CN106493714B - A kind of ectoskeleton carrying power-assisting robot - Google Patents
A kind of ectoskeleton carrying power-assisting robot Download PDFInfo
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- CN106493714B CN106493714B CN201611165525.6A CN201611165525A CN106493714B CN 106493714 B CN106493714 B CN 106493714B CN 201611165525 A CN201611165525 A CN 201611165525A CN 106493714 B CN106493714 B CN 106493714B
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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 ectoskeletons to carry power-assisting robot, including back bracket, central controller, ectoskeleton upper limb component and exoskeleton lower limbs component, central controller are fixedly mounted on the rear side of back bracket；The identical limb member of two structures is separately mounted to the two sides of back bracket, and the hip joint power device is mounted on back bracket and the exoskeleton lower limbs junction of waist power-assisting robot, and shoulder joint power device is mounted on ectoskeleton shoulder.The hip joint power device is made of with shoulder joint power device transmission device, harmonic speed reducer, disc type electric machine and angular transducer, angle value of the angular transducer to measure joint, according to the angle value measured by the movement of central control unit corresponding joint.The exoskeleton lower limbs include ectoskeleton thigh, ectoskeleton shoes and telescopic device composition, play the supporting role certain to back bracket.The ectoskeleton upper limb includes ectoskeleton upper arm, ectoskeleton lower arm and elbow joint self-locking mechanism.
Description
Technical field
The invention belongs to power-assisting robot research fields, and in particular to a kind of ectoskeleton carrying power-assisting robot.
Background technique
With the rapid development of our country'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 specific gravity for accounting for same period GDP is 18.1%；2010 annual total costs
For 7.1 trillion yuans, the specific gravity for accounting for same period GDP is 17.8%.But current logistic industry is main during merchandise warehouse and entrucking
Still it to be completed by simple manpower transport.Thus a kind of moderate cost is invented, structure is simple, easy to wear to be used for
The whole body ectoskeleton power-assisting robot that auxiliary is carried is transporting goods so as to improve human body so that efficiency is then particularly important.
By literature search, application No. is 201210319331.2 Chinese invention patent propose it is a kind of wearable in human body
The heavy material handling power-assisted bionic exoskeleton of four limbs, upper limb ectoskeleton are 7 system with one degree of freedom, certainly by 3DOF shoulder joint, 1
It is made of degree elbow joint, 2DOF wrist joint, 1 freedom degree hand and the motor driven systems case at back, 7 freedom degrees are adopted
Use motor driven.Lower limb exoskeleton is 6DOF system, is closed by 3DOF hip joint, 1 freedom degree knee joint, 2DOF ankle
Section and the electro-hydraulic drive system case at back composition, 6DOF are all made of hydraulic-driven.Human body dresses good a whole set of ectoskeleton equipment
Afterwards, by motor or the machine powers such as hydraulic, efficiency and flexibility can be greatly improved in material handling, reaches time saving and energy saving
Purpose.But the shortcomings that device, is also more obvious:
1) simple in joint design, and inductor system and control system can not accurate detection wearings
The motion information of person and ectoskeleton, to can not incude and control the movement purpose of ectoskeleton；2) lower limb use hydraulic booster, open
Dynamic speed is slower, and hydraulic cylinder makes system more heavy, increases construction weight, is not particularly suited for the wearing of human body；3) device
The structure length that lower limb can not be changed does not have versatility in wearing, is not appropriate for the wearing of different people；4) device is more
Heaviness, not easy donning
Therefore, in view of the above technical problems, it is necessary to which it is simple to provide a kind of structure, accurately can incude and control, lower limb
The ectoskeleton of adjustable length and easy donning carries power-assisting robot, to solve appeal defect.
Summary of the invention
The purpose of the present invention is providing a kind of ectoskeleton carrying power-assisting robot regarding to the issue above, which has structure
Simply, accurately it can incude and control, lower limb adjustable length and has the characteristics that versatility at easy donning.
The present invention is achieved by following technical solution:
A kind of ectoskeleton carrying power-assisting robot, including back bracket, central controller, shoulder joint power device, dermoskeleton
Bone hip joint, ectoskeleton hip joint power device, ectoskeleton upper limb component and exoskeleton lower limbs component；Pacify in the back bracket
Equipped with central controller；Back bracket upper end two sides are connect with shoulder joint power device respectively；The back bracket lower end
It is connected with the U-shaped waist bracket in ectoskeleton hip joint, the both ends of U-shaped waist bracket are provided with output chuck groove；It is described
Output chuck groove is connected with the hip joint connecting shaft of ectoskeleton hip joint power device one end；The hip joint power device
The ectoskeleton thigh telescopic device of the other end is connected with exoskeleton lower limbs component；
The shoulder joint power device mainly includes shoulder joint angular transducer, shoulder joint motor housing, shoulder joint driving
Motor, shoulder joint harmonic speed reducer and shoulder joint power device motor housing；It is installed in the shoulder joint driving motor output shaft
There is shoulder joint harmonic speed reducer, shoulder joint economize on electricity is separately installed on the outside of the shoulder joint driving motor and shoulder joint harmonic speed reducer
Machine shell and shoulder joint power device motor housing, and shoulder joint motor housing and shoulder joint power device motor housing pass through spiral shell
It tethers and connects；Shoulder joint angular transducer, shoulder joint power device motor housing and shoulder are provided on the shoulder joint driving motor
The connection of the second hole of connecting connection parts, second hole of shoulder attachment device are arranged in shoulder attachment device, the shoulder connection
Device is connected by the first hole of shoulder attachment device thereon with back bracket；The shoulder attachment device and ectoskeleton upper limb
Ectoskeleton upper arm in component is vertically and fixedly arranged at together；The angle of the shoulder joint angular transducer measurement shoulder joint kinesitherapy
Signal, and signal is passed into central controller, central controller controls the rotation of shoulder joint motor according to the signal detected；
The ectoskeleton upper limb component includes ectoskeleton upper arm, elbow joint self-locking mechanism and ectoskeleton lower arm；The dermoskeleton
Bone upper arm is connect with ectoskeleton lower arm by elbow joint self-locking mechanism；The ectoskeleton upper arm is equipped with upper arm bandage, ectoskeleton
Lower arm is equipped with lower arm bandage；
The ectoskeleton hip joint power device includes incremental encoder, driving motor, harmonic speed reducer shell, power
Output end chuck, bearing block plate, the first shell of power device, motor housing, harmonic speed reducer, power intake chuck, output
Hold chuck bearing, power output piece and absolute type encoder；Driving motor is installed in the motor housing；The driving motor
Input terminal is connect with incremental encoder, and booster-type encoder is placed in the outside of motor housing；The output end of driving motor with
Harmonic speed reducer input terminal is connected；The harmonic speed reducer is placed in harmonic speed reducer shell；The harmonic speed reducer and dynamic
Power input terminal chuck is connected by bolt；The harmonic speed reducer shell is opened with corresponding position on the first shell of power device
Equipped with harmonic speed reducer shell aperture and the first shell aperture of power device；The harmonic speed reducer shell and the first shell of power device
It is connected by harmonic speed reducer shell aperture and the first shell aperture of power device by bolt；The power intake chuck and output
End chuck bearing is sequentially arranged in the first shell of power device；Power intake chuck side is provided with snag axis, convex
It plays axis to be mounted on output end chuck bearing, the output end chuck bearing is mounted in power output end chuck；The output
Power output piece is provided on the right side of the chuck bearing of end；The power output piece is by opening up on bolt and power output end chuck
Hole is connected；Power output piece right side is provided centrally with power output bobbin；It is equipped on the power output bobbin
Absolute type encoder；The absolute type encoder right side is provided with hip joint connecting shaft at center；
The ectoskeleton hip joint includes U-shaped waist bracket, back bracket damper, hip joint attachment device, hip joint
Attachment device telescopic end, ectoskeleton thigh telescopic device and support shock absorber；U-shaped waist bracket both ends pass through hip joint
Connecting shaft and hip joint attachment device are rotatablely connected；Hip joint attachment device lower end is fixedly installed hip joint attachment device
Telescopic end；The hip joint attachment device telescopic end is bolted with ectoskeleton thigh telescopic device；The support shock absorber one
End connect the connection of the first hole pin with support shock absorber, and the other end connect the connection of the second hole pin, the branch with support shock absorber
It supports damper and connects the setting of the first hole on ectoskeleton extension of hip joint compression apparatus, support shock absorber connects the second hole and is arranged in U-shaped waist
On portion's bracket；When back bracket rotation, support shock absorber follows the rotation of back bracket and rotates, when back bracket does not rotate
Support shock absorber plays support to back bracket, and due to being spring outside support shock absorber, rotates in back bracket
During, play buffer function；Back bracket is rotatablely connected with U-shaped waist bracket by waist bracket attachment device, described
Waist bracket attachment device is fixed in U-shaped waist bracket；Back bracket damper is fixedly mounted on back bracket and waist
Between portion's bracket, there are support and damping, buffering to back bracket；The ectoskeleton thigh telescopic device lower end is equipped with
Ectoskeleton thigh in exoskeleton lower limbs component；
The exoskeleton lower limbs component includes ectoskeleton leg and ectoskeleton footwear apparatus；The ectoskeleton leg includes that thigh is flexible
Fixator, ectoskeleton thigh, the knee joint support of bearing, knee joint telescopic device, the Telescopic Fixed device of shank, ectoskeleton shank；Institute
It is hollow to state ectoskeleton thigh one end, and vacancy offers slot in this, it is big that the end of the ectoskeleton telescopic device is placed in ectoskeleton
It is fixed inside leg and by the flexible fixator of thigh；The flexible fixator of the thigh is placed in the outside of ectoskeleton thigh；It is described outer
Bone thigh other end end end is provided with ectoskeleton thigh attachment device, and the ectoskeleton thigh attachment device two sides are mounted on
Knee joint bearing；The knee axis bearing outer-ring is mounted on the knee joint support of bearing；It is opened up on the knee joint support of bearing
There is hole, which is connect by pin with knee joint telescopic device one end；The knee joint telescopic device other end is placed in ectoskeleton
In shank；Ectoskeleton shank one end is hollow, and vacancy offers slot in this, and the end of the knee joint telescopic device is placed in
It is fixed inside ectoskeleton shank and by the Telescopic Fixed device of shank；The Telescopic Fixed device of shank is placed in the outer of ectoskeleton shank
Side；The ectoskeleton shank other end is provided with ectoskeleton shank connecting rod；The company of offering in the ectoskeleton shank connecting rod
Extension bar hole；The ectoskeleton shank connecting rod can be moved up and down in the second attachment device of ankle-joint；The ankle-joint second connects
Connection device is mounted on shank connecting plate；The shank connecting plate is L shape, and ankle-joint the is also equipped on the shank connecting plate
One attachment device；Ankle-joint telescopic device is installed in first attachment device of ankle-joint；The ankle-joint telescopic device with
Ectoskeleton footwear apparatus is connected；
The central controller includes angle signal analysis module and angle control unit；The angle signal analysis module
One end is connected with shoulder joint angular transducer, incremental encoder with absolute type encoder, and angle signal analysis module is another
End is connected with angle control unit, and angle control unit controls the rotation of driving motor.
Further, the ectoskeleton footwear apparatus include the fixed device of support frame, ectoskeleton shoes, ectoskeleton shoes connector and
Ectoskeleton shoes support frame；The ectoskeleton shoes be sole shape, the front end of ectoskeleton shoes be provided with vertical bandage attachment device, after
End is provided with vertical ectoskeleton shoes connecting rod；The ectoskeleton shoes connecting rod is connected by pin and ectoskeleton shoes support frame；
The ectoskeleton shoes support frame is fixed on ankle-joint telescopic device by the fixed device of support frame.
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 believe from the angle of shoulder joint angular transducer and incremental encoder and absolute type encoder respectively
Number, angle signal analysis module will pass to angle control unit after the processing of these angle signals, angle control unit control is driven
The rotation of dynamic motor；When driving motor rotates, incremental encoder measures the angle of motor rotation, and the angle signal that will be measured
Pass to the central controller for being mounted on back；The absolute type encoder is fixedly mounted on power output on piece, when power is defeated
The rotation of absolute type encoder is driven when slice rotates, absolute type encoder will measure angle value signal and pass to central control
Device.
Further, back bandage and power outlet are additionally provided in the back bracket；The back bracket and back
Bandage is fixed together, and the central controller is mounted on the rear side of back bracket and is electrically connected with power outlet；It is described
Power outlet is mounted on the rear side of back bracket.
Further, its inside of the back bandage is flexible buffer material.
The beneficial effects of the present invention are: compared with prior art, it is of the present invention a kind of for assisting the waist carried to help
Power robot, which is able to achieve the basic function for helping wearer to assist carrying heavy goods, and uses motor driven, starting speed
Degree is fast, so that wearer, surface structure design simply can be dressed conveniently, and accurately can be incuded and be controlled, under
Limb adjustable length, and lower limb can support the weight of back bracket, adapt to the advantages of different crowd is dressed, movement effects are good
Good advantage is more applicable for the demand of society to overcome some intrinsic disadvantages of existing mechanism.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is overall structure back of the present invention schematic diagram；
Fig. 3 is ectoskeleton shoulder joint structural schematic diagram of the present invention；
Fig. 4 is ectoskeleton back bracket of the present invention and hip joint structural schematic diagram；
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 and shoes department structural schematic diagram of the present invention；
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.
Appended drawing reference is as follows:
1, back bracket；2, back bandage；3, incremental encoder；4, driving motor；5, harmonic speed reducer shell；6, it moves
Power output end chuck；7, bearing block plate；8, the first shell of power device；9, motor housing；10, harmonic speed reducer；11, power is defeated
Enter to hold chuck；12, output end chuck bearing；13, power output piece；14, absolute type encoder；15, support shock absorber connection two
Hole；16, hip joint connecting shaft；17, hip joint attachment device；18, hip joint attachment device telescopic end；19, ectoskeleton extension of hip joint
Compression apparatus；20, support shock absorber connects a hole；21, the flexible fixator of thigh；22, ectoskeleton thigh；23, chuck groove is exported；
24, the knee joint support of bearing；25, knee joint telescopic device；26, the Telescopic Fixed device of shank；27, ectoskeleton shank；28, ectoskeleton
Shank connecting rod；29, connecting rod threaded hole；30, knee joint bearing；31, support shock absorber；32, shank connecting plate；33-1, ankle
The first attachment device of joint；33-2, the second attachment device of ankle-joint；34, ankle-joint telescopic device；35, the fixed device of support frame；
36, bandage attachment device；37, ectoskeleton shoes；38, ectoskeleton shoes connecting rod；39, ectoskeleton shoes support frame；40, center control
Device；40-1, angle signal analysis module；40-2, angle control unit；41, power outlet；43, power output bobbin；44, harmonic wave
Speed reducer housing hole；45, the first shell aperture of power device.46, back bracket damper；47, U-shaped waist bracket；48, waist branch
Frame connector；49, back bracket connector；50, ectoskeleton upper arm；51, upper arm bandage；52, elbow joint self-locking device；53, outer
Bone lower arm；54, lower arm bandage；55, shoulder attachment device；56, the first hole of shoulder attachment device；57, shoulder attachment device
Two holes；58, shoulder joint angular transducer；59 back bracket holes；60, shoulder joint motor housing；61, shoulder joint driving motor；62,
Shoulder joint harmonic speed reducer；63, shoulder joint power device shell.
Specific embodiment
To be further described now in conjunction with attached drawing to the further understanding of present invention work:
A kind of embodiment of power-assisting robot, including back bracket 1, center control are carried for ectoskeleton of the present invention
The identical upper limb component of 40, two structures of device limb member identical with two structures.
In conjunction with attached drawing 1 and Fig. 2 and Fig. 9, back bracket 1 mainly includes back bandage 2, power outlet 41, central controller
40；The back bandage 2 is fixed together with back bracket 1, its inside of back bandage 2 is flexible buffer material, is being worn
Back bandage 2 is by people together with the flexible bondage of back bracket 1 when wearing；The central controller 40 is mounted on back bracket 1
Rear side and with 41 electrical links of power outlet；Power outlet 41 is a part of back bracket 1, in the rear side of back bracket 1, work
When it is connect with indoor power supply by electric wire.Ectoskeleton upper limb mainly includes ectoskeleton upper arm 50, elbow joint self-locking mechanism
52 use sofa hinge self-locking mechanism with ectoskeleton lower arm 53, elbow joint self-locking mechanism 52, can be 90~180 in bending angle
When any angle it is self-locking, ectoskeleton upper limb is formed when between elbow joint bending to 90~180 after people has removed weight it is self-locking,
Play the role of supporting human upper limb；Ectoskeleton upper arm 50 is equipped with upper arm bandage 51, and ectoskeleton lower arm is equipped with lower arm and ties up
Band 54 is that flexible material plays the role of fixing human arm inside bandage.
According to Fig.3, shoulder joint power device mainly includes shoulder joint angular transducer 58, shoulder joint motor housing
60, shoulder joint driving motor 61, shoulder joint harmonic speed reducer 62 and shoulder joint power device shell 63, wherein shoulder joint angle passes
Sensor measures the angle signal of shoulder joint kinesitherapy, and signal is passed to central control unit, and central control unit is according to detection
The rotation of the signal control shoulder joint motor 61 arrived, shoulder joint power device motor housing 63 are fixedly mounted on shoulder joint connection dress
55 outside is set, 62 output end side ectoskeleton upper arm 50 of shoulder joint harmonic speed reducer is connected by screw to together, shoulder joint
Driving motor 61 will drive ectoskeleton upper arm around the rotation of shoulder joint after driving shoulder joint harmonic speed reducer 62 to rotate；Shoulder connection
The first hole of device 56 is linked together with the back bracket hole 59 in back bracket 1 by pin, guarantees ectoskeleton shoulder joint
Rotation.
According to shown in Fig. 4, ectoskeleton hip joint mainly includes U-shaped waist bracket 47, back bracket damper 46, hip joint company
Connection device 17, hip joint attachment device telescopic end 18, ectoskeleton thigh telescopic device 19 and support shock absorber 31, wherein hip joint
Attachment device 17 and hip joint connecting shaft 16 are rotatablely connected, hip joint attachment device telescopic end 18 and ectoskeleton thigh telescopic device
19 are fixed together；It is spring outside the support shock absorber 31, inside is the bar that can be stretched, support shock absorber 31
One end support shock absorber connects the connection of 20 pin of the first hole, and the other end connect the connection of 15 pin of the second hole with support shock absorber, when
When back bracket rotates, support shock absorber 31 follows the rotation of back bracket and rotates, and damping is supported when back bracket does not rotate
Device 31 plays the role of supporting back bracket 1, and since the outside of support shock absorber 31 is spring, rotates in back bracket
During, play certain buffer function；Back bracket 1 and U-shaped waist bracket 47 by waist bracket attachment device 48 with
Back bracket attachment device is rotatably connected, and has the freedom degree of a rotation between the two；Back bracket damper 46 is solid
Dingan County is mounted between back bracket 1 and waist bracket 47, plays the role of the support and damping, buffering to back bracket.
In conjunction with Fig. 4 and Fig. 5, ectoskeleton hip joint power device is mounted on the two sides of back bracket 1, including increment type coding
Device 3, driving motor 4, power output chuck 6, bearing block plate 7, the first shell of power device 8, motor housing 9, harmonic speed reducer
10, power input chuck 11, output end chuck bearing 12, power output piece 13 and absolute type encoder 14, power device difference
It is mounted on the two sides of ectoskeleton power-assisting robot back bracket；Incremental encoder 3 is fixedly mounted on motor housing 9, driving
The both ends of motor 4 are output end, and wherein one end is deep into incremental encoder 3, and when motor rotates, incremental encoder 3 is surveyed
The angle of motor rotation is measured, and the angle signal measured is passed to the central controller 40 for being mounted on back；The driving electricity
4 fixing sleeve of machine is electrically connected in 9 the inside of motor housing and with battery 25, and the output shaft one end at 4 both ends of driving motor and increment type are compiled
Code device 3 connects, and the input terminal port interference of the other end and harmonic speed reducer 10 links together, and driving motor 4 will move when rotating
Power passes to harmonic speed reducer 3, and harmonic speed reducer 3 passes to power intake chuck 11 after the revolving speed of driving motor 4 slows down；
The harmonic speed reducer 10 is fixed together with 11 bolt of power intake chuck, when power intake chuck 11 rotates
It is stuck with power output end chuck 6, to drive the movement of power output end chuck 6, power output end chuck 6 is fixed nested
In the output chuck groove 23 in back bracket 1, when power output end chuck 6 rotates, the movement 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 power output end chuck
It plays axis interference to link together, power input chuck axis 43 and the inner wall interference of output end chuck bearing 12 link together；Institute
It states bearing block plate 7 to be fixed together by the threaded hole of threaded hole and bearing block plate 7 on output end chuck axis 43, bearing
Block plate 7 plays the effect fixed to output end chuck bearing 12, prevents the falling off at work of output end chuck bearing 12.When dynamic
Power output chuck 11 and power input chuck 6 be when being stuck, power intake chuck 6 and power output 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
It rises, the first shell of power device 8 and harmonic speed reducer shell 5 pass through outside the power device first on the first shell of power device 8
Hole in housing hole 44 and harmonic speed reducer shell 5, the first shell aperture of power device 8 are fixedly connected in back bracket 1.It is described dynamic
Power output chip 13 is fixedly connected in power output end chuck snag axis by threaded hole, and power output bobbin 43 and absolute type are compiled
Code device 14 is rotatablely connected, and the rotation of absolute type encoder 14 is driven when power input chuck 6 rotates, and absolute type encoder 14 will
It measures angle value signal and passes to central controller 40.
According to shown in Fig. 6, ectoskeleton leg includes that stretch fixator 21, ectoskeleton of ectoskeleton thigh telescopic device 19, thigh is big
The Telescopic Fixed device 26 of leg 22, the knee joint support of bearing 24, knee joint telescopic device 25, shank, ectoskeleton thigh 27, the dermoskeleton
The end of bone telescopic device 19 and ectoskeleton thigh 27 pass through the flexible fixator 21 of thigh for ectoskeleton telescopic device 19 and dermoskeleton
Bone thigh 27 links together；30 inner hole of knee joint bearing simultaneously links together with the end interference of ectoskeleton thigh 22；
The knee joint bearing supporting frame 24 is connect with the outer wall interference of knee joint bearing 30, and the knee joint support of bearing 24 is stretched with knee joint
Compression apparatus 25 is connected and fixed by pin to link together, when work knee joint telescopic device 25 with knee joint bearing 30 rotation
And it rotates；25 end of knee joint telescopic device and ectoskeleton thigh 27 pass through the Telescopic Fixed device 26 of shank and are fixedly connected on one
It rises.
According to shown in Fig. 7, ectoskeleton shank connecting rod 28, shank connecting plate 32, ankle-joint telescopic device 34, ectoskeleton shoes branch
Support 39, ectoskeleton shoes 37, connecting rod bores 29 is provided in the ectoskeleton shank connecting rod 28, and ectoskeleton shank connecting rod 28 is deep
Enter into ankle-joint attachment device two, by bolt by shank connecting plate 32, ectoskeleton shank connecting rod 28 and ankle-joint second
Attachment device 33-2 is fixed together；Described 34 one end of ankle-joint telescopic device is provided with hole, and is deep into ankle-joint first
In attachment device 33-1, by bolt by ankle-joint telescopic device 34, ankle-joint the first attachment device 33-1 and shank connecting plate
32 are fixed together；The ectoskeleton shoes support frame 39 of the two sides is fixed by the fixed device 35 of support frame and is connected to
Together, the fixed device 35 of support frame is rotatablely connected with ankle-joint telescopic device 34；The ectoskeleton shoes 37 are connected by ectoskeleton shoes
Extension bar 38 and ectoskeleton shoes support frame 39 are rotatablely connected, and the bandage attachment device on ectoskeleton shoes, will to install connection bandage
Foot is together with the flexible bondage of ectoskeleton shoes progress.
In conjunction with attached drawing 8, the central controller 40 includes angle signal analysis module 40-1 and angle control unit 40-2；
The angle signal analysis module 40-1 receives shoulder joint angular transducer 58 in ectoskeleton shoulder joint and outer respectively
The angle signal of incremental encoder 3 and absolute type encoder 14 on bone hip joint, angle signal analysis module 40-1 will
Angle control unit 40-2 is passed to after the processing of these angle signals, angle control unit 40-2 controls the rotation of driving motor 4.
Further shoulder joint is electrically connected with the driving motor 4 in power device with power outlet 41, is driving motor 4
Rotation provides electric energy.
The course of work of the 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 dressed power-assisting robot, and wherein back is tied up
Band 2 is by together with the flexible bondage of human body and back bracket 1, and upper arm bandage 51 and lower arm bandage 54 are by people's arm and ectoskeleton upper limb
Bondage is together.
Human body dressed ectoskeleton carry power-assisting robot after, when carrying heavy goods to be bent over, people during bending over,
Human body drives back bracket movement, since power output end chuck 6 is fixedly mounted on the output chuck groove 23 of back bracket 1
In, so the movement of back bracket 1 drives the movement of power output end chuck 6.At this point, people during bending movements, moves
Power output end chuck 6 is not stuck with power intake chuck 11, after people bows to certain angle, power output end card
Disk 6 is stuck with power intake chuck 11.People is during the drive output end chuck motion bent over, absolute encoding
Device 14 measures the angle signal that human body 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, power output end chuck 6 and power intake chuck 11 block at this time
Together, central controller 40 controls driving motor 4 and rotates forward, and driving motor 4, which rotates forward, drives power output end chuck 6 to rotate forward, by
It is stuck in power output end chuck 6 at this time with power intake chuck 11, drives power intake chuck 11 to rotate forward, power
Input terminal chuck 11 is fixedly mounted on the rotating forward that back bracket is driven in the output chuck groove 23 of back bracket 1.It is being removed with this
There is provided certain auxiliary strength to people when fortune helps human body to lift weight.When driving motor 4 moves, incremental encoder 3 will
The angle signal that the driving motor 4 that measures moves passes to central controller 40, when driving motor 4 move to it is pre-set
After angle value, human body has lifted weight at this time, and power intake chuck 11 returns to the initial position of movement, incremental encoder
The angle signal of the driving motor 4 measured is passed to central controller 40 by 3, and central controller 40 controls driving motor 4 and overturns,
When power intake chuck 11 is overturn, power intake chuck 11 is disengaged from power output end chuck 6, works as power output end
When chuck 6 is restored to initial position, the angle signal measured is passed to central controller 40, center control by incremental encoder 3
Device 40 processed controls driving motor and stops operating.
In the handling process, ectoskeleton shoulder joint angular transducer 58 detects the movement of shoulder joint, shoulder joint angle to human body
It spends sensor and angle signal is passed into central controller, central controller can control the movement of shoulder joint actuator motor,
The course of work of specific work process such as hip joint.
In carry an object, when elbow joint bending is between 90~180 °, elbow joint self-locking mechanism 52 is on ectoskeleton
Limb formed it is self-locking, play the role of to human upper limb support.
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 is only exemplary, no
It 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, which is characterized in that including back bracket (1), central controller (40), shoulder joint
Save power device, ectoskeleton hip joint, ectoskeleton hip joint power device, ectoskeleton upper limb component and exoskeleton lower limbs component；
Central controller (40) are installed on the back bracket (1)；Back bracket (1) the upper end two sides respectively with shoulder joint power
Device connection；U-shaped waist bracket (47) in back bracket (1) lower end and ectoskeleton hip joint is connected, U-shaped waist bracket
(47) both ends are provided with output chuck groove (23)；The output chuck groove (23) and ectoskeleton hip joint power device
The hip joint connecting shaft (16) of one end is connected；The ectoskeleton thigh telescopic device (19) of the hip joint power device other end
It is connected with exoskeleton lower limbs component；
The shoulder joint power device includes shoulder joint angular transducer (58), shoulder joint motor housing (60), shoulder joint driving
Motor (61), shoulder joint harmonic speed reducer (62) and shoulder joint power device motor housing (63)；The shoulder joint driving motor
(61) it is equipped on output shaft shoulder joint harmonic speed reducer (62), the shoulder joint driving motor (61) and shoulder joint harmonic reduction
Shoulder joint motor housing (60) and shoulder joint power device motor housing (63) are separately installed on the outside of device (62), and shoulder joint economizes on electricity
Machine shell (60) is bolted with shoulder joint power device motor housing (63)；It is set on the shoulder joint driving motor (61)
It is equipped with shoulder joint angular transducer (58), shoulder joint power device motor housing (63) and the second hole of shoulder attachment device (57) are even
It connects, second hole of shoulder attachment device (57) is arranged on shoulder attachment device (55), and the shoulder attachment device (55) is logical
The first hole of shoulder attachment device (56) crossed thereon is connected with back bracket (1)；The shoulder attachment device (55) and dermoskeleton
Ectoskeleton upper arm (50) in bone upper limb component is vertically and fixedly arranged at together；The shoulder joint angular transducer (58) measures shoulder
The angle signal of joint motions, and signal is passed to central controller (40), central controller (40) is according to the letter detected
Number control shoulder joint motor (61) rotation；
The ectoskeleton upper limb component includes ectoskeleton upper arm (50), elbow joint self-locking mechanism (52) and ectoskeleton lower arm (53)；
The ectoskeleton upper arm (50) is connect with ectoskeleton lower arm (53) by elbow joint self-locking mechanism (52)；The ectoskeleton upper arm
(50) it is equipped with upper arm bandage (51), ectoskeleton lower arm (53) is equipped with lower arm bandage (54)；
The ectoskeleton hip joint power device includes incremental encoder (3), driving motor (4), harmonic speed reducer shell
(5), power output end chuck (6), bearing block plate (7), the first shell of power device (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)；
Driving motor (4) are installed in the motor housing (9)；Driving motor (4) input terminal and incremental encoder (3) are even
It connects, and booster-type encoder (3) is placed in the outside of motor housing (9)；The output end of driving motor (4) and harmonic speed reducer (10)
Input terminal is connected；The harmonic speed reducer (10) is placed in harmonic speed reducer shell (5)；The harmonic speed reducer (10) and dynamic
Power input terminal chuck (11) is connected by bolt；The harmonic speed reducer shell (5) and the first shell of power device (8) on pair
It answers and offers harmonic speed reducer shell aperture (44) and the first shell aperture of power device (45) at position；The harmonic speed reducer shell
(5) passed through by harmonic speed reducer shell aperture (44) with the first shell aperture of power device (45) with the first shell of power device (8)
Bolt is connected；The power intake chuck (11) and output end chuck bearing (12) are sequentially arranged at the first shell of power device
(8) in；Power intake chuck (11) side is provided with snag axis, and snag axis is mounted on output end chuck bearing (12)
On, the output end chuck bearing (12) is mounted in power output end chuck (6)；On the right side of the output end chuck bearing (12)
It is provided with power output piece (13)；The power output piece (13) passes through the hole opened up on bolt and power output end chuck (6)
It is connected；Power output piece (13) right side is provided centrally with power output bobbin (43)；The power output bobbin
(43) absolute type encoder (14) are installed on；Hip joint connection is provided at absolute type encoder (14) the right side center
Axis (16)；
The ectoskeleton hip joint includes U-shaped waist bracket (47), back bracket damper (46), hip joint attachment device
(17), hip joint attachment device telescopic end (18), ectoskeleton thigh telescopic device (19) and support shock absorber (31)；The U-shaped
Waist bracket (47) both ends pass through hip joint connecting shaft (16) and hip joint attachment device (17) and are rotatablely connected；The hip joint
Attachment device (17) lower end is fixedly installed hip joint attachment device telescopic end (18)；The hip joint attachment device telescopic end
(18) it is bolted with ectoskeleton thigh telescopic device (19)；Described support shock absorber (31) one end connect with support shock absorber
The connection of one hole (20) pin, the other end connect the connection of the second hole (15) pin, the support shock absorber connection with support shock absorber
First hole (20) is arranged on ectoskeleton extension of hip joint compression apparatus (19), and support shock absorber connects the second hole (15) and is arranged in U-shaped waist
On portion's bracket (47)；When back bracket (1) rotation, support shock absorber (31) follows the rotation of back bracket (1) and rotates, back
Support shock absorber (31) plays support to back bracket (1) when portion's bracket (1) does not rotate, and due to support shock absorber
(31) external is spring, during back bracket (1) rotates, plays buffer function；Back bracket (1) and U-shaped waist branch
Frame (47) is rotatablely connected by waist bracket attachment device (48), and the waist bracket attachment device (48) is fixed at U-shaped
In waist bracket (47)；Back bracket damper (46) is fixedly mounted between back bracket (1) and waist bracket (47), to back
Portion's bracket (1) plays the role of support and damping, buffering；Ectoskeleton thigh telescopic device (19) lower end is equipped under ectoskeleton
Ectoskeleton thigh (22) in limb component；
The exoskeleton lower limbs component 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 telescopic device (25), the Telescopic Fixed device of shank
(26), ectoskeleton shank (27)；Described ectoskeleton thigh (22) one end is hollow, and vacancy offers slot, the ectoskeleton in this
It is internal and fixed by thigh flexible fixator (21) that the end of telescopic device (19) is placed in ectoskeleton thigh (22)；The thigh
Telescopic Fixed device (21) is placed in the outside of ectoskeleton thigh (22)；Ectoskeleton thigh (22) other end end end is provided with dermoskeleton
Bone thigh attachment device (42), ectoskeleton thigh attachment device (42) two sides are mounted on knee joint bearing (30)；It is described
Knee joint bearing (30) outer ring is mounted on the knee joint support of bearing (24)；It is offered on the knee joint support of bearing (24)
Hole, the hole are connect by pin with knee joint telescopic device (25) one end；Knee joint telescopic device (25) other end is placed in
In ectoskeleton shank (27)；Described ectoskeleton shank (27) one end is hollow, and vacancy offers slot in this, and the knee joint is flexible
It is internal and fixed by the Telescopic Fixed device of shank (26) that the end of device (25) is placed in ectoskeleton shank (27)；The shank is flexible
Fixator (26) is placed in the outside of ectoskeleton shank (27)；Ectoskeleton shank (27) other end is provided with ectoskeleton shank company
Extension bar (28)；Connecting rod bores (29) are offered on the ectoskeleton shank connecting rod (28)；The ectoskeleton shank connecting rod
(28) it can be moved up and down in the second attachment device of ankle-joint (33-2)；Second attachment device of ankle-joint (33-2) is mounted on
On shank connecting plate (32)；The shank connecting plate (32) is L shape, and ankle-joint the is also equipped on the shank connecting plate (32)
One attachment device (33-1)；Ankle-joint telescopic device (34) are installed in first attachment device of ankle-joint (33-1)；It is described
Ankle-joint telescopic device (34) is connected with ectoskeleton footwear apparatus；
The central controller (40) includes angle signal analysis module (40-1) and angle control unit (40-2)；The angle
Signal analysis module one end (40-1) 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), and angle control is single
The rotation of first (40-2) control driving motor.
2. ectoskeleton according to claim 1 carries power-assisting robot, which is characterized in that the ectoskeleton footwear apparatus includes
Support frame fixed device (35), ectoskeleton shoes (37), ectoskeleton shoes connecting rod (38) and ectoskeleton shoes support frame (39)；It is described outer
Bone shoes (37) are sole shape, and the front end of ectoskeleton shoes (37) is provided with vertical bandage attachment device (36), rear end is provided with
Vertical ectoskeleton shoes connecting rod (38)；The ectoskeleton shoes connecting rod (38) is solid by pin and ectoskeleton shoes support frame (39)
Even；The ectoskeleton shoes support frame (39) is fixed on ankle-joint telescopic device (34) by support frame fixed device (35).
3. ectoskeleton according to claim 1 carries power-assisting robot, which is characterized in that the support shock absorber (31) is outside
Portion is spring, is internally provided with telescopic bar.
4. ectoskeleton according to claim 1 carries power-assisting robot, which is characterized in that central controller (40) packet
Include angle signal analysis module (40-1) and angle control unit (40-2)；The angle signal analysis module (40-1) connects respectively
By the angle signal from shoulder joint angular transducer (58) and incremental encoder (3) and absolute type encoder (14), angle
Degree signal analysis module (40-1) will pass to angle control unit (40-2), angle control unit after the processing of these angle signals
(40-2) controls the rotation of driving motor (4)；When driving motor (4) rotates, incremental encoder (3) measures the angle of motor rotation
Degree, and the angle signal measured is passed to the central controller (40) for being mounted on back；The fixed peace of the absolute type encoder
On power output piece (13), the rotation of absolute type encoder (14), absolute type are driven when power output piece (13) rotation
Encoder (14) will measure angle value signal and pass to central controller (40).
5. ectoskeleton according to claim 1 carries power-assisting robot, which is characterized in that on the back bracket (1) also
It is provided with back bandage (2) and power outlet (41)；The back bracket (1) is fixed together with back bandage (2), institute
Central controller (40) is stated to be mounted on the rear side of back bracket (1) and be electrically connected with power outlet (41)；The power outlet
(41) it is mounted on the rear side of back bracket (1).
6. ectoskeleton according to claim 5 carries power-assisting robot, which is characterized in that the back bandage (2) is in it
Portion is flexible buffer material.
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| CN201611165525.6A CN106493714B (en) | 2016-12-16 | 2016-12-16 | A kind of ectoskeleton carrying power-assisting robot |
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| CN201611165525.6A CN106493714B (en) | 2016-12-16 | 2016-12-16 | A kind of ectoskeleton carrying power-assisting robot |
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| CN106493714B true CN106493714B (en) | 2019-01-08 |
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| CN107283403B (en) * | 2017-08-18 | 2020-04-21 | 邢台职业技术学院 | Upper limb exoskeleton mechanical power assisting device |
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| 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 |
| 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 |
| CN109877804B (en) * | 2019-02-19 | 2021-05-25 | 北京铁甲钢拳科技有限公司 | Exoskeleton system |
| CN110039518B (en) * | 2019-03-21 | 2021-04-13 | 北京精密机电控制设备研究所 | Upper limb electromechanical power-assisted lifting exoskeleton robot |
| 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 |
| CN110948469B (en) * | 2019-10-29 | 2021-12-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN111975750B (en) * | 2020-07-30 | 2022-10-14 | 上海交通大学 | Two-foot and four-foot switchable topology-variable robot |
| CN113119161B (en) * | 2021-03-24 | 2023-04-07 | 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 |
| CN113352303B (en) * | 2021-07-03 | 2022-08-09 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
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