CN106493714A - A kind of ectoskeleton carries power-assisting robot - Google Patents
A kind of ectoskeleton carries power-assisting robot Download PDFInfo
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- CN106493714A CN106493714A CN201611165525.6A CN201611165525A CN106493714A CN 106493714 A CN106493714 A CN 106493714A CN 201611165525 A CN201611165525 A CN 201611165525A CN 106493714 A CN106493714 A CN 106493714A
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- ectoskeleton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a kind of ectoskeleton carries power-assisting robot, including back bracket, central controller, ectoskeleton upper limbs part and exoskeleton lower limbs part, central controller is fixedly mounted on the rear side of back bracket；Two structure identical limb members are separately mounted to the both sides of back bracket, and the hip joint power set are arranged on ectoskeleton shoulder installed in back bracket and the exoskeleton lower limbs junction of waist power-assisting robot, shoulder joint power set.The hip joint power set are made up of transmission device, harmonic speed reducer, disc type electric machine and angular transducer with shoulder joint power set, angular transducer in order to measure the angle value of joint, according to the angle value for measuring by CCU corresponding joint motion.The exoskeleton lower limbs include ectoskeleton thigh, ectoskeleton footwear and retractor device composition, play the supporting role certain to back bracket.The ectoskeleton upper limbs includes ectoskeleton upper arm, ectoskeleton underarm and elbow joint self-locking mechanism.
Description
Technical field
The invention belongs to power-assisting robot research field, and in particular to a kind of ectoskeleton carries power-assisting robot.
Background technology
With the fast development of China's economy, logistic industry has become the pillar industry in China's economic development, according to system
Meter, Chinese society logistics total cost reaches 6.1 trillion yuans within 2009, and the proportion for accounting for same period GDP is 18.1%；2010 annual total costs
For 7.1 trillion yuans, the proportion for accounting for same period GDP is 17.8%.But logistic industry is main during merchandise warehouse and entrucking at present
Still to complete by simple manpower transport.Thus a kind of moderate, simple structure invented, it is easy to which wearing is used for
The whole body ectoskeleton power-assisting robot that auxiliary is carried improves human body with this and is transporting goods so that efficiency is then particularly important.
By literature search, the Chinese invention patent of Application No. 201210319331.2 proposes a kind of wearable in human body
The heavy material handling power-assisted bionic exoskeleton of four limbs, upper limbs ectoskeleton be 7 systems with one degree of freedom, by 3DOF shoulder joint, 1 from
It is made up of the motor driven systems case at degree elbow joint, 2DOF wrist joint, 1 free degree hand and back, 7 frees degree are adopted
Use Motor drive.Lower limb exoskeleton is 6DOF system, is closed by 3DOF hip joint, 1 free degree knee joint, 2DOF ankle
Section and the electro-hydraulic drive system case composition at back, 6DOF adopt hydraulic-driven.Human body has dressed a whole set of ectoskeleton equipment
Afterwards, by machine powers such as motor or hydraulic pressure, efficiency and flexibility can be greatly improved in material handling, it is time saving and energy saving to reach
Purpose.But the shortcoming of the device is also more obvious：
1) simple in joint design, and inductor system can not accurately not detect wearing with control system
Person and ectoskeletal movable information, so as to sensing and controlling ectoskeletal motion purpose；2) lower limb adopt hydraulic booster, open
Dynamic speed is slower, and hydraulic cylinder causes system more heavy, increases construction weight, is not particularly suited for the wearing of human body；3) device
The structure length of lower limb can not be changed, be there is no versatility in wearing, be not appropriate for the wearing of different people；4) device is more
Heaviness, not easy donning
Therefore, for above-mentioned technical problem, it is necessary to provide a kind of simple structure, can accurately sense and control, lower limb
The ectoskeleton of adjustable length and easy donning carries power-assisting robot, to solve to appeal defect.
Content of the invention
The purpose of the present invention is to provide a kind of ectoskeleton for the problems referred to above to carry power-assisting robot, and the device has structure
Simply, can accurately sense and control, lower limb adjustable length, easy donning and have versatility the characteristics of.
The present invention is achieved by following technical solution：
A kind of ectoskeleton carries power-assisting robot, including back bracket, central controller, shoulder joint power set, dermoskeleton
Bone hip joint, ectoskeleton hip joint power set, ectoskeleton upper limbs part and exoskeleton lower limbs part；Pacify in the back bracket
Central controller is housed；Back bracket upper end both sides are connected with shoulder joint power set respectively；The back bracket lower end
It is connected with the U-shaped waist bracket in ectoskeleton hip joint, the two ends of U-shaped waist bracket are provided with output chuck groove；Described
Output chuck groove is connected with the hip joint connecting shaft of ectoskeleton hip joint power set one end；The hip joint power set
The ectoskeleton thigh retractor device of the other end is connected with exoskeleton lower limbs part；
The shoulder joint power set mainly include that shoulder joint angular transducer, shoulder joint motor housing, shoulder joint drive
Motor, shoulder joint harmonic speed reducer and shoulder joint power set motor housing；Install in the shoulder joint driving motor output shaft
There is shoulder joint harmonic speed reducer, on the outside of the shoulder joint motor and shoulder joint harmonic speed reducer, be separately installed with shoulder joint economize on electricity
Machine shell and shoulder joint power set motor housing, and shoulder joint motor housing passes through spiral shell with shoulder joint power set motor housing
Tether and connect；Shoulder joint angular transducer, shoulder joint power set motor housing and shoulder is provided with the shoulder joint motor
The second hole of connecting connection parts connects, and second hole of shoulder attachment means is arranged in shoulder attachment means, the shoulder connection
Device is connected with back bracket by the first hole of shoulder attachment means thereon；The shoulder attachment means and ectoskeleton upper limbs
Ectoskeleton upper arm in part is vertically and fixedly arranged at together；The shoulder joint angular transducer measures the angle of shoulder joint kinesitherapy
Signal, and by signal transmission to central controller, central controller controls the rotation of shoulder joint motor according to the signal for detecting；
The ectoskeleton upper limbs part includes ectoskeleton upper arm, elbow joint self-locking mechanism and ectoskeleton underarm；The dermoskeleton
Bone upper arm is connected by elbow joint self-locking mechanism with ectoskeleton underarm；The ectoskeleton upper arm is provided with upper arm bandage, ectoskeleton
Underarm is provided with underarm bandage；
The ectoskeleton hip joint power set include incremental encoder, motor, harmonic speed reducer shell, power
Output end chuck, bearing block plate, the first shell of power set, motor housing, harmonic speed reducer, power intake chuck, output
End chuck bearing, power output piece and absolute type encoder；Motor is installed in the motor housing；The motor
Input is connected with incremental encoder, and booster-type encoder is placed in the outside of motor housing；The output end of motor with
Harmonic speed reducer input is connected；The harmonic speed reducer is placed in harmonic speed reducer inside the shell；The harmonic speed reducer with dynamic
Power input chuck is connected by bolt；The harmonic speed reducer shell is opened with corresponding position on the first shell of power set
It is provided with harmonic speed reducer shell aperture and the first shell aperture of power set；The harmonic speed reducer shell and the first shell of power set
It is connected by bolt with the first shell aperture of power set by harmonic speed reducer shell aperture；The power intake chuck and output
End chuck bearing is sequentially arranged at the first inside the shell of power set；The power intake chuck side is provided with snag axis, convex
Axle is played on output end chuck bearing, the output end chuck bearing is in clutch end chuck；The output
Power output piece is provided with the right side of the chuck bearing of end；The power output piece is by opening up on bolt and clutch end chuck
Hole is connected；The power output piece right flank is provided centrally with power output bobbin；It is provided with the power output bobbin
Absolute type encoder；The absolute type encoder right flank center is provided with hip joint connecting shaft；
The ectoskeleton hip joint includes U-shaped waist bracket, back bracket damper, hip joint attachment means, hip joint
Attachment means telescopic end, ectoskeleton thigh retractor device and support shock absorber；The U-shaped waist bracket two ends pass through hip joint
Connecting shaft is rotated with hip joint attachment means and is connected；The hip joint attachment means lower end is fixedly installed hip joint attachment means
External part；The hip joint attachment means external part and ectoskeleton thigh retractor device bolt connection；The support shock absorber one
End is connected the first hole pin connection with support shock absorber, and the other end is connected the second hole pin and is connected with support shock absorber, described
Support damper connects the first hole and is arranged on ectoskeleton thigh retractor device, and support shock absorber connects the second hole and is arranged on U-shaped waist
On portion's support；When back bracket is rotated, support shock absorber follows the rotation of back bracket and rotates, when back bracket is not rotated
Support shock absorber plays a part of to support to back bracket, and due to being spring outside support shock absorber, rotates in back bracket
During, play cushioning effect；Back bracket is rotated by waist bracket attachment means with U-shaped waist bracket and is connected, described
Waist bracket attachment means are fixedly installed in U-shaped waist bracket；Back bracket damper is fixedly mounted on back bracket and waist
Between portion's support, back bracket is played the role of to support and damping, buffering；The ectoskeleton thigh retractor device lower end is provided with
Ectoskeleton thigh in exoskeleton lower limbs part；
The exoskeleton lower limbs part includes ectoskeleton leg and ectoskeleton footwear apparatus；The ectoskeleton leg includes that thigh stretches
Fixator, ectoskeleton thigh, the knee joint support of bearing, knee joint retractor device, the Telescopic Fixed device of shank, ectoskeleton shank；Institute
State ectoskeleton thigh one end hollow, and vacancy offers groove in this, it is big that the end of the ectoskeleton retractor device is placed in ectoskeleton
Fix inside leg and by the flexible fixator of thigh；The flexible fixator of the thigh is placed in the outside of ectoskeleton thigh；Described outer
Bone thigh other end end end is provided with ectoskeleton thigh attachment means, and the ectoskeleton thigh attachment means both sides are mounted on
Knee joint bearing；The knee axis bearing outer-ring is on knee joint bearing supporting frame；On the knee joint bearing supporting frame
Hole is offered, the hole is connected with knee joint retractor device one end by pin；The knee joint retractor device other end is placed in outer
In bone shank；Described ectoskeleton shank one end is hollow, and vacancy offers groove, the end of the knee joint retractor device in this
It is placed in inside ectoskeleton shank and is fixed by the Telescopic Fixed device of shank；The Telescopic Fixed device of the shank is placed in ectoskeleton shank
Outside；The ectoskeleton shank other end is provided with ectoskeleton shank connecting rod；Offer in the ectoskeleton shank connecting rod
Connecting rod bores；The ectoskeleton shank connecting rod can be moved up and down in the second attachment means of ankle-joint；The ankle-joint second
Attachment means are on shank connecting plate；The shank connecting plate is L-shaped, is also equipped with ankle-joint on the shank connecting plate
First attachment means；Ankle-joint retractor device is installed in the first attachment means of the ankle-joint；The ankle-joint retractor device
It is connected with ectoskeleton footwear apparatus；
The central controller includes angle signal analysis module and angle control unit；The angle signal analysis module
One end is connected with absolute type encoder with shoulder joint angular transducer, incremental encoder, and angle signal analysis module is another
End is connected with angle control unit, and angle control unit controls the rotation of motor.
Further, the ectoskeleton footwear apparatus include bracing frame fixing device, ectoskeleton footwear, ectoskeleton footwear connector and
Ectoskeleton footwear bracing frame；The ectoskeleton footwear are sole shape, the front end of ectoskeleton footwear be provided with vertical bandage attachment means, after
End is provided with vertical ectoskeleton footwear connecting rod；The ectoskeleton footwear connecting rod is connected with ectoskeleton footwear bracing frame by pin；
The ectoskeleton footwear bracing frame is fixed on ankle-joint retractor device by bracing frame fixing device.
Further, it is spring outside the support shock absorber, is internally provided with telescopic bar.
Further, the central controller includes angle signal analysis module and angle control unit；The angle letter
Number analysis module receives to come from angle of the shoulder joint angular transducer with incremental encoder with absolute type encoder respectively to be believed
Number, angle signal analysis module passes to angle control unit after these angle signals are processed, angle control unit control is driven
The rotation of dynamic motor；When motor rotates, the angle of incremental encoder measurement motor rotation, and by the angle signal for measuring
Pass to the central controller installed in back；The absolute type encoder is fixedly mounted on power output piece, when power defeated
Drive the rotation of absolute type encoder, absolute type encoder measure angle value signal transmission and give central authorities' control when slice is rotated
Device.
Further, back bandage and supply socket are additionally provided with the back bracket；The back bracket and back
Bandage is fixed together, and the central controller is arranged on the rear side of back bracket and is electrically connected with supply socket；Described
Rear side of the supply socket installed in back bracket.
Further, its inside of the back bandage is flexible buffer material.
The invention has the beneficial effects as follows：Compared with prior art, a kind of waist for aiding in carrying of the present invention is helped
Power robot, the mechanism can realize the basic function for helping wearer to aid in carrying heavy goods, and adopt Motor drive, start speed
Degree is fast so that wearer, and surface structure design simply conveniently can be dressed, and can accurately sense and control, under
Limb adjustable length, and lower limb can support the weight of back bracket, adapt to the advantage of different crowd wearing, and movement effects are good
Good advantage is more applicable for the demand of society so as to overcome some intrinsic shortcomings of existing mechanism.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is overall structure back of the present invention schematic diagram；
Fig. 3 is ectoskeleton shoulder joint structural representation of the present invention；
Fig. 4 is ectoskeleton back bracket of the present invention and hip joint structural representation；
Fig. 5 is hip joint powerplant configuration schematic diagram of the present invention；
Fig. 6 is exoskeleton lower limbs knee joint structure schematic diagram of the present invention；
Fig. 7 is exoskeleton lower limbs ankle-joint of the present invention and shoes department structural representation；
Fig. 8 is control flow of the present invention and control system schematic diagram；
Fig. 9 is elbow joint self-locking device schematic diagram of the present invention.
Reference is as follows：
1st, back bracket；2nd, back bandage；3rd, incremental encoder；4th, motor；5th, harmonic speed reducer shell；6th, move
Power output end chuck；7th, bearing block plate；8th, the first shell of power set；9th, motor housing；10th, harmonic speed reducer；11st, power is defeated
Enter to hold chuck；12nd, output end chuck bearing；13rd, power output piece；14th, absolute type encoder；15th, support shock absorber connection two
Hole；16th, hip joint connecting shaft；17th, hip joint attachment means；18th, hip joint attachment means external part；19th, ectoskeleton extension of hip joint
Compression apparatus；20th, support shock absorber connects a hole；21st, the flexible fixator of thigh；22nd, ectoskeleton thigh；23rd, chuck groove is exported；
24th, knee joint bearing supporting frame；25th, knee joint retractor device；26th, the Telescopic Fixed device of shank；27th, ectoskeleton shank；28th, dermoskeleton
Bone shank connecting rod；29th, connecting rod screwed hole；30th, knee joint bearing；31st, support shock absorber；32nd, shank connecting plate；33-1、
The first attachment means of ankle-joint；33-2, the second attachment means of ankle-joint；34th, ankle-joint retractor device；35th, dress fixed by bracing frame
Put；36th, bandage attachment means；37th, ectoskeleton footwear；38th, ectoskeleton footwear connecting rod；39th, ectoskeleton footwear bracing frame；40th, central authorities' control
Device processed；40-1, angle signal analysis module；40-2, angle control unit；41st, supply socket；43rd, power output bobbin；44th, humorous
Ripple speed reducer housing hole；45th, the first shell aperture of power set.46th, back bracket damper；47th, U-shaped waist bracket；48th, waist
Means for connecting supportings；49th, back bracket connector；50th, ectoskeleton upper arm；51st, upper arm bandage；52nd, elbow joint self-locking device；53、
Ectoskeleton underarm；54th, underarm bandage；55th, shoulder attachment means；56th, the first hole of shoulder attachment means；57th, shoulder attachment means
Second hole；58th, shoulder joint angular transducer；59 back bracket holes；60th, shoulder joint motor housing；61st, shoulder joint motor；
62nd, shoulder joint harmonic speed reducer；63rd, shoulder joint power set shell.
Specific embodiment
It is to make further understanding to the present invention, is further described in conjunction with accompanying drawing：
For a kind of embodiment that ectoskeleton of the present invention carries power-assisting robot, control including back bracket 1, central authorities
40, two structure identical upper limbs parts of device and two structure identical limb members.
In conjunction with accompanying drawing 1 and Fig. 2 and Fig. 9, back bracket 1 mainly includes back bandage 2, supply socket 41, central controller
40；The back bandage 2 is fixed together with back bracket 1, and its inside of back bandage 2 is flexible buffer material, is wearing
When wearing, back bandage 2 is by together with the 1 flexible bondage of people and back bracket；The central controller 40 is installed in back bracket 1
Rear side and with 41 electrical links of supply socket；A part of the supply socket 41 for back bracket 1, in the rear side of back bracket 1, work
When which is connected with indoor power supply by electric wire.Ectoskeleton upper limbs mainly includes ectoskeleton upper arm 50, elbow joint self-locking mechanism
52 adopt sofa hinge self-locking mechanism with ectoskeleton underarm 53, elbow joint self-locking mechanism 52, can be 90～180 in angle of bend
When arbitrarily angled self-locking, after people has removed weight when between elbow joint bending to 90～180 to ectoskeleton upper limbs formed self-locking,
Play a part of to support human upper limb；Ectoskeleton upper arm 50 is provided with upper arm bandage 51, and ectoskeleton underarm is provided with underarm and ties up
Band 54, is flexible material and plays a part of fixing human arm inside bandage.
According to Fig. 3, shoulder joint power set mainly include shoulder joint angular transducer 58, shoulder joint motor housing
60th, shoulder joint motor 61, shoulder joint harmonic speed reducer 62 and shoulder joint power set shell 63, wherein shoulder joint angle are passed
Sensor measures the angle signal of shoulder joint kinesitherapy, and by signal transmission to CCU, CCU is according to detection
The rotation of the signal control shoulder joint motor 61 for arriving, shoulder joint power set motor housing 63 are fixedly mounted on shoulder joint connection dress
Put 55 outside, 62 output end side ectoskeleton upper arm 50 of shoulder joint harmonic speed reducer is connected by screw together, shoulder joint
Motor 61 drives shoulder joint harmonic speed reducer 62 drive ectoskeleton upper arm around the rotation of shoulder joint after rotating；Shoulder connects
The first hole of device 56 is linked together by pin with the back bracket hole 59 in back bracket 1, it is ensured that ectoskeleton shoulder joint
Rotate.
According to shown in Fig. 4, ectoskeleton hip joint mainly includes that U-shaped waist bracket 47, back bracket damper 46, hip joint connect
Connection device 17, hip joint attachment means telescopic end 18, ectoskeleton thigh retractor device 19 and support shock absorber 31, wherein hip joint
Attachment means 17 and hip joint connecting shaft 16 are rotated and be connecteds, hip joint attachment means external part 18 and ectoskeleton thigh retractor device
19 are fixed together；It is spring outside the support shock absorber 31, internal is the bar that can be stretched, support shock absorber 31
One end support shock absorber connection 20 pin of the first hole connection, the other end are connected the 15 pin connection of the second hole with support shock absorber, when
When back bracket is rotated, support shock absorber 31 follows the rotation of back bracket and rotates, and supports damping when back bracket is not rotated
Device 31 plays a part of to support back bracket 1, and as the outside of support shock absorber 31 is spring, rotates in back bracket
During, play certain cushioning effect；Back bracket 1 and U-shaped waist bracket 47 by waist bracket attachment means 48 with
Back bracket attachment means are rotatably connected, the free degree for having a rotation between the two；Back bracket damper 46 is solid
Dingan County is mounted between back bracket 1 and waist bracket 47, plays a part of the support to back bracket and damping, buffering.
In conjunction with Fig. 4 and Fig. 5, ectoskeleton hip joint power set are encoded including increment type installed in the both sides of back bracket 1
Device 3, motor 4, power output chuck 6, bearing block plate 7, the first shell of power set 8, motor housing 9, harmonic speed reducer
10th, power input chuck 11, output end chuck bearing 12, power output piece 13 and absolute type encoder 14, power set are distinguished
Both sides installed in ectoskeleton power-assisting robot back bracket；Incremental encoder 3 is fixedly mounted on motor housing 9, is driven
The two ends of motor 4 are output end, and wherein one end is deep in incremental encoder 3, and when motor rotates, incremental encoder 3 is surveyed
The angle of amount motor rotation, and the angle signal for measuring is passed to the central controller 40 installed in back；The driving electricity
4 fixed cover of machine is electrically connected inside motor housing 9 and with battery 25, and the output shaft one end at 4 two ends of motor is compiled with increment type
Code device 3 connects, and the other end is linked together with the input port interference of harmonic speed reducer 10, will be dynamic when motor 4 is rotated
Power passes to harmonic speed reducer 3, and harmonic speed reducer 3 passes to power intake chuck 11 after the rotating speed of motor 4 is slowed down；
The harmonic speed reducer 10 is fixed together with 11 bolt of power intake chuck, when power intake chuck 11 is rotated
It is stuck with clutch end chuck 6, to drive the motion of clutch end chuck 6, clutch end chuck 6 to fix nesting
In the output chuck groove 23 in back bracket 1, when clutch end chuck 6 is rotated, the motion of back bracket 1 is driven,
Output end chuck bearing 12 is nested in the axis hole of power output chuck, and output end chuck bearing 12 is convex with clutch end chuck
Play axle interference to link together, power input chuck axis 43 are linked together with the inwall interference of output end chuck bearing 12；Institute
State screwed hole of the bearing block plate 7 by the screwed hole on output end chuck axis 43 with bearing block plate 7 to be fixed together, bearing
Block plate 7 plays a part of to fix output end chuck bearing 12, prevents the coming off operationally of output end chuck bearing 12.When dynamic
When power output chuck 11 is input into chuck 6 with power and is not stuck, power intake chuck 6 and clutch end chuck 11 it
Between rotation will not influence each other.One is fixedly connected on by bolt thread between harmonic speed reducer shell 5 and motor housing 9
Rise, the first shell of power set 8 is passed through with harmonic speed reducer shell 5 outside the power set first on the first shell of power set 8
Hole in housing hole 44 and harmonic speed reducer shell 5, the first shell aperture of power set 8 are fixedly connected in back bracket 1.Described dynamic
Power output chip 13 is fixedly connected in clutch end chuck snag axis by screwed hole, and power output bobbin 43 is compiled with absolute type
Code device 14 rotates connection, and when power is input into the rotation for driving absolute type encoder 14 when chuck 6 is rotated, absolute type encoder 14 will
Angle value signal transmission is measured to central controller 40.
According to shown in Fig. 6, ectoskeleton leg includes that the flexible fixator 21, ectoskeleton of ectoskeleton thigh retractor device 19, thigh is big
The Telescopic Fixed device 26 of leg 22, the knee joint support of bearing 24, knee joint retractor device 25, shank, ectoskeleton thigh 27, the dermoskeleton
The end of bone retractor device 19 passes through the flexible fixator 21 of thigh by ectoskeleton retractor device 19 and dermoskeleton with ectoskeleton thigh 27
Bone thigh 27 links together；30 endoporus of knee joint bearing is simultaneously linked together with the end interference of ectoskeleton thigh 22；
The knee joint bearing supporting frame 24 is connected with the outer wall interference of knee joint bearing 30, knee joint bearing supporting frame 24 and knee joint
Retractor device 25 is connected by pin and is linked together, the turning with knee joint bearing 30 of knee joint retractor device 25 during work
Move and rotate；25 end of knee joint retractor device is fixedly connected on by the Telescopic Fixed device 26 of shank with ectoskeleton thigh 27
Together.
According to shown in Fig. 7, ectoskeleton shank connecting rod 28, shank connecting plate 32, ankle-joint retractor device 34, ectoskeleton footwear are propped up
Support 39, ectoskeleton footwear 37, are provided with connecting rod bores 29 in the ectoskeleton shank connecting rod 28, ectoskeleton shank connecting rod 28 is deep
Enter in ankle-joint attachment means two, by bolt by shank connecting plate 32, ectoskeleton shank connecting rod 28 and ankle-joint second
Attachment means 33-2 are fixed together；Described 34 one end of ankle-joint retractor device is provided with hole, and is deep into ankle-joint first
In attachment means 33-1, by bolt by ankle-joint retractor device 34, the first attachment means 33-1 of ankle-joint and shank connecting plate
32 are fixed together；The ectoskeleton footwear bracing frame 39 of the both sides is fixed by bracing frame fixing device 35 and is connected to
Together, bracing frame fixing device 35 is rotated with ankle-joint retractor device 34 and is connected；The ectoskeleton footwear 37 are connected by ectoskeleton footwear
Connect device 38 and rotate with ectoskeleton footwear bracing frame 39 and be connected, the bandage attachment means on ectoskeleton footwear, will in order to install connection bandage
Together with pin carries out flexible bondage with ectoskeleton footwear.
In conjunction with accompanying drawing 8, the central controller 40 includes angle signal analysis module 40-1 and angle control unit 40-2；
Angle signal analysis module 40-1 receive respectively to come from shoulder joint angular transducer 58 in ectoskeleton shoulder joint with outer
The angle signal of incremental encoder 3 and absolute type encoder 14 on bone hip joint, angle signal analysis module 40-1 will
These angle signals pass to angle control unit 40-2 after processing, angle control unit 40-2 controls the rotation of motor 4.
Further shoulder joint is electrically connected with supply socket 41 with the motor 4 in power set, is motor 4
Rotate and electric energy is provided.
The course of work of the present invention is as follows：
When human body is in carrying heavy goods, human body is worn by ectoskeleton first and carries power-assisting robot, according to the body of wearer
Material, adjusts the length of exoskeleton lower limbs.After exoskeleton lower limbs length adjustment is good, human body has been dressed power-assisting robot wherein back and has been tied up
By together with the 1 flexible bondage of human body and back bracket, upper arm bandage 51 and underarm bandage 54 are by people's arm and ectoskeleton upper limbs for band 2
Bondage is together.
Human body dressed ectoskeleton carry power-assisting robot after, when to bend over carrying heavy goods when, people during bending over,
Human body drives back bracket motion, as clutch end chuck 6 is fixedly mounted on the output chuck groove 23 of back bracket 1
In, so the motion of back bracket 1 drives the motion of clutch end chuck 6.Now, people is moved during bending movements
Power output end chuck 6 is not stuck with power intake chuck 11, after people bows to certain angle, clutch end card
Disk 6 is stuck with power intake chuck 11.People during the drive output end chuck motion that bends over, absolute encoding
The angle signal that the measurement human body of device 14 is bent over, and angle signal is passed to central controller 40.When human motion drives power
When output end chuck 6 moves to pre-set angle value, now clutch end chuck 6 is blocked with power intake chuck 11
Together, the control of central controller 40 motor 4 is rotated forward, and motor 4 is rotated forward and drives clutch end chuck 6 to rotate forward, by
It is stuck in now clutch end chuck 6 and power intake chuck 11, drives power intake chuck 11 to rotate forward, power
Input chuck 11 is fixedly mounted on the rotating forward for exporting drive back bracket in chuck groove 23 of back bracket 1.Removed with this
Giving people to provide during fortune certain auxiliary strength helps human body to lift weight.When motor 4 is moved, incremental encoder 3 will
Measure motor 4 motion angle signal pass to central controller 40, when motor 4 move to pre-set
After angle value, now human body has lifted weight, and power intake chuck 11 returns to the initial position of motion, incremental encoder
The angle signal of the motor 4 for measuring is passed to central controller 40 by 3, and the control motor 4 of central controller 40 overturns,
When power intake chuck 11 overturns, power intake chuck 11 is disengaged from clutch end chuck 6, works as clutch end
When chuck 6 returns to initial position, the angle signal for measuring is passed to central controller 40, central authorities' control by incremental encoder 3
The control motor of device processed 40 stops operating.
In handling process, ectoskeleton shoulder joint angular transducer 58 detects the motion of shoulder joint, shoulder joint angle to human body
Angle signal is passed to central controller by degree sensor, and central controller can control the motion of shoulder joint actuator motor,
The course of work of specific work process such as hip joint.
When in carry an object, when between elbow joint bending to 90～180 °, elbow joint self-locking mechanism 52 is on ectoskeleton
Limb forms self-locking, plays a part of to support human upper limb.
Although invention has been presented for some embodiments of the present invention, it will be appreciated by those of skill in the art that
Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment be exemplary, no
Should be using the embodiments herein as the restriction of interest field of the present invention.
Claims (6)
1. a kind of ectoskeleton carries power-assisting robot, it is characterised in that including back bracket (1), central controller (40), shoulder joint
Section power set, ectoskeleton hip joint, ectoskeleton hip joint power set, ectoskeleton upper limbs part and exoskeleton lower limbs part；
Central controller (40) is installed on back bracket (1)；Back bracket (1) upper end both sides respectively with shoulder joint power
Device connects；Back bracket (1) lower end is connected with the U-shaped waist bracket (47) in ectoskeleton hip joint, U-shaped waist bracket
(47) two ends are provided with output chuck groove (23)；Output chuck groove (23) and ectoskeleton hip joint power set
The hip joint connecting shaft (16) of one end is connected；Ectoskeleton thigh retractor device (19) of the hip joint power set other end
Be connected with exoskeleton lower limbs part；
The shoulder joint power set include that shoulder joint angular transducer (58), shoulder joint motor housing (60), shoulder joint drive
Motor (61), shoulder joint harmonic speed reducer (62) and shoulder joint power set motor housing (63)；The shoulder joint motor
(61) shoulder joint harmonic speed reducer (62), shoulder joint motor (61) and shoulder joint harmonic reduction are installed on output shaft
Shoulder joint motor housing (60) and shoulder joint power set motor housing (63), and shoulder joint economize on electricity is separately installed with the outside of device (62)
Machine shell (60) is bolted with shoulder joint power set motor housing (63)；Set on shoulder joint motor (61)
Shoulder joint angular transducer (58) is equipped with, shoulder joint power set motor housing (63) is with the second hole of shoulder attachment means (57) even
Connect, second hole of shoulder attachment means (57) is arranged in shoulder attachment means (55), described shoulder attachment means (55) lead to
The first hole of shoulder attachment means (56) that crosses thereon is connected with back bracket (1)；Shoulder attachment means (55) and dermoskeleton
Ectoskeleton upper arm (50) in bone upper limbs part is vertically and fixedly arranged at together；Described shoulder joint angular transducer (58) measurement shoulder
The angle signal of joint motions, and central controller (40) is given by signal transmission, central controller (40) is according to the letter for detecting
Number control shoulder joint motor (61) rotation；
The ectoskeleton upper limbs part includes ectoskeleton upper arm (50), elbow joint self-locking mechanism (52) and ectoskeleton underarm (53)；
Ectoskeleton upper arm (50) are connected by elbow joint self-locking mechanism (52) with ectoskeleton underarm (53)；The ectoskeleton upper arm
(50) upper arm bandage (51) is installed, ectoskeleton underarm (53) is provided with underarm bandage (54)；
The ectoskeleton hip joint power set include incremental encoder (3), motor (4), harmonic speed reducer shell
(5), clutch end chuck (6), bearing block plate (7), the first shell of power set (8), motor housing (9), harmonic speed reducer
(10), power intake chuck (11), output end chuck bearing (12), power output piece (13) and absolute type encoder (14)；
Motor (4) is installed in motor housing (9)；Motor (4) input is with incremental encoder (3) even
Connect, and booster-type encoder (3) is placed in the outside of motor housing (9)；The output end of motor (4) and harmonic speed reducer (10)
Input is connected；Harmonic speed reducer (10) are placed in harmonic speed reducer shell (5)；Harmonic speed reducer (10) with dynamic
Power input chuck (11) is connected by bolt；Harmonic speed reducer shell (5) are upper with the first shell of power set (8) right
Answer；The harmonic speed reducer shell
(5) passed through with the first shell aperture of power set (45) by harmonic speed reducer shell aperture (44) with the first shell of power set (8)
Bolt is connected；Power intake chuck (11) are sequentially arranged at the first shell of power set with output end chuck bearing (12)
(8) in；Power intake chuck (11) side is provided with snag axis, and snag axis are arranged on output end chuck bearing (12)
On, described output end chuck bearing (12) are in clutch end chuck (6)；On the right side of output end chuck bearing (12)
It is provided with power output piece (13)；Described power output piece (13) pass through the hole opened up on bolt and clutch end chuck (6)
It is connected；Power output piece (13) right flank is provided centrally with power output bobbin (43)；The power output bobbin
(43) absolute type encoder (14) is installed on；Absolute type encoder (14) right flank center is provided with hip joint connection
Axle (16)；
The ectoskeleton hip joint includes U-shaped waist bracket (47), back bracket damper (46), hip joint attachment means
(17), hip joint attachment means telescopic end (18), ectoskeleton thigh retractor device (19) and support shock absorber (31)；The U-shaped
Waist bracket (47) two ends are rotated with hip joint attachment means (17) by hip joint connecting shaft (16) and are connected；The hip joint
Attachment means (17) lower end is fixedly installed hip joint attachment means external part (18)；The hip joint attachment means external part
(18) with ectoskeleton thigh retractor device (19) bolt connection；Support shock absorber (31) one end is connected with support shock absorber
One hole (20) pin connects, and the other end is connected the connection of the second hole (15) pin, the support shock absorber connection with support shock absorber
First hole (20) is arranged on ectoskeleton thigh retractor device (19), and support shock absorber connection the second hole (15) is arranged on U-shaped waist
On portion's support (47)；When back bracket (1) is rotated, support shock absorber (31) follows the rotation of back bracket (1) and rotates, the back of the body
When portion's support (1) is not rotated, support shock absorber (31) plays a part of to support to back bracket (1), and due to support shock absorber
(31) outside is spring, during back bracket (1) is rotated, plays cushioning effect；Back bracket (1) and U-shaped waist
Frame (47) rotates connection by waist bracket attachment means (48), and waist bracket attachment means (48) are fixedly installed on U-shaped
In waist bracket (47)；Back bracket damper (46) is fixedly mounted between back bracket (1) and waist bracket (47), to the back of the body
Portion's support (1) plays the role of to support and damping, buffering；Ectoskeleton thigh retractor device (19) lower end is provided with ectoskeleton
Ectoskeleton thigh (22) in limb part；
The exoskeleton lower limbs part includes ectoskeleton leg and ectoskeleton footwear apparatus；The ectoskeleton leg includes that thigh is Telescopic Fixed
Device (21), ectoskeleton thigh (22), the knee joint support of bearing (24), knee joint retractor device (25), the Telescopic Fixed device of shank
(26), ectoskeleton shank (27)；Ectoskeleton thigh (22) one end is hollow, and in this, vacancy offers groove, the ectoskeleton
It is internal and fixed by the flexible fixator (21) of thigh that the end of retractor device (19) is placed in ectoskeleton thigh (22)；The thigh
Telescopic Fixed device (21) are placed in the outside of ectoskeleton thigh (22)；Ectoskeleton thigh (22) other end end end is provided with dermoskeleton
Bone thigh attachment means (42), ectoskeleton thigh attachment means (42) both sides are mounted on knee joint bearing (30)；Described
Knee joint bearing (30) outer ring is on knee joint bearing supporting frame (24)；Open up on knee joint bearing supporting frame (24)
There is hole, the hole is connected with knee joint retractor device (25) one end by pin；Knee joint retractor device (25) other end is put
In ectoskeleton shank (27)；Ectoskeleton shank (27) one end is hollow, and vacancy offers groove in this, and the knee joint is stretched
It is internal and fixed by the Telescopic Fixed device of shank (26) that the end of compression apparatus (25) is placed in ectoskeleton shank (27)；The shank is stretched
Contracting fixator (26) is placed in the outside of ectoskeleton shank (27)；Ectoskeleton shank (27) other end is provided with ectoskeleton shank
Connecting rod (28)；Connecting rod bores (29) is offered on ectoskeleton shank connecting rod (28)；The ectoskeleton shank connecting rod
(28) can move up and down in the second attachment means of ankle-joint (33-2)；The second attachment means of the ankle-joint (33-2) is arranged on
On shank connecting plate (32)；Described shank connecting plate (32) are L-shaped, are also equipped with ankle-joint the on shank connecting plate (32)
One attachment means (33-1)；Ankle-joint retractor device (34) is installed in the first attachment means of the ankle-joint (33-1)；Described
Ankle-joint retractor device (34) is connected with ectoskeleton footwear apparatus；
Described central controller (40) include angle signal analysis module (40-1) and angle control unit (40-2)；The angle
Signal analysis module (40-1) one end and shoulder joint angular transducer (58), incremental encoder (3) and absolute type encoder
(14) it is connected, angle signal analysis module (40-1) other end is connected with angle control unit (40-2), Angle ambiguity list
First (40-2) controls the rotation of motor.
2. the waist power-assisting robot that auxiliary according to claim 1 is carried, it is characterised in that the ectoskeleton footwear apparatus
Including bracing frame fixing device (35), ectoskeleton footwear (37), ectoskeleton footwear connector (38) and ectoskeleton footwear bracing frame (39)；Institute
Ectoskeleton footwear (37) are stated for sole shape, the front end of ectoskeleton footwear (37) is provided with vertical bandage attachment means (36), rear end and sets
It is equipped with vertical ectoskeleton footwear connecting rod (38)；Described ectoskeleton footwear connecting rod (38) are by pin and ectoskeleton footwear bracing frame
(39) it is connected；Described ectoskeleton footwear bracing frame (39) are fixed on ankle-joint retractor device (34) by bracing frame fixing device (35)
On.
3. ectoskeleton according to claim 1 carries power-assisting robot, it is characterised in that support shock absorber (31) outward
Portion is spring, is internally provided with telescopic bar.
4. ectoskeleton according to claim 1 carries power-assisting robot, it is characterised in that described central controller (40) wrap
Include angle signal analysis module (40-1) and angle control unit (40-2)；Angle signal analysis module (40-1) connects respectively
By the angle signal for coming from shoulder joint angular transducer (58) and incremental encoder (3) and absolute type encoder (14), angle
Degree signal analysis module (40-1) passes to angle control unit (40-2), angle control unit after these angle signals are processed
(40-2) rotation of control motor (4)；When motor (4) rotates, the angle of incremental encoder (3) measurement motor rotation
Degree, and the angle signal for measuring is passed to the central controller (40) installed in back；The absolute type encoder fixes peace
Be mounted on power output piece (13), the rotation of absolute type encoder (14), absolute type is driven when power output piece (13) is rotated
Encoder (14) will measure angle value signal transmission and give central controller (40).
5. the waist power-assisting robot that auxiliary according to claim 1 is carried, it is characterised in that back bracket (1)
On be additionally provided with back bandage (2) and supply socket (41)；Back bracket (1) is fixedly connected on one with back bandage (2)
Rise, described central controller (40) are arranged on the rear side of back bracket (1) and are electrically connected with supply socket (41)；The power supply is inserted
Rear side of the seat (41) installed in back bracket (1).
6. ectoskeleton assist transportation robot according to claim 5, it is characterised in that back bandage (2) are in which
Portion is flexible buffer material.
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| CN106914906A (en) * | 2017-04-16 | 2017-07-04 | 赵洁 | A kind of electric pole repairs robot |
| CN107283403A (en) * | 2017-08-18 | 2017-10-24 | 邢台职业技术学院 | A kind of mechanically aided device of upper limbs ectoskeleton |
| CN107322572A (en) * | 2017-08-11 | 2017-11-07 | 哈工大机器人（合肥）国际创新研究院 | A kind of assistant power apparatus for aiding in human body lower limbs to climb building |
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| CN106914906A (en) * | 2017-04-16 | 2017-07-04 | 赵洁 | A kind of electric pole repairs robot |
| CN106914906B (en) * | 2017-04-16 | 2018-11-02 | 扬州市杭集创意设计园有限公司 | A kind of electric pole repairing robot |
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| CN107283403A (en) * | 2017-08-18 | 2017-10-24 | 邢台职业技术学院 | A kind of mechanically aided device of upper limbs ectoskeleton |
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| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN108542627B (en) * | 2018-02-13 | 2023-12-19 | 中山市沃倍特智能医疗器械股份有限公司 | Upper limb structure assembly of exoskeleton robot conforming to human bionics design |
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| CN109262590A (en) * | 2018-10-16 | 2019-01-25 | 广西科技大学 | A kind of disc type electric machine ectoskeleton structure design |
| CN109664274A (en) * | 2019-01-18 | 2019-04-23 | 西安交通大学 | A kind of panzer rescue exoskeleton robot |
| CN109702716A (en) * | 2019-01-31 | 2019-05-03 | 深圳市迈步机器人科技有限公司 | A kind of joint driver and exoskeleton system |
| CN109700641A (en) * | 2019-01-31 | 2019-05-03 | 深圳市迈步机器人科技有限公司 | A kind of waist exoskeleton system |
| CN109877804A (en) * | 2019-02-19 | 2019-06-14 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
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| CN110393657A (en) * | 2019-07-14 | 2019-11-01 | 西安萨默尔机器人科技有限公司 | Novel exoskeleton lower limbs power-assisting robot |
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| CN111811852A (en) * | 2020-06-28 | 2020-10-23 | 河北工业大学 | Dynamic lower limb rehabilitation auxiliary tool testing system |
| CN111811851A (en) * | 2020-06-28 | 2020-10-23 | 河北工业大学 | Static lower limb rehabilitation auxiliary tool testing system |
| CN111975750A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | Two-foot and four-foot switchable variable topology robot |
| CN111975750B (en) * | 2020-07-30 | 2022-10-14 | 上海交通大学 | Two-foot and four-foot switchable topology-variable robot |
| CN113119161A (en) * | 2021-03-24 | 2021-07-16 | 江苏电子信息职业学院 | Damping device of exoskeleton robot |
| CN113370177A (en) * | 2021-05-17 | 2021-09-10 | 武汉理工大学 | Wearable man-machine cooperation assembly clamp holder for assembling front-end module of automobile |
| CN113352303A (en) * | 2021-07-03 | 2021-09-07 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
| CN113352303B (en) * | 2021-07-03 | 2022-08-09 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
| CN115870949A (en) * | 2022-11-14 | 2023-03-31 | 北京精密机电控制设备研究所 | Active and passive composite multi-joint power-assisted carrying exoskeleton system |
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