CN106826768A - A kind of mechanical exoskeleton sensing system - Google Patents
A kind of mechanical exoskeleton sensing system Download PDFInfo
- Publication number
- CN106826768A CN106826768A CN201710130245.XA CN201710130245A CN106826768A CN 106826768 A CN106826768 A CN 106826768A CN 201710130245 A CN201710130245 A CN 201710130245A CN 106826768 A CN106826768 A CN 106826768A
- Authority
- CN
- China
- Prior art keywords
- fixing device
- touch force
- guide rail
- baffle plate
- fixed block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a kind of mechanical exoskeleton sensing system, including baffle plate (2), fixing device and touch force sensor；The mounting groove for installing pedipulator is provided with the fixing device centre position；Both sides are separately installed with the touch force sensor before and after the fixing device is along human body direction of advance；Guide rail (31) is provided with the fixing device or so either side；The sliding shoe (1) that can be slided on the guide rail (31) is provided with the guide rail (31)；The Contact plate of the baffle plate (2) including connecting plate and its two ends；The connecting plate is fixedly connected with the sliding shoe (1)；The Contact plate is two pieces, is separately positioned on the front and back position of two touch force sensors installed in the fixing device.Simple structure of the present invention, installs simple, and it is good and can well protect extension sensor its service life that sensor responds rapid effect.
Description
Technical field
The present invention relates to a kind of design of mechanical exoskeleton sensor, more particularly to based on Honeywell touch force sensor
Mechanical exoskeleton sensing system.
Background technology
The mechanical exoskeleton system that the current mankind use is mainly used in two broad aspects：Military and medical treatment, future is in industry
Field can also play certain effect.
Military Application aspect：Various countries are competitively studied, and the Military Application various countries that take the lead in having an effect competitively are studied, and making military power is
The driving source of mechanical bone development, therefore show the industry situation competitively studied various countries, it is anticipated that Military Application will take the lead in
Break through.
Medical applications aspect：Military to turn the people, medical treatment answers the market space huge in terms of medical treatment, and gait training is lower limb function
The major way of obstacle rehabilitation training, mechanical bone can be applied in the specific training of neural rehabilitation field, ensure that height
The rehabilitation training of effect, therefore be especially suitable for the elderly and the disabled and use.
Commercial Application aspect：Commercial Application is mainly directed towards engineering construction, Emergency Assistance (disease, accident, disaster, burst thing
Part), manufacture, carry conveying, dangerous work (such as nuclear power station Operation and Maintenance, aerospace station, deepwater work).
Mechanical exoskeleton technological achievement
The current achievement of mechanical exoskeleton technology is to obtain preliminary progress, not yet forms the extensive product that can be applied conscientiously
Industry, the direction of future studies is concentrated mainly on five aspects：(1) artificial muscle fiber：Artificial muscle fiber can utilize voltage
Change makes artificial filament contraction or extension produce strength, so as to replace fluid power system general at present.(2) control system
System：Simple action teaching aspect or can only be to machine is only resided within compared to the tele-control system based on network technology
Person joint or end effector carry out single or a few free degree this distinct disadvantage of isolated control, system internal control
System is the inexorable trend of future development.(3) Design of Mechanical Structure：Outside the primary condition for meeting walking needs, it is necessary to consider
Security, compatibility, comfortableness.(4) energy source：Before supply energy, the energy that mechanical bone has must be enough to support 24
Hour urgent need to resolve.(5) actuate：Designer must enable the machine to smooth movement, so that wearer will not be too clumsy, and start
Machine is the same, and actuator also must be quiet and efficient.
The most important thing of mechanical bone technology --- sensor, sensor is most important core zero in mechanical bone
Part.The action message of user is collected by sensor, these information transmissions are processed to message handler, are then started
Corresponding mechanical part exports energy.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide based on Honeywell touch sensing
The mechanical exoskeleton sensing system of device, it carries out spacing and action, sensitivity spirit to sensor using baffle plate and catch system
Quick, dynamic response is good, simple system, it is easy to installs and applies.
Technical scheme：
A kind of mechanical exoskeleton sensing system, including baffle plate, fixing device and touch force sensor；
The mounting groove for installing pedipulator is provided with the fixing device centre position；In the fixing device along people
Both sides are separately installed with the touch force sensor before and after body direction of advance；It is provided with the fixing device or so either side and is led
Rail；The sliding shoe that can be slided on the guide rail is provided with the guide rail；
The baffle plate includes the Contact plate at connecting plate and its two ends；The connecting plate is fixedly connected with the sliding shoe；Institute
Contact plate is stated for two pieces, the front and back position of two touch force sensors installed in the fixing device is separately positioned on；
Catch is connected with the connecting plate of the baffle plate, the catch is tied up on model of human ankle by bandage.
The fixing device includes the first fixed block and the second fixed block；First fixed block and the second fixed block are
It is arch-shaped；The two is cooperated, and mounting groove is fixedly connected by screw；The guide rail is arranged on first fixed block away from peace
On the side of tankage.
The touch force sensor is by screw on two fixed blocks of installation.
The touch force sensor is Honeywell sensor.
The Contact plate of the baffle plate is 5mm apart from the distance of the touch force sensor.
Beneficial effect：
1st, the protection using baffle plate and catch system to sensor, is substantially increased the reliability under adverse circumstances.
2nd, sensitivity is high, and system is responded, and reduces unnecessary action, reduces energy of the hydraulic oil in oil pipe line and damages
Lose, improve capacity usage ratio.
Brief description of the drawings
Fig. 1 is patent overall schematic of the present invention.
Fig. 2 is the schematic view of the mounting position of Honeywell sensor.
Fig. 3 is fixed block schematic diagram of the present invention；Wherein, (a), (b), (c) represent front view, left view and vertical view respectively
Figure.
Fig. 4 is baffle plate schematic diagram of the present invention；Wherein, (a), (b), (c) represent front view, left view and top view respectively.
Fig. 5 is present invention slider schematic diagram；Wherein, (a), (b), (c) represent front view, left view and top view respectively.
Description of reference numerals：10- Honeywells sensor；1- sliding shoes；2- baffle plates；The fixed blocks of 3- first；31- guide rails；
The fixed blocks of 4- second；5- catch；6- hexagon socket countersunk flat cap head screws M3 × 12；7- slotted cheese head screws M2 × 5；8- fluting socket caps
Screw M1.6 × 14；9- hexagon socket countersunk flat cap head screws M3 × 8；10-hexagon socket cap head screw M3 × 8.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The present invention is that the accurate reliability touch force sensor of FSS series smalls has precision reliable using Honeywell sensor
Power sensing capabilities, it is encapsulated in the packaging of small goods grade, and its is cheap.The characteristic of the sensor be employ by
Reliable sensing technology is proved, that is, uses the refined piezo-resistance silicon sensing element of special design.Small-power, without amplify, it is of no help
The whiston bridge circuit design repaid is exported in being provided in the range of power in the mV of stabilization.
, according to the piezoresistance of embedment silicon chip, when it is subject to any external force and bends, it is electric for FSS series touch force sensors
Resistance can increased principle work.The sensor is directly focused on silicon-sensing element the power of applying by stainless steel ball, electricity
The change of resistance is the change proportional with the size of applying power.The change of circuitous resistance causes mV output levels also to be made accordingly
Change.
The encapsulation design of FSS series touch force sensors combines the modular structure of this patent.The serial touch force sensor is adopted
With the elastic technical matters and the engineering plastics of molding of innovation, make exertin size up to 4.5/5.5kg.Stainless steel ball provides pole
Good mechanical stability, it is adapted to various applications.FSS series touch force sensors at 50 DEG C (122 °F), failure average period
(MCTF) 2,000 ten thousand operations can be provided in reliability testing.Reliability testing determines touch force sensor before being out of order,
Possible work times in the case of full scale.Various electric interconnection joints, are subjected to the connector of pre-wired, printed circuit board (PCB) peace
Dress and surface are installed.The unique Sensor Design of FSS series touch force sensors may also provide including the various peaces including mounting bracket
Dress form option, and various specific installation requirement when can meet application.
Honeywell sensor is fixed on fixed block, pedipulator is clipped between the first fixed block 3 and the second fixed block 4
Dynamical system connecting rod, by tying up to the catch 5 on ankle-joint, baffle plate 2 and sliding shoe 1 with ankle movements, work as Huo Niwei
Your sensor touches baffle plate 2 can detect the action of human body ankle, and sensor signal can be first passed through in mechanical exoskeleton system
AD analog-digital converters, analog comparator, DA digital analog converters, signal amplifier treatment, be then delivered to electrohydraulic servo valve, electricity
The hydraulic unit driver of hydraulic servo control ankle-joint is acted；Ankle-joint hydraulic unit driver can pull the moving component of ankle-joint
Acted to complete to propose ankle action, until mechanical exoskeleton ankles bit rotation amplitude and people's ankle turn are identical.Work as human body
When recovering to stand, catch 5, baffle plate 2 and sliding shoe 1 restore to the original state, and sensor is not receiving signal, and sensor passes through information
Electrohydraulic servo valve is issued after treatment, ankle-joint hydraulic unit driver pull bar counteragent is controlled, and so on motion is formed outside machinery
The sensing of bone and motion.
Overall installation diagram as shown in Figure 1, by sliding shoe 1, baffle plate 2, the first fixed block 3, the second fixed block 4, catch 5 and
Each appurtenances composition.First fixed block 3 and the second fixed block 4 are by the transmission mechanism of pedipulator slotted cheese head screw M1.6
× 14 fix therebetween, and Honeywell sensor 10 is arranged on the two of two fixed blocks using slotted cheese head screw M2 × 5
Side, across two fixed blocks, in the present invention, one has two sensors.The installation site of Honeywell sensor such as Fig. 2 institutes
Show.Sliding shoe 1 and baffle plate 2, catch 5 are fixed using hexagon socket countersunk flat cap head screw M3 × 12.Deviate from pedipulator in the first fixed block 3
Guide rail 31 is offered on the side of installation site, as shown in Figure 3；Sliding shoe 1 is arranged on the guide rail 31 of the first fixed block 3, and
Can be slided with guide rail 31.Baffle plate 2 is fixed on the outside of sliding shoe 1, is fixedly connected with sliding shoe 1；By screw fit in baffle plate 2
A sliding space for sliding shoe 1 is formed between the first fixed block 3.The baffle plate 2 includes the touching at connecting plate and its two ends
Plate；The connecting plate is fixedly connected with the sliding shoe 1；The Contact plate is two pieces, is separately positioned in the fixing device
The front and back position of two touch force sensors installed, Contact plate is 5mm apart from the distance of touch force sensor.Catch 5 leads to
The connecting plate outside that screw is fixed on baffle plate 2 is crossed, catch 5 is used to fix bandage, and whole system ties up to human body ankle and closes by bandage
On section.
When ankle lifts, bandage is moved therewith, and bandage is connected to catch 5, baffle plate 2 and sliding shoe 1 and together moves, from
And the sensor on fixed block can touch the side in the both sides Contact plate of baffle plate 2, so that Honeywell sensor is received
Signal, is then passed to AD analog-digital converters, analog comparator, DA digital analog converters, signal amplifier treatment, is then delivered to
Electrohydraulic servo valve, the hydraulic unit driver of electrohydraulic servo valve control ankle-joint is acted.
As shown in figure 3, fixed block is designed as arch-shaped shape to can be very good to save space, while fixed Honeywell
Touch force sensor.
As shown in figure 4, baffle plate 2 mainly plays a part of, to sensor signal and protection sensor, to coordinate baffle plate 2 to fixed block
1 one tracks of guide rail 31 and sliding shoe move up and down it, reserve four holes as screw fix catch 5 use.
As shown in figure 5, sliding shoe 1 mainly coordinates baffle plate 2 to play a part of guide rail, while playing position-limiting action protection sensing
Device will not be destroyed because of excessive compression.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of mechanical exoskeleton sensing system, it is characterised in that：Including baffle plate (2), fixing device and touch force sensor；
The mounting groove for installing pedipulator is provided with the fixing device centre position；Before the fixing device is along human body
Both sides are separately installed with the touch force sensor before and after entering direction；Guide rail is provided with the fixing device or so either side
(31)；The sliding shoe (1) that can be slided on the guide rail (31) is provided with the guide rail (31)；
The Contact plate of the baffle plate (2) including connecting plate and its two ends；The connecting plate is fixedly connected with the sliding shoe (1)；
The Contact plate is two pieces, is separately positioned on the front and back position of two touch force sensors installed in the fixing device
Put；
Catch (5) is connected with the connecting plate of the baffle plate (2), the catch (5) is tied up on model of human ankle by bandage.
2. mechanical exoskeleton sensing system according to claim 1, it is characterised in that：The fixing device includes first
Fixed block (3) and the second fixed block (4)；First fixed block (3) and the second fixed block (4) are arch-shaped；The two is mutually
Coordinate, mounting groove is fixedly connected by screw；The guide rail (31) is arranged on first fixed block (3) away from the side of mounting groove
On face.
3. mechanical exoskeleton sensing system according to claim 2, it is characterised in that：The touch force sensor passes through spiral shell
Nail is on two fixed blocks of installation.
4. mechanical exoskeleton sensing system according to claim 1, it is characterised in that：The touch force sensor is Buddhist nun suddenly
Wei Er sensors.
5. mechanical exoskeleton sensing system according to claim 1, it is characterised in that：The Contact plate of the baffle plate (2)
It is 5mm apart from the distance of the touch force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130245.XA CN106826768B (en) | 2017-03-07 | 2017-03-07 | A kind of mechanical exoskeleton sensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130245.XA CN106826768B (en) | 2017-03-07 | 2017-03-07 | A kind of mechanical exoskeleton sensing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826768A true CN106826768A (en) | 2017-06-13 |
| CN106826768B CN106826768B (en) | 2019-01-29 |
Family
ID=59138191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710130245.XA Expired - Fee Related CN106826768B (en) | 2017-03-07 | 2017-03-07 | A kind of mechanical exoskeleton sensing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826768B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5282460A (en) * | 1992-01-06 | 1994-02-01 | Joyce Ann Boldt | Three axis mechanical joint for a power assist device |
| US20030115954A1 (en) * | 2001-12-07 | 2003-06-26 | Vladimir Zemlyakov | Upper extremity exoskeleton structure and method |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN205968998U (en) * | 2016-08-22 | 2017-02-22 | 中国人民解放军63908部队 | Low limbs helping hand ectoskeleton robot |
| CN107847389A (en) * | 2015-04-14 | 2018-03-27 | 埃克苏仿生公司 | Ectoskeleton communicates and the method for control |
-
2017
- 2017-03-07 CN CN201710130245.XA patent/CN106826768B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5282460A (en) * | 1992-01-06 | 1994-02-01 | Joyce Ann Boldt | Three axis mechanical joint for a power assist device |
| US20030115954A1 (en) * | 2001-12-07 | 2003-06-26 | Vladimir Zemlyakov | Upper extremity exoskeleton structure and method |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN107847389A (en) * | 2015-04-14 | 2018-03-27 | 埃克苏仿生公司 | Ectoskeleton communicates and the method for control |
| CN205968998U (en) * | 2016-08-22 | 2017-02-22 | 中国人民解放军63908部队 | Low limbs helping hand ectoskeleton robot |
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| Publication number | Publication date |
|---|---|
| CN106826768B (en) | 2019-01-29 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190129 Termination date: 20200307 |
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| CF01 | Termination of patent right due to non-payment of annual fee |