CN106826763A - For the flexible exoskeleton robot of climbing knee joint power-assisted - Google Patents
For the flexible exoskeleton robot of climbing knee joint power-assisted Download PDFInfo
- Publication number
- CN106826763A CN106826763A CN201710050373.3A CN201710050373A CN106826763A CN 106826763 A CN106826763 A CN 106826763A CN 201710050373 A CN201710050373 A CN 201710050373A CN 106826763 A CN106826763 A CN 106826763A
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- rope
- bowden
- cam
- knee joint
- exoskeleton robot
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
For the flexible exoskeleton robot of climbing knee joint power-assisted, it is related to a kind of lower limb assistance exoskeleton robot, with solve existing lower limb assistance exoskeleton robot by volume that the rigidization of configuration is brought is big, weight is big and human body amalgamation is low, very flexible, energy consumption it is larger, and human body climbing knee joint cannot be directed to carry out the problem of submissiveization adaptability synkinesia, including torque-variable drive device, left leg, right leg and transmission component；Left leg and right leg include thigh and shank respectively；The torque-variable drive device includes motor, support frame and driving rotating disk；The transmission component includes two ropes, two Bowden spools and two Bowden cable catheter fixation joints；The driving rotating disk is main to be made up of the cam capstan winch boundary disk for connecting as one and two cam capstan winches；The thigh and the shank rotate connection.The present invention to human body climbing for carrying out knee joint power-assisted.
Description
Technical field
The present invention relates to a kind of lower limb assistance exoskeleton robot, and in particular to one kind is used for climbing knee joint power-assisted
Flexible exoskeleton robot.
Background technology
At present, assistance exoskeleton robot is substantially using rigid connecting elements, and directly right using drive system
These rigid connecting elements are driven, so as to drive human body to be moved together with ectoskeleton.This kind of rigid ectoskeleton configuration
Design, increases the volume and total quality of exoskeleton system, greatly affected the amalgamation of ectoskeleton configuration and human body, limits
The degree that personalizes of exoskeleton robot is made, the cooperative motion of exoskeleton robot and human body has been have impact on, while limiting whole
The kinematic dexterity of individual exoskeleton system, increased the energy ezpenditure of system.For using steel wire rope as exoskeleton robot
Driving, torque needed for the motion gait different phase according to human body carries out torque-variable adaptability driving, and implementing needs ratio
More complicated control algolithm.Additionally, current assistance exoskeleton robot is mainly for auxiliary human body level walking, in auxiliary people
The exoskeleton robot that body carries out climbing exercise is less.
The content of the invention
The present invention be for solve existing lower limb assistance exoskeleton robot by volume that the rigidization of configuration is brought is big,
Weight is big and human body amalgamation is low, very flexible, energy consumption are larger, and cannot be carried out for human body climbing knee joint submissive
Change the problem of adaptability synkinesia, and then a kind of flexible exoskeleton robot for climbing knee joint power-assisted is provided.
The present invention is adopted the technical scheme that to solve the above problems：
For the flexible exoskeleton robot of climbing knee joint power-assisted, it includes torque-variable drive device, left leg, the right side
Leg and transmission component；Left leg and right leg include thigh and shank respectively；
The torque-variable drive device includes motor, support frame and driving rotating disk；The transmission component include two ropes,
Two Bowden spools and two Bowden cable catheter fixation joints；
The driving rotating disk is main to be made up of the cam capstan winch boundary disk for connecting as one and two cam capstan winches；Cam is twisted
Disk boundary disk and two cam capstan winches are machined with driving rotating disk axle, and two cam capstan winches are symmetrical arranged；The cam capstan winch
The rope groove for winding rope, the rope in two rope grooves are machined between boundary disk and two cam capstan winches respectively
Winding direction it is opposite；
The driving rotating disk axle is rotatably installed on support frame as described above, and the output shaft of the motor is packed in driving rotating disk axle
Axis hole in, the motor is packed on support frame as described above by motor connection ring flange；The thigh and the shank are rotated
Connection, the dorsal part of the thigh is provided with Bowden spool pilot hole road；
Two Bowden cable catheter fixation joints are fixed with support frame as described above；One end of Bowden spool passes through Bowden spool
Anchor tip is fixed, and Bowden spool is located in Bowden spool pilot hole road, and the other end of Bowden spool is fixed on the Bowden
Spool is oriented at the lower port in duct, and the one ends wound of rope is fixed on the rope groove in rope groove, and rope 7 is located in Bao
Step in spool, the other end of rope is fixed in the dorsal part of the shank.
The beneficial effects of the invention are as follows：First, the present invention is convenient for carrying using the design of lightweight material submissiveization；2nd, using one
Individual motor and driving rotating disk carry out driven, compact overall structure, light weight to left leg and right leg；3rd, overall configuration design
Highly personalize, highly adapted to human body physiological parameter；4th, leg uses 3D printing lightness elastomeric material, greatly mitigates
Overall weight, it is more compliant；5th, knee joint is driven using rope active torque-variable, and effect is driven with submissiveization adaptability；
6th, torque needed for driving output to combine human body climbing exercise gait cycle correspondence, realizes personalizing functionally, saves energy
Source, improves cruising time；Auxiliary human body knee joint is exerted oneself when the 7th, climbing, and improves Human Stamina, reduces human body new old generation
Thank.Overall weight of the present invention includes that electric-control system is no more than 3kg.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is the structural representation of torque-variable drive device；
Fig. 3 removes the front view of end cap for Fig. 2；
Fig. 4 is the explosive view of torque-variable drive device；
Fig. 5 is the structural representation of driving rotating disk in Fig. 4；
Fig. 6 is structural representation of the driving rotating disk from terms of motor side in Fig. 4；
Fig. 7 is the side view of driving rotating disk；
Fig. 8 is thigh, shank and Bowden spool pilot hole pipeline connecting structure side view；
Fig. 9 is that thigh, shank, Bowden spool pilot hole road and Bowden spool are connected with each other structural representation；
Figure 10 is shank structural representation；
Figure 11 is thigh structural representation；
Figure 12 is fundamental diagram of the present invention.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
With reference to Fig. 1-Figure 11 explanations, for the flexible exoskeleton robot of climbing knee joint power-assisted, it includes variable force
Square drive device, left leg, right leg and transmission component；Left leg and right leg include thigh 9 and shank 10 respectively；
The torque-variable drive device includes motor 1, support frame 13 and driving rotating disk 4；The transmission component includes two
7, two Bowden spools 12 of rope and two Bowden cable catheter fixation joints 8；
The main cam capstan winch boundary disk 4-2 and two cam capstan winch 4-1 by connecting as one of the driving rotating disk is constituted；
Cam capstan winch is demarcated, and to be machined with driving rotating disk axle 4-3, two cam capstan winch 4-1 symmetrical for disk 4-2 and two cam capstan winch 4-1
Set；It is machined with respectively for winding rope 7 between the cam capstan winch boundary disk 4-2 and two cam capstan winch 4-1
Rope groove 4-1-1, the winding direction of the rope 7 in two rope groove 4-1-1 is opposite；
The driving rotating disk axle 4-3 is rotatably installed on support frame as described above 13, and the output shaft of the motor 1 is packed in driving
In the axis hole of turntable shaft 4-3, the motor 1 is packed on support frame as described above 13 by motor connection ring flange 2；The thigh 9
Rotated with the shank 10 and connected, the dorsal part of the thigh 9 is provided with Bowden spool pilot hole road 9-1；
Two Bowden cable catheter fixation joints 8 are fixed with support frame as described above 13；One end of Bowden spool 12 passes through Bao
Step on spool anchor tip 8 to fix, Bowden spool 12 is located in Bowden spool pilot hole road 9-1, the other end of Bowden spool 12
It is fixed at the lower port of the Bowden spool pilot hole road 9-1, the one ends wound of rope 7 is fixed on institute in rope groove 4-1-1
State on rope groove 4-1-1, rope 7 is located in Bowden spool 12, the other end of rope 7 is fixed in the dorsal part of the shank 10.
The appearance and size of two cam capstan winch 4-1 of present embodiment is completely the same, on cam capstan winch boundary disk 4-2 both sides
Be symmetrically distributed, so as to realize driving rotating disk axle 4 in one direction directional rotating when, two cam capstan winch 4-1 are respectively at receipts
The working condition of rope is restricted and puts, and as the rotation direction of driving rotating disk axle 4 changes, two cam capstan winch 4-1 alternate changes
Working condition, joint states are driven so as to realize that one group of rope is in, and another group of rope is in relaxation state, realizes torque-variable
Drive output.Two effective arm of force excursions of outer rim overlap point of cam capstan winch 4-1 are R1~R2mm(R1<R2).Thigh 9
It is made up of light elastic material 3D printing with shank 10, itself has stronger elasticity.Pass through thigh between thigh 9 and shank 10
Mating connection between rotation hole 9-2 and shank rotary shaft 10-1, realizes being relatively rotated between thigh 9 and shank 10, Bowden cable
There is the rope such as steel wire rope or Kev drawstring or carbon fiber rope 7 inside pipe 12, Bowden spool 12 passes through Bowden spool pilot hole road 9-
1, end in the port in hole, there is rope 7 inside Bowden spool 12 directly across thigh 9 and shank 10, by steel wire clamp
It is fixed on shank steel wire rope fixing end 10-2.Two legs portion bandage 11, the He of thigh 9 are additionally provided with thigh 9 and shank 10 respectively
Shank 10 is separately fixed on the leg of human body by leg strap 11, realizes light flexible ectoskeleton to driving human body lower limbs fortune
It is dynamic.When the rotation of motor 1 pulls the rope 7 on corresponding thigh 9 and shank 10, leg is passed through between thigh 9 and shank 10 and human body
Portion's bandage 11 is fixed, and the shank 10 that leg is scrunched during climbing is remained stationary as, and the length of rope 7 shortens, and makes thigh 9 relatively small around rotary shaft
Leg 10 is rotated, and realizes the lifting of human body entirety center of gravity, so as to the knee joint for reaching climbing carries out power-assisted, realizes auxiliary
Human body is climbed.
Illustrated with reference to Fig. 1, it is preferable that rope 7 is steel wire rope or Kev drawstring or carbon fiber rope.It is arranged such, steel wire rope
Flexible, intensity is big.Kev drawstring has high temperature resistant, and fire protection flame retarding is lightweight, and intensity is high, and modulus is high, dimensionally stable, shrinks
Rate is low, resistance to puncture, abrasion performance, and heat resistance is resistant to chemical etching, good mechanical property, the advantages of dielectricity is good；Carbon fiber rope has strong
Degree is big, is easy to ensure to repeat precision of expansion.
With reference to Fig. 1 and Fig. 8-Figure 11 explanations, thigh 9 and shank 10 are made by light elastic material.It is arranged such, pole
The earth alleviates the weight of whole device.
With reference to Fig. 2-Fig. 4 explanations, support frame 13 includes support housing 3 and support housing end cap 5；The support housing end cap
5 are arranged in the support housing 3, and the driving rotating disk axle 4 is arranged in the support housing 3 and is rotatably installed in the branch
On support shell 3 and the support housing end cap 5, the motor 1 is packed in the support housing 3 by motor connection ring flange 2
On, two Bowden cable catheter fixation joints 8 are packed in the support housing 3.The motor connection ring flange 2 of the present embodiment leads to
Cross and be bolted in support housing 3, driving rotating disk axle 4-3 passes through to be bonded on the output shaft for connecing motor 1, driving rotating disk axle 4-3
It is fixed on the supported hole of support housing 3 and support housing end cap 5 by bearing, it is ensured that the axle center of motor 1, driving rotating disk 4
Center of rotation and support housing 3 and the center overlapping of axles of the supported hole of support housing end cap 5, driving rotating disk 4 can be with motor 1
Synchronous axial system.Rope 7 is wrapped in the rope groove 4-1 of driving rotating disk 4, and Bowden cable catheter fixation joint 8 is fixed on support housing 3
On, it is used to conduct steel wire rope or Kev drawstring or carbon fiber rope.
Illustrated with reference to Fig. 3 and Fig. 4, torque-variable drive device also includes two rope guides 6, two rope guides 6
In the support housing 3, and two rope guides 6 are corresponded with two Bowden cable catheter fixation joints 8
Arrangement, rope 7 is supported on the rope guide 6.It is arranged such, rope guide 6 is bolted in support housing 3,
When driving rotating disk 4 drives rope 7 with the synchronous axial system of motor 1, steel wire rope or Kev drawstring or carbon fiber rope are oriented to.
With reference to Fig. 2 and Fig. 4 explanations, it is preferable that motor 1 is servomotor.It is arranged such, the linearity is high, breakaway torque is big,
Smooth running reliability.
Operation principle：
Knee joint of the invention is set to active power-assisted joint, the soft drive side driven using a kind of steel wire rope torque-variable
Formula, is cooperated using motor 1, cam capstan winch 4-1, steel wire rope or rope 7, thigh 9 and shank 10 and constitutes the new change of a class
Torque flexible drive system.Wirerope-winding on the cam capstan winch 4-1 for becoming the effective arm of force, as the rotation of motor 1 can be real
Existing torque-variable power output, steel wire rope, across thigh and the knee joint of shank, is fixed on shank knee pass along ectoskeleton leg upside
The bottom of section, by motor 1 with moving cam capstan winch 4-1 lay winding wire ropes, reduces rope capacity, with shank steel wire rope fixing end
10-2 is fixing point, realizes that steel wire rope provides pulling force, drives whole body lift, and power-assisted is realized to knee joint, completes auxiliary people
Body climbing exercise.
Both legs, in human body climbing, are alternately driven by this type of drive using a motor, realize torque-variable
Output, it is ensured that system architecture is compact, quality lightness, low to motor requirement, leg ectoskeleton has elasticity, has height in structure
Personalizing for degree, fits, with stronger compliance and concertedness completely with human body lower limbs configuration.
In torque-variable drive device, motor 1 drives driving rotating disk 4 to be driven steel wire rope, by driving rotating disk 4
Two symmetrical cam capstan winch 4-1 are wound and loosen to steel wire rope, and two different legs to human body are carried out respectively
Force drives and freely loosens, and when human body is climbed, cam capstan winch 4-1 windings scrunch the steel wire rope of leg side, while the other end
Cam capstan winch 4-1 loosens the driving steel wire rope led leg, and allows free movement of leading leg.As shown in figure 12, a cam capstan winch 4-1
Lay winding wire ropes, drive human body to climb supporting leg, for human body provides the schematic diagram for climbing auxiliary.In Figure 12：
RiEffective arm of force at-certain i point；
SiThe rope length that-cam capstan winch is turned over；
T0The output torque of-motor；
Ti- certain i point effect torque on knee joint；
R0- kneed the radius of gyration；
R1Effective arm of force after-initial rotation during lay winding wire ropes；
R2Effective arm of force after-end rotation during lay winding wire ropes；
After θ-supporting leg starts to scrunch, knee joint angle.
By effective arm of force and knee joint radius of gyration R of cam capstan winch 4-10Relation, system motion to i can be obtained
During point, effect torque on knee joint is：
Due to upstairs when supporting leg it is motionless, steel wire rope fixing point 10-2 is also remained stationary as with being fixedly connected for shank 10, steel
Cord or rope 7 are fixed on the thigh 9 of human body by Bowden spool 12, and steel wire rope or rope 7 can be in Bowden spools 12
Slidably, Bowden spool 12 is fixedly connected with human thigh by leg strap 11, with cam capstan winch 4-1 lay winding wire ropes
Or rope 7, steel wire rope or the length of rope 7 is diminished, kneed angle change is with the change of steel wire rope or the length of rope 7
Relation is：
Because steel wire rope fixing point end is motionless, so steel wire rope can drive whole thigh to rotate clockwise, realize that knee is closed
Section stretching routine power-assisted, makes the whole body lift of human body, completes the action climbed, and the rotating torque of generation is it and acts on
Torque T on knee jointi。
Effective radius of gyration scope of cam capstan winch 4-1 is R1~R2mm(R1<R2), due to human body climbing in, scrunch
, it is necessary to larger joint moment when leg is initially had an effect, now effective arm of force during initial rotation lay winding wire ropes is set to R1Mm,
Scrunch when leg terminates to have an effect, it is necessary to less joint moment, effective arm of force when now terminating to rotate lay winding wire ropes is set to
R2Mm, the knee joint radius of gyration of lower limb assistance exoskeleton is R0mm(R1<R2<R0), then can realize to output end moment variable force
Square is exported and secondary amplification, and multiplication factor is R0/R2~R0/R1。
In the case where power of motor is not increased, bigger torque output is realized, and adapt to be pedaled in human body climbing
Step on the change of torque needed for leg knee joint, realize personalizing functionally, lifting auxiliary human body auxiliaring effect upstairs is saved
The energy, on the premise of system weight is not increased, improves the cruising time of system.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can utilize the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, according to any simple modification, equivalent variations and modification that technical spirit of the invention is made to above case study on implementation, still belong to
Technical solution of the present invention scope.
Claims (6)
1. the flexible exoskeleton robot of climbing knee joint power-assisted is used for, it is characterised in that：It includes that torque-variable drives dress
Put, left leg, right leg and transmission component；Left leg and right leg include thigh (9) and shank (10) respectively；
The torque-variable drive device includes motor (1), support frame (13) and driving rotating disk (4)；The transmission component includes two
Bar rope (7), two Bowden spools (12) and two Bowden cable catheter fixation joints (8)；
The driving rotating disk is main to be made up of cam capstan winch boundary disk (4-2) for connecting as one and two cam capstan winches (4-1)；
Cam capstan winch boundary disk (4-2) and two cam capstan winches (4-1) are machined with driving rotating disk axle (4-3), two cam capstan winches
(4-1) is symmetrical arranged；The cam capstan winch to be demarcated and be machined with use respectively between disk (4-2) and two cam capstan winches (4-1)
In the rope groove (4-1-1) of winding rope (7), the winding direction of the rope (7) in two rope grooves (4-1-1) is opposite；It is described
Driving rotating disk axle (4-3) is rotatably installed on support frame as described above (13), and the output shaft of the motor (1) is packed in driving rotating disk axle
In the axis hole of (4-3), the motor (1) is packed on support frame as described above (13) by motor connection ring flange (2)；The thigh
(9) rotate and connect with the shank (10), the dorsal part of the thigh (9) is provided with Bowden spool pilot hole road (9-1)；The support
Two Bowden cable catheter fixation joints (8) are fixed with frame (13)；One end of Bowden spool (12) is fixed by Bowden spool
Joint (8) is fixed, and Bowden spool (12) is located in Bowden spool pilot hole road (9-1), and the other end of Bowden spool (12) is consolidated
It is scheduled at the lower port of the Bowden spool pilot hole road (9-1), the one ends wound of rope groove (4-1-1) interior rope (7) is fixed
On the rope groove (4-1-1), rope (7) is located in Bowden spool (12), and the other end of rope (7) is fixed in described small
The dorsal part of leg (10).
2. the flexible exoskeleton robot for climbing knee joint power-assisted according to claim 1, it is characterised in that：
The rope (7) is steel wire rope or Kev drawstring or carbon fiber rope.
3. the flexible exoskeleton robot for climbing knee joint power-assisted according to claim 1 and 2, its feature exists
In：Thigh (9) and shank (10) are made by light elastic material.
4. the flexible exoskeleton robot for climbing knee joint power-assisted according to claim 3, it is characterised in that：
Support frame as described above (13) includes support housing (3) and support housing end cap (5)；The support housing end cap (5) is installed in described
In support housing (3), the driving rotating disk axle (4) is arranged in the support housing (3) and is rotatably installed in outside the support
On shell (3) and the support housing end cap (5), the motor (1) is packed in outside the support by motor connection ring flange (2)
On shell (3), two Bowden cable catheter fixation joints (8) are packed in the support housing (3).
5. the flexible exoskeleton robot for climbing knee joint power-assisted according to claim 4, it is characterised in that：
The torque-variable drive device also includes two rope guides (6), and two rope guides (6) are installed in the support housing
(3) on, and two rope guides (6) correspond arrangement, rope (7) with two Bowden cable catheter fixation joints (8)
It is supported on the rope guide (6).
6. the flexible exoskeleton robot for climbing knee joint power-assisted according to claim 5, it is characterised in that：
The motor (1) is servomotor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050373.3A CN106826763B (en) | 2017-01-23 | 2017-01-23 | Flexible exoskeleton robot for climbing knee joint power-assisted |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050373.3A CN106826763B (en) | 2017-01-23 | 2017-01-23 | Flexible exoskeleton robot for climbing knee joint power-assisted |
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| CN106826763A true CN106826763A (en) | 2017-06-13 |
| CN106826763B CN106826763B (en) | 2018-12-14 |
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| CN112842830A (en) * | 2020-12-30 | 2021-05-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Exoskeleton knee joint driving structure and method based on flexible cam system |
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