1, is characterized in that:
The servo-actuated support elastomeric element (26) of leg is set between described support (17) and described shank link (11), the servo-actuated support elastomeric element (26) of described leg is made up of the first cover for seat (26A) coaxially arranged and the first bar core (26B), and described 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 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 first bar core (26B) is connected with ball pivot with the projection seat (25) connected firmly in described shank link (11) outside;
The servo-actuated support elastomeric element (21) of foot is set between described sole (13) and described shank link (11), the servo-actuated support elastomeric element (21) of described foot is made up of the second cover for seat (21A) coaxially arranged and the second bar core (21B), and described 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 second cover for seat (21A) is hinged at the little free bearing (20) at described sole (13) rear portion with connecting firmly, and the upper end of described second bar core (21B) is hinged with the end of the small rack (22) connected firmly on described shank link (11) in cantilever.
CN201410515251.3A 2013-06-26 2013-06-26 A kind of method for folding of wearable type lower limb power-assisting robot CN104257490B (en)

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CN105686931A (en) * 2016-04-01 2016-06-22 彭传新 Walking assisting device
CN107127736A (en) * 2017-03-29 2017-09-05 艾施科(杭州)科技有限公司 A kind of exoskeleton device with hipbone assist function
CN107127736B (en) * 2017-03-29 2020-02-21 艾施科(杭州)科技有限公司 Exoskeleton device with human hip assistance function
CN107802461A (en) * 2017-11-15 2018-03-16 北京林业大学 A kind of wearable single lower limb intelligence assistance exoskeleton and its control method
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