CN107322572A - A kind of assistant power apparatus for aiding in human body lower limbs to climb building - Google Patents
A kind of assistant power apparatus for aiding in human body lower limbs to climb building Download PDFInfo
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- CN107322572A CN107322572A CN201710686975.8A CN201710686975A CN107322572A CN 107322572 A CN107322572 A CN 107322572A CN 201710686975 A CN201710686975 A CN 201710686975A CN 107322572 A CN107322572 A CN 107322572A
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- building
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 208000007623 Lordosis Diseases 0.000 claims abstract description 35
- 238000005452 bending Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 34
- 239000003638 chemical reducing agent Substances 0.000 claims description 34
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000005021 gait Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 210000002414 leg Anatomy 0.000 abstract description 29
- 210000001624 hip Anatomy 0.000 abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 3
- 210000004394 hip joint Anatomy 0.000 abstract description 3
- 210000000629 knee joint Anatomy 0.000 abstract description 3
- 210000003314 quadriceps muscle Anatomy 0.000 abstract description 3
- 210000000689 upper leg Anatomy 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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
- B25J9/16—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 assistant power apparatus for aiding in human body lower limbs to climb building, it includes servomechanism, controller and dc source device.Servomechanism includes：Lordosis support, its is U-shaped, for coordinating with human body waist；Two actuators, it is separately mounted to the U-shaped two ends of Lordosis support, for aiding in two lower limb of human body to climb building；Two leg fixed mounts, it is separately mounted on two actuators；Two legs portion bandage, it is separately mounted on two leg fixed mounts, and is bundled in respectively when in use on two lower limb of human body.Controller controls the operation of two actuators, and dc source device provides power to two actuators.By aiding in bending and stretching for quadriceps muscle of thigh that power-assisted effect can be achieved, it is no longer necessary to the overall motion for considering hip joint, knee joint and ankle-joint, specific aim structure design is carried out, cost is greatly reduced in realization.
Description
Technical field
The present invention relates to a kind of power assisting device in medical field, specifically a kind of auxiliary human body lower limbs climb the portable of building
Power assisting device.
Background technology
At present, help the disabled and medical rehabilitation field helping the elderly, general lower limb power assisting device include hip joint, knee joint and
Ankle-joint, it is complicated, user using preceding need by training；Involve great expense, average family is difficult to bear；Overall structure is sunk
Weight, wearing comfort is poor.Document (Ken YASUHARA.Walking Assist Device with Stride
Management System[J].Honda R&D Technical Review,2009.10:Provided in 57-66) a kind of small
Type lower limb aid in walking devices, and due to using disc type electric machine with reference to planetary structure, the output torque of device is small, only
Trained in place for running and walking, without direct power-assisted effect；Speed output lacks closed-loop control, and output speed, which can not be stablized, to be controlled
System.Prior art is difficult to take into account in cost, comfortableness and power-assisted effect.
The content of the invention
In order to solve the problem of existing lower limb power assisting device is difficult to take into account in cost, wearing comfort and power-assisted effect,
A kind of assistant power apparatus for aiding in human body lower limbs to climb building is provided for this.
The technical problem solved required for of the invention, can be achieved through the following technical solutions：Under one kind auxiliary human body
The assistant power apparatus in Zhi Pa buildings, it includes servomechanism, controller and dc source device.Servomechanism includes：Waist branch
Support member, its is U-shaped, for coordinating with human body waist；Two actuators, it is separately mounted to the U-shaped two ends of Lordosis support, uses
Building is climbed in two lower limb of auxiliary human body；Two leg fixed mounts, it is separately mounted on two actuators；Two legs portion is tied up
Band, it is separately mounted on two leg fixed mounts, and is bundled in respectively when in use on two lower limb of human body.Controller is controlled
The operation of two actuators, dc source device provides power to two actuators.
As the further improvement of such scheme, each actuator includes：Angular transducer, encoder transmits seat, flexbile gear
Flange, harmonic speed reducer, mounting seat, brshless DC motor；Wherein, transmission seat one end centered on axle, through encoder after insert
It is connected in angular transducer, the opposite other end of transmission seat is substrate, is concentrically mounted on flexbile gear flange；Flexbile gear flange and harmonic wave
Decelerator is fixed；Harmonic speed reducer and brshless DC motor are separately fixed in the opposite sides of mounting seat, brshless DC motor
For driving harmonic speed reducer；Mounting seat is arranged on Lordosis support, and flexbile gear flange is arranged on respective leg portions fixed mount；Angle
Spend the angle value of sensor detection transmission seat revolution, the velocity amplitude of encoder detection transmission seat revolution；Controller is according to the angle
The gait function change brshless DC motor rotating speed that angle value is climbed by the human body of storage inside during building, according to the velocity amplitude
Reduce the fluctuation of speed of brshless DC motor；Controller is by controlling brshless DC motor to drive harmonic speed reducer to drive flexbile gear method
Blue to transmit torque to respective leg portions fixed mount, the rotation of flexbile gear flange changes the angle and speed of transmission seat revolution, angle sensor
Device and encoder are derived from real-time angle value and velocity amplitude and send back controller respectively, realize closing for actuator transmission
Ring is controlled.
Further, mounting seat realizes the angular adjustment between Lordosis support by angle adjustment mechanism；The angle
Spending adjustment structure includes at least one mounting hole one, at least one mounting hole two corresponding with least one mounting hole one, consolidates
At least one rotary shaft in corresponding mounting hole one and mounting hole two；Mounting hole one is opened in mounting seat, mounting hole
Two are opened on Lordosis support, and rotary shaft realizes being flexibly connected between mounting seat and Lordosis support.
Further, flexbile gear flange realizes the length between respective leg portions fixed mount by length and angle adjustment mechanism
Regulation；The length and angle adjustment mechanism include at least one mounting hole three, corresponding extremely with least one mounting hole three-phase
A few mounting hole four, the few fastener being fixed in corresponding mounting hole three and mounting hole four；Mounting hole three is opened in
On flexbile gear flange, mounting hole four is opened on the fixed mount of leg, and fastener realizes flexbile gear flange and leg fixed mount length adjustment
And after angular adjustment between interfix.
Further, flexbile gear flange opens up the seal groove one for installing harmonic speed reducer, O-shaped by being inserted in seal groove one
The circumference side of sealing ring one and harmonic speed reducer forms crush seal.
Further, each actuator also includes mounting cup；Angular transducer is fixed on mounting cup, transmits the center of seat
Axle is then passed through mounting cup and is just plugged in angular transducer after passing through encoder.
Yet further, each actuator also includes protective cover；Encoder, mounting cup are installed on protective cover, transmission
The central shaft of seat is through will pass through protective cover before encoder.
Further, each actuator also includes motor flange；Brshless DC motor is arranged on by motor flange and installed
On seat.
Yet further, mounting seat opens up the seal groove two for installing motor flange, O-shaped close by being inserted in seal groove two
Seal two and the circumference side of motor flange form crush seal；Motor flange opens up the seal groove for installing brshless DC motor
Three, form crush seal by inserting O-ring seal three and the circumference side of brshless DC motor in seal groove three.
As the further improvement of such scheme, Lordosis support is using two bending members symmetrically connected, each bending
Part is connected by way of flexible connection opens up horizontal back-shaped groove on one piece of connecting plate, connecting plate, actuator passes through back-shaped
The distance between fixed position adjusting actuator and corresponding bending member on groove.
Building action is climbed in the realization of bending and stretching that human body climbs during building mainly by quadriceps muscle of thigh, therefore by aiding in quadriceps muscle of thigh
Bend and stretch power-assisted effect can be achieved, it is no longer necessary to the overall motion for considering hip joint, knee joint and ankle-joint, carry out specific aim
Cost is greatly reduced in structure design, realization；Structure is adjustable can meet more crowds the need for or adapt to same user's body
Change, simplify structure then reduce device quality, the two can all improve the comfortableness of wearing；It is big that power-assisted effect is reflected in power-assisted
The small and aspect of stability two, improving power-assisted size needs to consider the rating of electric machine, reducer structure, power source parameter and installation
The movement monitoring for needing design motivation to transmit in terms of form, stability.
Therefore, beneficial effects of the present invention are mainly as follows：
1. for climbing building movements design, features simple structure, compared with prior art cost be greatly reduced；
2. total quality mitigates significantly, many places design angle or structure of adjusting length, the wearing comfort of device is improved
Property and versatility；
3. the motion state of pair executing agency is monitored, the stability of power output is improved；
4. brshless DC motor combination harmonic speed reducer and high-capacity lithium battery, improve the output torque of actuator.
Brief description of the drawings
Fig. 1 climbs the structural perspective of the assistant power apparatus in building for the auxiliary human body lower limbs of the present invention.
Fig. 2 is the three-dimensional exploded view of the actuator of assistant power apparatus in Fig. 1.
Fig. 3 is the phantom of the actuator of assistant power apparatus in Fig. 1.
Fig. 4 is the structural relation figure between the Lordosis support of assistant power apparatus in Fig. 1 and actuator.
The close-up schematic view that Fig. 5 is region I in Fig. 4.
The close-up schematic view that Fig. 6 is region II in Fig. 4.
Fig. 7 is the structural relation figure between the actuator of assistant power apparatus in Fig. 1 and leg fixed mount.
The close-up schematic view that Fig. 8 is region III in Fig. 7.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, the assistant power apparatus that the auxiliary human body lower limbs of the present invention climb building solves existing lower limb power-assisted dress
The problem of being difficult to take into account in cost, wearing comfort and power-assisted effect is put, mainly including servomechanism, controller 1 and direct current
Power device 2.Controller 1 is used to control servomechanism to go auxiliary human body lower limbs to climb building, and dc source device 2 provides servomechanism energy
Source, controller 1 and dc source device 2 may be mounted on servomechanism, can also be independently of servomechanism, such as controller 1
It is arranged to the part of hand-held with dc source device 2, this part is held by people to be manipulated.In the present embodiment, control is employed
Device 1 and dc source device 2 processed are arranged on the mode on servomechanism.
Incorporated by reference to Fig. 2 and Fig. 3, servomechanism includes Lordosis support 4, two actuators 5, two leg fixed mounts 6, two
Bar leg strap 7, two braces 3.
Lordosis support 4 is U-shaped, for coordinating with human body waist.Lordosis support 4 can use integrative-structure, also may be used
To use Split type structure, such as in the present embodiment, Lordosis support 4 is using two bending members symmetrically connected.Each bending member
Connected by way of flexible connection and horizontal back-shaped groove 43 is opened up on one piece of connecting plate 42, connecting plate 42.The side of flexible connection
Formula can preferably remove the waist of laminating human body using the form such as being hinged, be pivotally connected, as long as being easy to Lordosis support 4 when in use
Portion.In order to mitigate the weight of Lordosis support 4, some holes 44 can also be opened up on Lordosis support 4.These certain holes
44 also facilitate the installation of controller 1 and dc source device 2 on Lordosis support 4, controller 1 and dc source device 2 simultaneously
When being installed on Lordosis support 4, can be set in symmetrical form, so not only can balanced whole power assisting device matter
Amount is distributed, also better appearance.
The two ends of two braces 3 are separately mounted to Lordosis support 4, and two braces 3 make with two shoulders of human body
With for facilitating human body to load the weight of whole power assisting device.Brace 3 can be fixed on the middle part of Lordosis support 4 using screw
Between the upper end of actuator 5, brace 3 wears Design of length into adjustable, can just as knapsack band structure mode.
Two actuators 5 are separately mounted to the U-shaped two ends of Lordosis support 4, for aiding in two lower limb of human body to climb building.
Actuator 5 passes through the distance between the fixed position adjusting actuator 5 on back-shaped groove 43 and corresponding bending member.
Each actuator 5 includes angular transducer 8, and mounting cup 9, encoder 10, protective cover 11 transmits seat 12, flexbile gear method
Orchid 13, O-ring seal 1, harmonic speed reducer 15, mounting seat 16, O-ring seal 2 17, motor flange 18, O-ring seal three
19, brshless DC motor 20 and motor protecting cover 21.
In other embodiments, actuator 5 can only include angular transducer 8, and encoder 10 transmits seat 12, flexbile gear
Flange 13, harmonic speed reducer 15, mounting seat 16, brshless DC motor 20.Axle centered on one end of seat 12 is transmitted, through encoder
It is plugged on after 10 in angular transducer 8, the opposite other end of transmission seat 12 is substrate, is concentrically mounted on flexbile gear flange 13.It is soft
Wheel flange 13 is fixed with harmonic speed reducer 15, and harmonic speed reducer 15 and brshless DC motor 20 are separately fixed at the phase of mounting seat 16
To on both sides, brshless DC motor 20 is used to drive harmonic speed reducer 15.Mounting seat 16 is arranged on Lordosis support 4, flexbile gear
Flange 13 is arranged on respective leg portions fixed mount 6.
The angle value that the detection transmission seat 12 of controller angular transducer 8 is turned round, the detection transmission seat 12 of encoder 10 is turned round
Velocity amplitude.The gait function that controller 1 is climbed according to the angle value by the human body of storage inside during building changes brushless straight
The rotating speed of motor 20 is flowed, the fluctuation of speed of brshless DC motor 20 is reduced according to the velocity amplitude.Controller 1 is brushless straight by controlling
Flowing the driving harmonic speed reducer 15 of motor 20 drives flexbile gear flange 13 to transmit torque to respective leg portions fixed mount 6, flexbile gear flange 13
Rotate and change angle and speed that transmission seat 12 is turned round, angular transducer 8 and encoder 10 are derived from real-time angle respectively
Value and velocity amplitude and controller 1 is sent back, realize the closed-loop control that actuator 5 is driven.
Specifically, the angle value that the detection of angular transducer 8 transmission seat 12 is turned round, due to transmission seat 12 and flexbile gear flange 13
It is connected, therefore the two angle of revolution angle value is consistent.Angular transducer 8 will detect that obtained angle value is converted to electric signal and is sent to control
In device 1 processed；The velocity amplitude that the detection transmission seat 12 of encoder 10 is turned round, the speed that transmission seat 12 is turned round is by harmonic speed reducer 15
Decelerating effect, is changed into the 1/i of the rotating speed of brshless DC motor 20, and i is the speed reducing ratio of harmonic speed reducer 15, in the present embodiment, i=
100.Therefore the velocity amplitude turned round by measuring transmission seat 12 obtains the rotating speed of brshless DC motor 20 indirectly, transmits seat 12 by speed
Degree signal is changed into electric signal and is sent in controller 1.Controller 1 can use preset STM32 singlechip chips, control brushless
Direct current generator 20, STM32 singlechip chips have been previously written the gait function that human body is climbed during building.Brshless DC motor 20
The angle value that rotating speed is turned round with transmission seat 12 is mutually corresponding, and the angle value that angular transducer 8 is sent is handled by STM32 single-chip microcomputers
Afterwards, the rotating speed of brshless DC motor 20 is changed according to gait function, the velocity amplitude that encoder 10 is sent is handled by STM32 single-chip microcomputers
Afterwards, the fluctuation of speed of brshless DC motor 20 is reduced.The control driving harmonic speed reducer 15 of brshless DC motor 20 of controller 1 drives
Flexbile gear flange 13 transmits torque to respective leg portions fixed mount 6, and the rotation of flexbile gear flange 13 changes the angle value that transmission seat 12 is turned round
And velocity amplitude, the angle value and velocity amplitude of revolution are sent back controller 1, realize actuator 5 by angular transducer 8 and encoder 10
The closed-loop control of transmission.
Mounting means between harmonic speed reducer 15 and flexbile gear flange 13 can be in the following way：Flexbile gear flange 13 is opened up
The seal groove one of harmonic speed reducer 15 is installed, by inserting O-ring seal 1 and harmonic speed reducer 15 in seal groove one
Circumference side forms crush seal.Similarly, between mounting seat 16 and motor flange 18, motor flange 18 and brshless DC motor 20
Also similar mounting means can be used：Mounting seat 16 opens up the seal groove two for installing motor flange 18, by seal groove
O-ring seal 2 17 is inserted in two and the circumference side of motor flange 18 forms crush seal；Motor flange 18 opens up installation nothing
The seal groove three of brushless motor 20, by the circle that O-ring seal 3 19 and brshless DC motor 20 are inserted in seal groove three
All sides form crush seal.
Incorporated by reference to Fig. 4, Fig. 5 and Fig. 6, mounting seat 16 realizes the angle between Lordosis support 4 by angle adjustment mechanism
Degree regulation.The angle adjustment mechanism includes at least one mounting hole 1, corresponding with least one mounting hole 1
At least one mounting hole two, at least one rotary shaft 41 being fixed in corresponding mounting hole 1 and mounting hole two.Mounting hole
One 161 are opened in mounting seat 16, and mounting hole two is opened on Lordosis support 4, and rotary shaft 41 realizes mounting seat 16 and waist
Flexible connection between support member 4.Mounting seat 16 passes through the fixed position adjusting actuator 5 on back-shaped groove 43 and corresponding bending
The distance between part, mounting seat 16 can set extension bar so as to vacating space and the cooperation installation of Lordosis support 4.
Shown in Fig. 4, Lordosis support 4 opens up 12 uniform mounting holes, and mounting seat 16, which is matched somebody with somebody, opens 4 uniform mounting holes,
The angular adjustment between Lordosis support 4 and actuator 5 is realized, angular adjustment value is 30 ° one grade.
In Figure 5, flexbile gear flange 13 has opened up from top to bottom 8 mounting holes of totally 4 row, and adjacent 4 holes are horizontally and vertically
Direction centre-to-centre spacing is equal；Leg fixed mount 6 machined the horizontally and vertically direction centre-to-centre spacing between 4 arc waist holes, arc waist hole
It is equal, and centre-to-centre spacing value 4 holes centre-to-centre spacing value adjacent with flexbile gear flange 13 is equal；Arc waist hole coordinates with circular hole realizes one
Determine the angular adjustment in scope, arc waist hole coordinates the classification for realizing length dimension to adjust with many rounds.
Incorporated by reference to Fig. 7 and Fig. 8, flexbile gear flange 13 is realized and respective leg portions fixed mount 6 by length and angle adjustment mechanism
Between length adjustment.The length and angle adjustment mechanism include at least one mounting hole 3 131 and at least one mounting hole
3 131 at least one corresponding mounting hole four, the few fastening being fixed in corresponding mounting hole 3 131 and mounting hole four
Part 132.Mounting hole 3 131 is opened on flexbile gear flange 13, and mounting hole four is opened on leg fixed mount 6, and fastener 132 is realized
Interfixing between after flexbile gear flange 13 and the length adjustment of leg fixed mount 6 and angular adjustment.
In the present embodiment, controller 1 and dc source device 2 are arranged on the both sides of Lordosis support 4, solid by screw
Fixed, dc source uses dynamic lithium battery, and secondary charge and discharge, power specification 24V, 3200mAh can be achieved.Lordosis support 4 and hold
Design angle adjustment structure between row device 5, regulation completes to fix by screw.Devised between actuator 5 and leg fixed mount 6
Setting angle and structure of adjusting length, regulation complete to fix by screw.Leg strap 7 is magic tape structure, big for wrapping up
Leg, leg fixed mount 6 is arranged on by sunk screw.Brace 3, actuator 5, leg fixed mount 6 and leg strap 7 respectively have two
Part, left and right sides is installed.
Angular transducer 8 is fixed on mounting cup 9 by screw, and mounting cup 9, encoder 10 are arranged on protective cover 11.Pass
Pass seat 12 to fix the heart with flexbile gear flange 13, fit angle sensor 9, encoder 10 constitute the movement monitoring mechanism of actuator 5.It is soft
Wheel flange 13 is provided with seal groove one, inserts after O-ring seal 1, and crush seal is formed with the left side of harmonic speed reducer 15,
Flexbile gear flange 13 is fixed in the flexbile gear screw of harmonic speed reducer 15, is rotated with the flexbile gear of harmonic speed reducer 15.Protective cover 11,
Harmonic speed reducer 15, motor flange 18, brshless DC motor 20 and motor protecting cover 21 are all fixed by screws in mounting seat 16
On, the both ends of the surface of motor flange 18 are provided with seal groove, insert after O-ring seal 2 17 and O-ring seal 3 19, coordinate mounting seat
16 and brshless DC motor 20 end face extruding, realize the right side crush seal of harmonic speed reducer 15, prevent harmonic speed reducer
The lubricating grease of 15 inside fillings is leaked.Mounting cup 9, protective cover 11 and motor protecting cover 21 are working of plastics, and effect is to pacify
Full guard, it is to avoid human contact's movement parts and prevent get an electric shock.Brshless DC motor 20 is low by high speed by harmonic speed reducer 15
Torque conversion passes through outwards transmission torque and the motion of flexbile gear flange 13 being connected on harmonic speed reducer 15 into low-speed high-torque.
Referring to Fig. 3, transmission seat 12, flexbile gear flange 13, angular transducer 8 and encoder 10 may make up the execution
The critical piece of the movement monitoring mechanism of device 5.Wherein, transmission seat 12 is fixedly mounted with flexbile gear flange 13, angular transducer 8 and volume
The installation of code device 10 is shown in that Fig. 2 is described；Transmission seat 12 does gyration with flexbile gear flange 13 with respect to actuator mounting seat 16, and angle is passed
Sensor 8 and encoder 10 are mounted opposite seat 16 and fixed；The axle of stretching of transmission seat 12 runs through encoder 10 and inserts angular transducer 8
In, the detection to the transmission angle of revolution of seat 12 and speed is realized, detection data are uploaded via after the processing of controller 1, adjusted brushless
The rotating speed of direct current generator 20, realizes the movement monitoring to actuator 5.
The auxiliary human body lower limbs of the present invention climb the assistant power apparatus in building in operation, and its operating process combination Fig. 1-
Fig. 5 explanations.
Detection user climbs building gait cycle, the kinematic parameter of adjusting actuator 5 before wearing；Brace 3 is worn, adjustment length is tied up
Tight leg strap 7；Reference picture 4, Fig. 7, according to user's figure's adjustment angle degree and length.Complete after adjustment work, wearing climbs building.
It should be noted that the assistant power apparatus that a kind of auxiliary human body lower limbs climb building is normal for leg function
But locomitivity not enough user climbs building process, for example, the elderly is aided in climb building.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of assistant power apparatus for aiding in human body lower limbs to climb building, it is characterised in that：It includes：
Servomechanism, it includes：
Lordosis support (4), its is U-shaped, for coordinating with human body waist；
Two actuators (5), it is separately mounted to the U-shaped two ends of Lordosis support (4), for aiding in two lower limb of human body to climb
Building；
Two leg fixed mounts (6), it is separately mounted on two actuators (5)；And
Two legs portion bandage (7), it is separately mounted on two leg fixed mounts (6), and is bundled in human body respectively when in use
On two lower limb；
The controller (1) of two actuator (5) operations of control；And
Provide power to the dc source device (2) of two actuators (5).
2. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 1, it is characterised in that：Each actuator
(5) include：Angular transducer (8), encoder (10), transmission seat (12), flexbile gear flange (13), harmonic speed reducer (15) is installed
Seat (16), brshless DC motor (20)；
Wherein, transmission seat (12) one end centered on axle, through encoder (10) after be plugged in angular transducer (8), transmit
The opposite other end of seat (12) is substrate, is concentrically mounted on flexbile gear flange (13)；Flexbile gear flange (13) and harmonic speed reducer
(15) it is fixed；Harmonic speed reducer (15) and brshless DC motor (20) are separately fixed in the opposite sides of mounting seat (16), nothing
Brushless motor (20) is used to drive harmonic speed reducer (15)；Mounting seat (16) is arranged on Lordosis support (4), flexbile gear flange
(13) it is arranged on respective leg portions fixed mount (6)；
The angle value of angular transducer (8) detection transmission seat (12) revolution, the speed of encoder (10) detection transmission seat (12) revolution
Angle value；The gait function that controller (1) is climbed according to the angle value by the human body of storage inside during building changes brushless straight
Motor (20) rotating speed is flowed, the fluctuation of speed of brshless DC motor (20) is reduced according to the velocity amplitude；Controller (1) passes through control
Brshless DC motor (20) driving harmonic speed reducer (15) drives flexbile gear flange (13) to turn to respective leg portions fixed mount (6) transmission
Square, the rotation of flexbile gear flange (13) changes the angle and speed of transmission seat (12) revolution, angular transducer (8) and encoder (10)
Real-time angle value and velocity amplitude are derived from respectively and controller (1) is sent back, and realize the closed loop control of actuator (5) transmission
System.
3. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 2, it is characterised in that：Mounting seat (16)
Angular adjustment between Lordosis support (4) is realized by angle adjustment mechanism；The angle adjustment mechanism includes at least one
Individual mounting hole one (161), with least one mounting hole two that at least one mounting hole one (161) is corresponding, be fixed on it is corresponding
At least one rotary shaft (41) in mounting hole one (161) and mounting hole two；Mounting hole one (161) is opened in mounting seat (16)
On, mounting hole two is opened on Lordosis support (4), and rotary shaft (41) is realized between mounting seat (16) and Lordosis support (4)
Flexible connection.
4. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 2, it is characterised in that：Flexbile gear flange
(13) length adjustment between respective leg portions fixed mount (6) is realized by length and angle adjustment mechanism；The length and angle
Spending adjustment structure includes at least one mounting hole three (131), at least one peace corresponding with least one mounting hole three (131)
Dress Kong Si, the few fastener (132) being fixed in corresponding mounting hole three (131) and mounting hole four；Mounting hole three (131)
It is opened on flexbile gear flange (13), mounting hole four is opened on leg fixed mount (6), fastener (132) realizes flexbile gear flange
(13) interfixing between and after leg fixed mount (6) length adjustment and angular adjustment.
5. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 2, it is characterised in that：Flexbile gear flange
(13) open up install harmonic speed reducer (15) seal groove one, by inserted in seal groove one O-ring seal one (14) with it is humorous
The circumference side of ripple decelerator (15) forms crush seal.
6. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 2, it is characterised in that：Each actuator
(5) mounting cup (9) is also included；Angular transducer (8) is fixed on mounting cup (9), and the central shaft of transmission seat (12) passes through coding
Mounting cup (9) is then passed through after device (10) to be just plugged in angular transducer (8).
7. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 6, it is characterised in that：Each actuator
(5) protective cover (11) is also included；Encoder (10), mounting cup (9) are installed on protective cover (11), the center of transmission seat (12)
Axle will pass through protective cover (11) before through encoder (10).
8. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 2, it is characterised in that：Each actuator
(5) motor flange (18) is also included；Brshless DC motor (20) is arranged in mounting seat (16) by motor flange (18).
9. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 8, it is characterised in that：Mounting seat (16)
The seal groove two for installing motor flange (18) is opened up, by inserting O-ring seal two (17) and motor flange in seal groove two
(18) circumference side forms crush seal；Motor flange (18) opens up the seal groove three for installing brshless DC motor (20), leads to
Cross and O-ring seal three (19) and the circumference side formation crush seal of brshless DC motor (20) are inserted in seal groove three.
10. auxiliary human body lower limbs climb the assistant power apparatus in building as claimed in claim 1, it is characterised in that：Lumbar support
Part (4) connects one piece of connecting plate (42) using two bending members symmetrically connected, each bending member by way of flexible connection,
Horizontal back-shaped groove (43) is opened up on connecting plate (42), actuator (5) is held by the fixed position regulation on back-shaped groove (43)
The distance between row device (5) and corresponding bending member.
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| CN201710686975.8A CN107322572B (en) | 2017-08-11 | 2017-08-11 | Portable booster unit of supplementary human low limbs building of climbing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710686975.8A CN107322572B (en) | 2017-08-11 | 2017-08-11 | Portable booster unit of supplementary human low limbs building of climbing |
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| CN107322572A true CN107322572A (en) | 2017-11-07 |
| CN107322572B CN107322572B (en) | 2023-10-03 |
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