CN105496734A - Servo system based on mechanical exoskeleton action state - Google Patents
Servo system based on mechanical exoskeleton action state Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0107—Constructive details modular
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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Abstract
A servo system based on a mechanical exoskeleton action state comprises an exoskeleton ankle-joint control system, an exoskeleton knee-joint control system and an exoskeleton hip-joint control system. The three systems conduct independent control and each comprises a signal collection and feedback part, a signal processing part and a hydraulic power part; each signal collection and feedback part comprises a signal collection and feedback sensor of the corresponding joint and a signal converter, and each signal converter comprises an analog-digital (AD) converter and a digital-analog (DA) converter; each signal processing part comprises an analog comparator, and a PID control link is further added to the analog comparator link; each hydraulic power part comprises a bipolar electro-hydraulic servo valve and a hydraulic driver of the corresponding the joint. According to the servo system based on the mechanical exoskeleton action state, the sensors are arranged on the ankle joint, the knee joint and the hip joint, independent control links and power links are adopted by the three joints respectively, control chaos can be effectively avoided when the three joints act simultaneously, and for a single joint, the servo system has the advantages of being rapid in reaction and accurate in induction.
Description
Technical field
The present invention relates to the application of a kind of servo system on mechanical exoskeleton, belong to the category of simulation servo system, when there is displacement difference in the displacement transducer being assemblied in mechanical exoskeleton joint and the displacement transducer being close to human body, difference signal is exported to drive system by analog comparater, drive system drives ectoskeleton joint to complete rotation, and under the control of this simulation servo system, mechanical exoskeleton completes the action similar to human body.
Background technology
Mechanical exoskeleton is a kind of wearable human body lower limbs force aid system, its effect: help that human body completes the action of walking about and even running jumping by the dynamical system of himself and human body only need expend minimum energy cost in this process.Mechanical exoskeleton servo system utilizes signal pickup assembly (pressure, the sensors such as displacement) the human action letter offset deviation signal that gathers (as to walk, run, jump, the displacement signal that the arthrogryposises such as crouching is vertical cause) and utilize comparison controller to image data process, convert the control signal of exoskeleton robot hydraulic unit driver to, gather each mechanical joint of ectoskeleton simultaneously, actuating signal (the angular displacement of limbs, angular velocity, acceleration etc.) be feedback signal, form closed loop control, thus respond the action of human body with making exoskeleton robot energy fast accurate, farthest realize the completely the same of man-machine action.According to dissimilar classification of exoskeleton system sensory perceptual system acquired signal, the system for tracking of exoskeleton robot is broadly divided into pre-programmed and controls system for tracking, ectoskeleton system for tracking, the ectoskeleton system for tracking based on human body electromyographic signal (EMG) and the ectoskeleton system for tracking based on sport dynamics signal 4 kinds based on human body electroencephalogram's signal (EEG).The defect that tradition servo system exists: wherein pre-programmed control mode can limit the autgmentability of ectoskeleton action pattern; Human body can only according to the fixing program behavior finished; EEG signals control mode is vulnerable to the interference of external environment, may affect the control of human brain to other actions; In electromyographic signal control mode, myoelectric sensor installation requirement is high, dresses inconvenient and easily comes off.And patent of the present invention is the servo system based on sport dynamics signal, the advantage of this servo system is: control signal gathers simple and easy and precise control, and adopts hydraulic unit driver due to action drives device of the present invention, no longer can worry waterproof problem.
Summary of the invention
According to the deficiencies in the prior art, provide that a kind of structure is simple, light, the servo system of the mechanical exoskeleton operating state of precise control.
The present invention realizes by following technical scheme:
A kind of servo system based on mechanical exoskeleton operating state, comprise exoskeleton ankle joint control system, ectoskeleton knee joint control system and ectoskeleton Hip System, three systems independently control, described exoskeleton ankle joint control system, ectoskeleton knee joint control system and ectoskeleton Hip System include signals collecting and feedback fraction, signal processing and hydraulic power part; Described signals collecting and feedback fraction comprise each joint signals collecting and feedback transducer and signal adapter, and described signal adapter comprises AD analog-digital converter and DA digital to analog converter; Described signal processing comprises analog comparater, also adds PID controlling unit in described analog comparater link; Described hydraulic power part comprises bipolar electric hydraulic servo and each joint hydraulic driver.
Described exoskeleton ankle joint control system comprises signals collecting and feedback transducer I, described signals collecting is connected with AD analog-digital converter with feedback transducer I, described AD analog-digital converter is connected with analog comparater, described analog comparater is connected with DA digital to analog converter, described DA digital to analog converter is connected with signal amplifier, described signal amplifier is connected with bipolar electric hydraulic servo, described bipolar electric hydraulic servo regulates ankle joint hydraulic unit driver by the aperture and direction regulating its valve, described ankle joint hydraulic unit driver orders about the action of mechanical exoskeleton ankle joint, described signals collecting and feedback transducer I comprise ankle joint pressure transducer, and described ankle joint pressure transducer is parallel is fixed on mechanical exoskeleton ankle, pressure transducer behind pressure transducer and ankle joint Honeywell before the ankle joint Honeywell that described ankle joint pressure sensor inside has compression face to arrange in opposite directions, be placed with the pin I of two ends with spring between pressure transducer behind pressure transducer and ankle joint Honeywell before described ankle joint Honeywell, after the middle part of described pin I passes in ankle joint pressure transducer and ankle joint gaiter band fix.
Described ectoskeleton knee joint control system comprises signals collecting and feedback transducer II, described signals collecting is connected with AD analog-digital converter with feedback transducer II, described AD analog-digital converter is connected with analog comparater, described analog comparater is connected with DA digital to analog converter, described DA digital to analog converter is connected with signal amplifier, described signal amplifier is connected with bipolar electric hydraulic servo, described bipolar electric hydraulic servo regulates knee joint hydraulic unit driver by the aperture and direction regulating its valve, described knee joint hydraulic unit driver orders about the action of mechanical exoskeleton knee joint, described signals collecting and feedback transducer II comprise knee joint initiatively displacement transducer and knee joint follow-up shift sensor, and middle part and the mechanical exoskeleton knee joint of described knee joint active displacement transducer flexibly connect, two ends and the kneed two ends of mechanical exoskeleton of described knee joint follow-up shift sensor are rigidly connected, the middle part of described knee joint active displacement transducer is connected with mechanical exoskeleton knee joint by flexible link belt.
Described ectoskeleton hip joint control system comprises signals collecting and feedback transducer III, described signals collecting is connected with AD analog-digital converter with feedback transducer III, described AD analog-digital converter is connected with analog comparater, described analog comparater is connected with DA digital to analog converter, described DA digital to analog converter is connected with signal amplifier, described signal amplifier is connected with bipolar electric hydraulic servo, described bipolar electric hydraulic servo to regulate before hip joint hydraulic unit driver after hydraulic unit driver and hip joint by the aperture and direction regulating its valve, before described hip joint, after hydraulic unit driver and hip joint, hydraulic unit driver orders about the action of mechanical exoskeleton hip joint jointly, described signals collecting and feedback transducer III comprise hip joint pressure transducer, and described hip joint pressure transducer becomes 30 degree of angles to be fixed on mechanical exoskeleton hip joint place with vertical direction, pressure transducer behind pressure transducer and hip joint Honeywell before the hip joint Honeywell that described hip joint pressure sensor inside has compression face to arrange in opposite directions, be placed with the pin II of two ends with spring between pressure transducer behind pressure transducer and hip joint Honeywell before described hip joint Honeywell, after the middle part of described pin II passes in hip joint pressure transducer and hip joint gaiter band fix.
Beneficial effect of the present invention:
1. this system uses the sport dynamics signal analysis theory of people, the simple and precise control of motor message collection, and avoid and lay a large amount of signal transducer in vola, only arrange joint sensors at the joint of motion, structure is simple, is convenient to promote;
2. this system utilizes PID to control to reduce signal difference, and reach and follow effect, system is simple, contributes to alleviating design ectoskeleton own wt, and structure is simple, is convenient to promote;
3. the arrangement that hydraulic unit driver and servomotor are set at joint of this system abandoning tradition, then hydraulic unit driver is arranged in human upper limb, portable construction, shorten pipeline, be conducive to energy-conservation and waterproof, be worthy to be popularized;
4. this system arranges sensor at ankle joint, knee joint, hip joint respectively, three joints adopt independent controlling unit and power link respectively, during to the action simultaneously of three joints, can effectively avoid controlling confusion, have simple joint and be swift in response, respond to feature accurately.
Accompanying drawing explanation
Fig. 1 is mechanical exoskeleton ankle joint servo system theory diagram figure;
Fig. 2 is mechanical exoskeleton knee joint servo system theory diagram figure;
Fig. 3 is mechanical exoskeleton hip joint servo system theory diagram figure;
Fig. 4 is mechanical exoskeleton servo system front view (adding human design);
Fig. 5 is mechanical exoskeleton servo system left view;
1, pressure transducer before ankle joint Honeywell, 2, pressure transducer behind ankle joint Honeywell, 3, knee joint follow-up shift sensor, 4, knee joint is displacement transducer initiatively, 5, pressure transducer before hip joint Honeywell, 6, pressure transducer behind hip joint Honeywell, 7, ankle joint pressure transducer, 8, ankle joint gaiter band, 9, flexible link belt, 10, hip joint pressure transducer, 11, hip joint gaiter band, 12, AD analog-digital converter, 13, analog comparater, 14, DA digital to analog converter, 15, signal amplifier, 16, bipolar electric hydraulic servo, 17, ankle joint hydraulic unit driver, 18, knee joint hydraulic unit driver, hydraulic unit driver before 19 hip joints, 20, hydraulic unit driver after hip joint, 21, knee joint rolling disc, 22, hip joint axle sleeve, 23, back-moving spring, 24, pin I, 25, pin II.
Detailed description of the invention
Below in conjunction with accompanying drawing, by specific embodiment, technical solution of the present invention is described further.
As shown in Figures 1 to 5, a kind of servo system based on mechanical exoskeleton operating state, comprise exoskeleton ankle joint control system, ectoskeleton knee joint control system and ectoskeleton Hip System, three systems independently control, exoskeleton ankle joint control system, ectoskeleton knee joint control system and ectoskeleton Hip System include signals collecting and feedback fraction, signal processing and hydraulic power part; Signals collecting and feedback fraction comprise each joint signals collecting and feedback transducer and signal adapter, and signal adapter comprises AD analog-digital converter 12 and DA digital to analog converter 14; Signal processing comprises analog comparater 13, also adds PID controlling unit in analog comparater link; Hydraulic power part comprises bipolar electric hydraulic servo 16 and each joint hydraulic driver.
Each joint servo system work process is as follows:
(1), mechanical exoskeleton ankle joint servo system work process:
Exoskeleton ankle joint control system comprises signals collecting and feedback transducer I, signals collecting is connected with AD analog-digital converter 12 with feedback transducer I, AD analog-digital converter 12 is connected with analog comparater 13, analog comparater 13 is connected with DA digital to analog converter 14, DA digital to analog converter 14 is connected with signal amplifier 15, signal amplifier 15 is connected with bipolar electric hydraulic servo 16, bipolar electric hydraulic servo 16 regulates ankle joint hydraulic unit driver 17 by the aperture and direction regulating its valve, ankle joint hydraulic unit driver 17 orders about the action of mechanical exoskeleton ankle joint, signals collecting and feedback transducer I comprise ankle joint pressure transducer 7, and ankle joint pressure transducer 7 is parallel is fixed on mechanical exoskeleton ankle, pressure transducer 2 behind pressure transducer 1 and ankle joint Honeywell before the ankle joint Honeywell that ankle joint pressure transducer 7 inside has compression face to arrange in opposite directions, the pin I 24 of two ends with spring is placed with between pressure transducer 2 behind pressure transducer 1 and ankle joint Honeywell before ankle joint Honeywell, the middle part of pin I 24 passes rear in ankle joint pressure transducer 7 and ankle joint gaiter band 8 is fixing, and ankle joint gaiter band 8 and human body ankle are fixed.
When human body proposes ankle action, model of human ankle drives ankle joint gaiter band 8 to produce displacement, the pin I 24 be connected with ankle joint gaiter band 8 produces the displacement of vertical direction, the force value of two ends spring is caused to change, now, the pressure signal that before ankle joint Honeywell, behind pressure transducer 1 and ankle joint Honeywell, pressure transducer 2 will be surveyed, analog comparater 13 is inputed to respectively by AD analog-digital converter 12, two signals are made after the recovery by analog comparater 13, export to DA digital to analog converter 14, after DA digital to analog converter 14 is changed, difference signal amplifies through signal amplifier 15 again, input to bipolar electric hydraulic servo 16, the action of ankle joint hydraulic unit driver 17 is regulated thus by the aperture of control valve and direction, the action of ankle joint hydraulic unit driver 17, through the transmission of pull rope, what complete mechanical exoskeleton ankle joint proposes ankle action.
When model of human ankle replys standing state, ankle joint gaiter band 8 is followed model of human ankle and is recovered standing state, no longer there is deviation in the force value of two ends spring, the pressure signal that before ankle joint Honeywell, behind pressure transducer 1 and ankle joint Honeywell, pressure transducer 2 will be surveyed, analog comparater 13 is inputed to respectively by AD analog-digital converter 12, two value signals such as grade are made after the recovery by analog comparater 13, output is 0, now, bipolar electric hydraulic servo 16 no longer sends fuel injection pressure signal to ankle joint hydraulic unit driver 17, now, by the back-moving spring 23 of ankle, exoskeleton ankle joint is retracted original state.
(2) mechanical exoskeleton knee joint servo system work process:
Ectoskeleton knee joint control system comprises signals collecting and feedback transducer II, signals collecting is connected with AD analog-digital converter 12 with feedback transducer II, AD analog-digital converter 12 is connected with analog comparater 13, analog comparater 13 is connected with DA digital to analog converter 14, DA digital to analog converter 14 is connected with signal amplifier 15, signal amplifier 15 is connected with bipolar electric hydraulic servo 16, bipolar electric hydraulic servo 16 regulates knee joint hydraulic unit driver 18 by the aperture and direction regulating its valve, knee joint hydraulic unit driver 18 orders about the action of mechanical exoskeleton knee joint, signals collecting and feedback transducer II comprise knee joint initiatively displacement transducer 4 and knee joint follow-up shift sensor 3, and the middle part of knee joint active displacement transducer 4 is connected with mechanical exoskeleton knee joint by flexible link belt 9, the two ends of knee joint follow-up shift sensor 3 and the kneed two ends of mechanical exoskeleton are rigidly connected.
When human body is stood, the displacement signal that knee joint active displacement transducer 4 and knee joint follow-up shift sensor 3 record is equal, when human body knee joint bends, knee joint active displacement transducer 4 is driven to shrink, first produce displacement signal, due to knee joint, initiatively displacement transducer 4 and mechanical exoskeleton flexibly connect, now, mechanical exoskeleton knee joint still attonity, be in erectility, knee joint follow-up shift sensor 3 there is no displacement signal change, the knee joint initiatively signal of displacement transducer 4 survey and the signal of knee joint follow-up shift sensor 3 inputs to analog comparater 13 through AD analog-digital converter 12 simultaneously, two signals are done after the recovery by analog comparater 13, export to DA digital to analog converter 14, after DA digital to analog converter 14 is changed, difference signal amplifies through signal amplifier 15 again, input to bipolar electric hydraulic servo 16, the action of knee joint hydraulic unit driver 18 is regulated thus by the aperture of control valve and direction, the action of knee joint hydraulic unit driver 18, through the transmission of pull rope, affect the action of mechanical exoskeleton knee joint rolling disc 21, the action of mechanical exoskeleton knee joint, drive the action of knee joint follow-up shift sensor 3, until the displacement signal that knee joint follow-up shift sensor 3 is surveyed is equal with the signal that knee joint active displacement transducer 4 records, analog comparater 13 output difference signal is 0, knee joint hydraulic unit driver 18 no longer action, now, the kneed action of mechanical exoskeleton is consistent with human body knee joint operating state, complete knee joint action to follow, knee joint diastole action follows that to follow principle with flexure operation similar.
(3) mechanical exoskeleton hip joint servo system work process:
Ectoskeleton hip joint control system comprises signals collecting and feedback transducer III, signals collecting is connected with AD analog-digital converter 12 with feedback transducer III, AD analog-digital converter 12 is connected with analog comparater 13, analog comparater 13 is connected with DA digital to analog converter 14, DA digital to analog converter 14 is connected with signal amplifier 15, signal amplifier 15 is connected with bipolar electric hydraulic servo 16, bipolar electric hydraulic servo 16 to regulate before hip joint hydraulic unit driver 20 after hydraulic unit driver 19 and hip joint by the aperture and direction regulating its valve, before hip joint, after hydraulic unit driver 19 and hip joint, hydraulic unit driver 20 orders about the action of mechanical exoskeleton hip joint jointly, signals collecting and feedback transducer III comprise hip joint pressure transducer 10, and hip joint pressure transducer 10 becomes 30 degree of angles to be fixed on mechanical exoskeleton hip joint place with vertical direction, pressure transducer 6 behind pressure transducer 5 and hip joint Honeywell before the hip joint Honeywell that hip joint pressure transducer 10 inside has compression face to arrange in opposite directions, the pin II 25 of two ends with spring is placed with between pressure transducer 6 behind pressure transducer 5 and hip joint Honeywell before hip joint Honeywell, the middle part of pin II 25 passes rear in hip joint pressure transducer 10 and hip joint gaiter band 11 is fixing, and hip joint gaiter band 11 and human thigh fix.
When human body lifts lower limb action, human thigh will with hip joint for axially to move in a circle, hip joint gaiter 11 band is driven to move upward thus, the pressure that after causing hip joint Honeywell, pressure transducer 6 records becomes large, the pressure that before hip joint Honeywell, pressure transducer 5 records diminishes, the signal recorded is inputed to analog comparater 13 through AD analog-digital converter 12 by two sensors, two signals are done after the recovery by analog comparater 13, export to DA digital to analog converter 14, after DA digital to analog converter 14 is changed, difference signal amplifies through signal amplifier 15 again, input to bipolar electric hydraulic servo 16, bipolar electric hydraulic servo 16 starts hydraulic unit driver before hip joint 19 fuel feeding, hydraulic unit driver 20 oil return after hip joint, before hip joint, hydraulic unit driver 19 shrinks, hydraulic unit driver 20 diastole after hip joint, pass through pull rope, traction hip joint axle sleeve 22 rotates counterclockwise, complete mechanical exoskeleton hip joint to rotate, when the action of mechanical exoskeleton hip joint reaches consistent with human action, hip joint pressure transducer 10 no longer includes pressure difference signal, bipolar electric hydraulic servo 16 no longer fuel feeding, hydraulic unit driver 19 no longer action before hip joint, keep original state.
When needs put down lower limb, the pressure that after causing hip joint Honeywell, pressure transducer 6 records diminishes, the pressure that before hip joint Honeywell, pressure transducer 5 records becomes large, pass through control system, bipolar electric hydraulic servo 16 starts hydraulic unit driver after hip joint 20 fuel feeding, before hip joint, after hydraulic unit driver 19 oil return hip joint, hydraulic unit driver 20 shrinks, hydraulic unit driver 19 diastole before hip joint, pass through pull rope, traction hip joint axle sleeve 22 rotates clockwise, complete mechanical exoskeleton hip joint to rotate, set back.
Claims (8)
1. based on a servo system for mechanical exoskeleton operating state, comprise exoskeleton ankle joint control system, ectoskeleton knee joint control system and ectoskeleton Hip System, is characterized in that:
Described exoskeleton ankle joint control system comprises signals collecting and feedback transducer I, described signals collecting is connected with AD analog-digital converter (12) with feedback transducer I, described AD analog-digital converter (12) is connected with analog comparater (13), described analog comparater (13) is connected with DA digital to analog converter (14), described DA digital to analog converter (14) is connected with signal amplifier (15), described signal amplifier (15) is connected with bipolar electric hydraulic servo (16), described bipolar electric hydraulic servo (16) regulates ankle joint hydraulic unit driver (17) by the aperture and direction regulating its valve, described ankle joint hydraulic unit driver (17) orders about the action of mechanical exoskeleton ankle joint,
Described ectoskeleton knee joint control system comprises signals collecting and feedback transducer II, described signals collecting is connected with AD analog-digital converter (12) with feedback transducer II, described AD analog-digital converter (12) is connected with analog comparater (13), described analog comparater (13) is connected with DA digital to analog converter (14), described DA digital to analog converter (14) is connected with signal amplifier (15), described signal amplifier (15) is connected with bipolar electric hydraulic servo (16), described bipolar electric hydraulic servo (16) regulates knee joint hydraulic unit driver (18) by the aperture and direction regulating its valve, described knee joint hydraulic unit driver (18) orders about the action of mechanical exoskeleton knee joint,
Described ectoskeleton hip joint control system comprises signals collecting and feedback transducer III, described signals collecting is connected with AD analog-digital converter (12) with feedback transducer III, described AD analog-digital converter (12) is connected with analog comparater (13), described analog comparater (13) is connected with DA digital to analog converter (14), described DA digital to analog converter (14) is connected with signal amplifier (15), described signal amplifier (15) is connected with bipolar electric hydraulic servo (16), described bipolar electric hydraulic servo (16) to regulate before hip joint hydraulic unit driver (20) after hydraulic unit driver (19) and hip joint by the aperture and direction regulating its valve, before described hip joint, after hydraulic unit driver (19) and hip joint, hydraulic unit driver (20) orders about the action of mechanical exoskeleton hip joint jointly.
2. a kind of servo system based on mechanical exoskeleton operating state according to claim 1, it is characterized in that: described signals collecting and feedback transducer I comprise ankle joint pressure transducer (7), described ankle joint pressure transducer (7) is parallel is fixed on mechanical exoskeleton ankle; Pressure transducer (2) behind pressure transducer (1) and ankle joint Honeywell before the ankle joint Honeywell that described ankle joint pressure transducer (7) inside has compression face to arrange in opposite directions.
3. a kind of servo system based on mechanical exoskeleton operating state according to claim 2, it is characterized in that: before described ankle joint Honeywell, behind pressure transducer (1) and ankle joint Honeywell, between pressure transducer (2), be placed with the pin I (24) of two ends with spring, fixing with ankle joint gaiter band (8) after the middle part of described pin I (24) passes in ankle joint pressure transducer (7).
4. a kind of servo system based on mechanical exoskeleton operating state according to claim 1, it is characterized in that: described signals collecting and feedback transducer II comprise knee joint initiatively displacement transducer (4) and knee joint follow-up shift sensor (3), middle part and the mechanical exoskeleton knee joint of described knee joint active displacement transducer (4) flexibly connect; Two ends and the kneed two ends of mechanical exoskeleton of described knee joint follow-up shift sensor (3) are rigidly connected.
5. a kind of servo system based on mechanical exoskeleton operating state according to claim 4, is characterized in that:
The middle part of described knee joint active displacement transducer (4) is connected with mechanical exoskeleton knee joint by flexible link belt (9).
6. a kind of servo system based on mechanical exoskeleton operating state according to claim 1, it is characterized in that: described signals collecting and feedback transducer III comprise hip joint pressure transducer (10), described hip joint pressure transducer (10) becomes 30 degree of angles to be fixed on mechanical exoskeleton hip joint place with vertical direction; Pressure transducer (6) behind pressure transducer (5) and hip joint Honeywell before the hip joint Honeywell that described hip joint pressure transducer (10) inside has compression face to arrange in opposite directions.
7. a kind of servo system based on mechanical exoskeleton operating state according to claim 6, it is characterized in that: before described hip joint Honeywell, behind pressure transducer (5) and hip joint Honeywell, between pressure transducer (6), be placed with the pin II (25) of two ends with spring, fixing with hip joint gaiter band (11) after the middle part of described pin II (25) passes in hip joint pressure transducer (10).
8. a kind of servo system based on mechanical exoskeleton operating state according to any one of claim 1 to 7 claim, is characterized in that: in described analog comparater (13) link, add PID controlling unit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078749A (en) * | 2016-06-22 | 2016-11-09 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| CN111603361A (en) * | 2020-05-22 | 2020-09-01 | 余姚市菲龙金属制品有限公司 | Mechanical exoskeleton data acquisition control device |
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