CN108904221A - Stiffness variable elastic multifunctional driver and its motion control method - Google Patents
Stiffness variable elastic multifunctional driver and its motion control method Download PDFInfo
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- CN108904221A CN108904221A CN201810809686.7A CN201810809686A CN108904221A CN 108904221 A CN108904221 A CN 108904221A CN 201810809686 A CN201810809686 A CN 201810809686A CN 108904221 A CN108904221 A CN 108904221A
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- driver
- braking member
- torsional spring
- motor
- braking
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Abstract
The invention discloses a kind of stiffness variable elastic multifunctional driver and its motion control method, driver includes electrical machine element, braking member and stiffness tuning element, and electrical machine element and braking member input axis connection, and braking member is connect with stiffness tuning element；Stiffness tuning element is made of components such as motor, ball-screw nut, connecting rod, torsional spring and angular transducers, wherein, motor is connect with ball-screw, design has sliding block on nut, it can be slided along the guide rail designed on connecting rod, the torsional spring connection of connecting rod and design, torsional spring is made of inner ring, flexible body and outer ring, torsional spring outer ring is connect with connecting rod, and torsional spring inner ring and braking member export axis connection；Method is to export active torque by electrical machine element, exports controllable braking moment using the braking member using the design of intellectual material magneto-rheological fluid, adjusts driver rigidity in real time by stiffness tuning element, realizes the functions such as driver driving, braking and stiffness tuning.The present invention is suitable for lower limb rehabilitation medical robot.
Description
Technical field
The present invention relates to lower limb rehabilitation medical robot field, specifically a kind of stiffness variable elastic multifunctional driver and
Its motion control method.
Background technique
Currently, there is due to caused by the diseases such as spinal cord injury, apoplexy, cerebral injury and amputation lower extremity movement barrier in the world
The number of patients hindered just gradually increases.These patients are seated on wheelchair for a long time, daily routines cannot be carried out as normal person, such as
It stands/sits down and walk.For a long time, they can generate second disease such as bedsore, muscular atrophy, osteoporosis and coronary heart disease
Disease.In addition, there are many young man in these patients, work is needed to support the family, to bring very big bear to society and family
Load.
Robot technology is just gradually applied to rehabilitation medical field.The lower limb rehabilitation medical robot developed at present, it is such as outer
Bone robot（Including lower limb simple joint exoskeleton robot）With artificial limb etc., it is worn on exterior, it can be according to wearing
Wearer's motion intention provides controllable auxiliary torque for it, so that patient be helped to carry out rehabilitation training and auxiliary walking.
Lower limb rehabilitation medical robot is a kind of man-machine interactive system, and there are Human-Computer Interactions in its use process
And the collision of person machine system and ground；In addition, people is during normal walking, knee joint and ankle-joint be typically created for
Spring model, rigidity can change with the variation of the factors such as people's walking step state state and environment.Driver is lower limb rehabilitation
The dynamical element of medical robot, performance directly determine the function of robot.Currently, under research institution's research and development both at home and abroad
The driver of limb rehabilitation medical robot, most rigidity is relatively high, cannot effectively buffer the external world（Such as ground）System is rushed
It hits；Some uses spring to increase system compliance, but system stiffness also it is mostly be it is fixed, cannot be according to wearer motion's feelings
Condition is adjusted in real time.In addition, existing lower limb rehabilitation medical robot is carrying out rehabilitation training and auxiliary to dyskinesia patient
During walk help is walked, the braking moment of output is mainly generated by motor, it is desirable to provide biggish electric current, not only energy efficiency
It is relatively low, energy consumption is bigger, there is also security risks.
Therefore, it is necessary to study novel and multifunctional driver, can according to wearer's walking step state state, the speed of travel and
The variations such as road environment adjust driver rigidity by structure in real time, and can buffer ground shock, improve system capacity
Efficiency is to extend the working time that it once charges.
The object of the present invention is to provide a kind of stiffness variable elastic multifunctional driver and its motion control sides for summary of the invention
Method has the function of driving, braking and stiffness tuning.The driver can real-time regulation system rigidity, reduce outer bound pair system
Interference and impact improve system energy efficiency and safety, compact-sized, and can accurately measure driver power output
Square.
In order to achieve the above object, the technical scheme adopted by the invention is as follows：
Stiffness variable elastic multifunctional driver, it is characterised in that：Including electrical machine element, braking member, stiffness tuning element,
Wherein the input terminal of the motor shaft of electrical machine element and braking member is sequentially connected, and the stiffness tuning element includes that driver is solid
Reservation, joint connector, torsional spring, connecting rod, nut, guide rod, lead screw, motor cabinet, motor, wherein torsional spring is integrally provided in driving
In device fixing seat, torsional spring is made of the inside and outside multiple flexible bodies for enclosing and connecting inside and outside circle, and the output end of the braking member is stretched
Enter and in driver fixing seat and be coaxially fixed in the inner ring of torsional spring, first angle is equipped between torsional spring and braking member and is sensed
Device, the first angle sensor are fixedly installed in driver fixing seat, and rotating part and braking member output end are driven
Connection is rotated with braking member output end, and the connecting rod is made of plectane with the lever arm for being connected to plectane radial direction one end, lever arm
In be equipped with and be parallel to the guide rail of itself extending direction, there is axis hole at plectane center, and the plectane in connecting rod is relatively fixed in disc
The outer ring of torsional spring is coaxially fixed with joint shaft far from the circle face of braking member side in the axis hole of plectane, with first jiao
Degree sensor is symmetrically arranged with second angle sensor, and the second angle sensor is fixedly installed in driver fixing seat,
Rotating part is coaxially connected on joint shaft, and with joint shaft common rotation, the joint connector is fixedly mounted on motor cabinet
On, and coaxially fixed with joint shaft, it can be rotated with joint shaft opposing driver fixing seat, the motor cabinet setting is even
Bar lever arm is equipped with the side of guide rail, and motor cabinet one end is equipped with motor, and third angle biography is coaxially installed on the motor shaft of motor
Sensor is rotatably equipped with lead screw in motor cabinet, and lead screw is parallel with the guide rail of connecting rod lever arm, the motor of the motor of motor cabinet one end
Axis is connect with lead screw transmission, the guide rod parallel with lead screw is additionally provided in motor cabinet, screw thread is equipped with nut, and nut on lead screw
It is slidably mounted on guide rod simultaneously, nut is equipped with sliding block, and sliding block is slidably mounted in the guide rail of connecting rod lever arm.
The stiffness variable elastic multifunctional driver, it is characterised in that：Active torque is exported by electrical machine element, is realized
Driver driving function；Controllable braking moment is exported using braking member, realizes driver braking function；Pass through stiffness tuning
Element adjusts the driver rigidity in real time, realizes the driver stiffness tuning function.
The stiffness variable elastic multifunctional driver, it is characterised in that：The braking member is magnetic rheological brake,
Braking member includes shell, transmission shaft is rotatably equipped in shell, transmission shaft one end is as input terminal and electrical machine element output shaft
Transmission connection, the transmission shaft other end are coaxially fixed in the inner ring of torsional spring as output end, and the axle body intermediate coaxial of transmission shaft is set
There is a circumferential groove body, be equipped with the coil of coaxial surrounding transmission shaft in circumferential groove body, circumferential groove body is axially on the transmission shaft of forward and backward side point
It is not set with side plate, silicon steel sheet inside multiple tracks is fixed between both side plate, silicon steel sheet is uniformly looped around outside coil simultaneously inside multiple tracks
Along transmission shafts to being uniformly distributed, outer casing inner wall corresponds to silicon steel sheet position inside multiple tracks and is equipped with silicon steel sheet outside multiple tracks, outside multiple tracks
Portion's silicon steel sheet is overlapped with silicon steel sheet inside multiple tracks in Staggered junction one by one, and is equipped in inside and outside portion's silicon steel sheet cross-coincidence region
Magneto-rheological fluid.
The stiffness variable elastic multifunctional driver, it is characterised in that：It further include power transmitting elements, power transmitting
Element is that harmonic speed reducer or RV retarder or planetary reduction gear, power transmitting elements are connected to electrical machine element and braking member
Between, the electric machine shaft driving of power transmitting elements input terminal and electrical machine element connects, power transmitting elements output end and braking member
The input terminal of part is sequentially connected.
The stiffness variable elastic multifunctional driver, it is characterised in that：First, second, and third angular transducer can
To be incremental encoder or absolute type encoder.
A kind of motion control method of stiffness variable elastic multifunctional driver, it is characterised in that：Include the following steps：
（1）, be based on lower limb rehabilitation medical robot gait analysis, when needing the driver to provide driving moment, the electricity
Machine element amplifies output driving torque by the power transmitting elements, and is transmitted by the transmission shaft of the braking member
To the torsional spring and the connecting rod, driving moment is passed into the motor cabinet finally by the sliding block, to drive rehabilitation
The driving function of the driver is realized in medical robot joint motions；At this point, will not be passed through in the coil of the braking member
Electric current, the braking member do not generate braking moment；The torsional spring can pass through described in the deflection of torque transmittance process
One angular transducer and the second angle sensor measure, and according to the rigidity of the torsional spring, can calculate the motor
The driving moment of element output amplified through the power transmitting elements；
（2）, be based on lower limb rehabilitation medical robot gait analysis, when needing the driver to provide braking moment, the system
The coil of dynamic element will be passed through electric current, to generate induced magnetic field, the magneto-rheological fluid will produce under the action of induced magnetic field
Raw shear stress；When the internal silicon steel sheet with the transmission shaft rotates together when will cut the magneto-rheological fluid, thus
Export braking moment；The braking moment of the braking member output passes to the torsional spring and the company by the transmission shaft
Braking moment is finally passed to the motor cabinet by the sliding block, realizes the braking function of the driver by bar；Institute at this time
Off working state will be in by stating electrical machine element, not output torque；It, can be with by controlling the size of electric current being passed through in the coil
Control the size of the braking moment of the braking member output；Due in the case where generating identical braking moment, the system
The energy of dynamic element consumption is far smaller than the energy of conventional motors consumption, to improve the energy efficiency and safety of system；
（3）, be based on lower limb rehabilitation medical robot gait analysis, when needing to change the driver rigidity, be based on the angle
The feedback signal for spending sensor controls the motor of the stiffness tuning element, realizes the essence to the position of the nut top shoe
Really control；When the motor rotates, the nut will move in a straight line on the lead screw along the guide rod, to realize institute
State sliding of the sliding block on the guide rail；The electrical machine element and the auxiliary torque of braking member output are by the torsion
Spring and the connecting rod pass to the sliding block, and then rehabilitation medical robot joint is driven to be moved；With the sliding block
The torque arm length of the change of position, auxiliary torque transmitting can accordingly change, and under the action of the torsional spring, realize to the driving
The adjusting of device rigidity；The torsional spring increases the flexibility of system, can effectively buffer the impact of outer bound pair system, improve
The safety of system；Meanwhile in some stages of gait cycle, the deformation of the torsional spring can store energy, then in step
It is released in the other stage in state period, to save energy；
（4）, be based on lower limb rehabilitation medical robot gait analysis, repeat step（1）, step（2）And step（3）, until having
The athletic rehabilitation of the patient of motor dysfunction of lower limb or auxiliary walking terminate.
The present invention includes electrical machine element, braking member and stiffness tuning element.Electrical machine element is connected to braking member input
End；Braking member output end is connected to the stiffness tuning element.
The invention also includes power transmitting elements, power transmitting elements can be harmonic speed reducer, RV retarder or row
Star retarder.Electrical machine element is connect by power transmitting elements with braking member.Turned using the speed that power transmitting elements are constituted
The speed of electrical machine element is reduced to the revolution of needs, while can obtain biggish output torque by parallel operation, and such arrangement is advantageous
In the input current for reducing electrical machine element, the safety of drive system is improved.
Braking member is magnetic rheological brake, is made of intellectual material material magneto-rheological fluid, including：Transmission shaft, line
The components such as circle, multipair inside/outside portion silicon steel sheet, magneto-rheological fluid, side plate and shell.Wherein, transmission shaft is made of high permeability material,
Its output end is connect with stiffness tuning element；Coil is wound on transmission shaft, can produce induced magnetic field in the case of energization；In multipair
Portion and external silicon steel sheet overlapping region form cavity；Magneto-rheological fluid is located in the cavity, can generate under electromagnetic field effect
Shear stress.
Stiffness tuning element, including driver fixing seat, joint connector, torsional spring, connecting rod, nut, guide rod, lead screw, electricity
Base, motor.Wherein, third angle sensor is installed on motor end, and motor is connect with lead screw；Design has sliding block on nut,
It can be slided along the guide rail designed on connecting rod；Torsional spring is made of inner ring, flexible body and outer ring, and the plectane of torsional spring outer ring and connecting rod connects
It connects, torsional spring inner ring and braking member are driven axis connection.Third angle sensor can be incremental encoder or absolute encoding
Device.
Both ends are output and input in torsional spring, and first angle sensor and second angle sensor is respectively set.First and second
Angular transducer is fixedly installed in driver fixing seat, and is located at torsional spring two sides.First angle sensor and second jiao
Deflection of the sensor by measurement torsional spring in torque transmittance process is spent, and according to the rigidity of torsional spring, motor can be calculated
The output torque of element and braking member.First and second angular transducers can be incremental encoder or absolute encoding
Device.
The present invention is compared to the prior art, has the advantages that：
A kind of stiffness variable elastic multifunctional driver and its motion control method of the present invention, design have stiffness tuning first
Part completes control to ball-screw nut by the motor in control stiffness tuning element, to realize to designing on nut
The position of sliding block controlled, finally realize the length for changing the arm of force in driver power transmission process, and pass through design
The effect of torsional spring achievees the purpose that adjust driver rigidity.In addition, the torsional spring designed in stiffness tuning element can effectively delay
The extraneous impact for such as facing system of punching, and being capable of storage energy；Torsional spring both ends are equipped with angular transducer, are turned round by measurement
The deformation quantity of spring can accurately obtain the output torque of driver, to realize the function of torque sensor.
A kind of stiffness variable elastic multifunctional driver and its motion control method of the present invention, are also devised with braking
Element uses intellectual material magneto-rheological fluid in braking member, by being passed through electric current to coil, so that induced magnetic field is generated,
Magneto-rheological fluid can generate very big shear stress under the influence of a magnetic field, realize braking member in the feelings of small input current
Very big braking moment is exported under condition.Compared with conventional motors, the braking member is in the patient to lower limb with dyskinesia
During carrying out rehabilitation training and auxiliary walking, the electric current of electrical machine element can be greatly reduced, to improve system
Energy efficiency and safety.
Detailed description of the invention
Fig. 1 is the driver schematic perspective view of embodiment according to the present invention.
Fig. 2 is the braking member schematic perspective view of embodiment according to the present invention.
Fig. 3 is the internal structure diagrammatic cross-section of the braking member of embodiment according to the present invention.
Fig. 4 is the stiffness tuning element schematic perspective view of embodiment according to the present invention.
Fig. 5 is the ball-screw nut schematic perspective view of embodiment according to the present invention.
Fig. 6 is the connecting rod schematic perspective view of embodiment according to the present invention.
Fig. 7 is the torsional spring schematic perspective view of embodiment according to the present invention.
Fig. 8 is the schematic view of the mounting position of the angular transducer of embodiment according to the present invention.
Fig. 9 is the driver motion control method flow chart of embodiment according to the present invention.
In figure：1 electrical machine element；2 power transmitting elements；3 braking members；3-1 transmission shaft；3-2 shell；3-3 coil；3-4
Side plate；Silicon steel sheet inside 3-5；3-6 magneto-rheological fluid；Silicon steel sheet outside 3-7；4 driver fixing seats；5 torsional springs；5-1 connecting shaft
Hole；5-2 inner ring；5-3 flexible body；5-4 through-hole；The outer ring 5-5；6 connecting rods；6-1 guide rail；6-2 threaded hole；6-3 axis hole；7 nuts；7-
1 sliding block；8 guide rods；9 lead screws；10 motor cabinets；11 motors；12 third angle sensors；13 first angle sensors；14 second jiaos
Spend sensor；15 joint shafts；16 joint connectors.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figures 1 to 8, a kind of stiffness variable elastic multifunctional driver includes electrical machine element 1, braking member 3
With stiffness tuning element.Fig. 1 is the driver schematic perspective view of embodiment according to the present invention.Electrical machine element 1 is connected to
The input terminal of braking member 3, and be fixed in driver fixing seat 4；The output end of braking member 3 is connected to stiffness tuning member
Part.
The braking member 3 of exemplary embodiment of the invention includes：Transmission shaft 3-1, shell 3-2, coil 3-3, side plate 3-
4, the components such as internal silicon steel sheet 3-5, magneto-rheological fluid 3-6 and external silicon steel sheet 3-7.Fig. 2 is embodiment according to the present invention
The schematic perspective view of braking member 3, Fig. 3 are that the internal structure section of the braking member 3 of embodiment according to the present invention shows
It is intended to.As shown, transmission shaft 3-1 is by high permeability material（Such as electrical pure iron）It being made, input terminal is connect with electrical machine element 1,
Its output end is connect with the connecting shaft hole 5-1 of torsional spring 5；Coil 3-3 is wrapped on transmission shaft 3-1, when being passed through electric current in coil 3-3
When, induced magnetic field can be generated；The overlapping region of the internally positioned silicon steel sheet 3-5 of magneto-rheological fluid 3-6 and external silicon steel sheet 3-7.?
Under magnetic fields, magneto-rheological fluid 3-6 is consumed with less energy and is generated shearing force, when internal silicon steel sheet 3-5 is with transmission
Axis 3-1 will cut magneto-rheological fluid when rotating together, to export braking moment.Due in the feelings for generating identical braking moment
Under condition, braking member 3 consume energy be far smaller than conventional motors consumption energy, thus improve system energy efficiency and
Safety.
The stiffness tuning element of exemplary embodiment of the invention includes：Driver fixing seat 4, torsional spring 5, connecting rod 6, nut
7, the components such as guide rod 8, lead screw 9, motor cabinet 10, motor 11, third angle sensor 12 and joint connector 16.Fig. 4 is basis
The schematic perspective view of the stiffness tuning element 4 ~ 12 of embodiment of the present invention；Fig. 5 is the rolling of embodiment according to the present invention
The schematic perspective view of screw nut 7 ~ 10；Fig. 6 is the stereochemical structure signal of the connecting rod 6 of embodiment according to the present invention
Figure；Fig. 7 is the schematic perspective view of the torsional spring 5 of embodiment according to the present invention.As shown, torsional spring is by inner ring 5-2, flexibility
Body 5-3 and outer ring 5-5 composition, torsional spring 5 are connect by the through-hole 5-4 on the 5-5 of outer ring with the threaded hole 6-2 on connecting rod 6；Connecting rod 6
On guide rail 6-1 connect with the sliding block 7-1 on nut 7, sliding block 7-1 can be slided along guide rail 6-1；Nut 7 and guide rod 8 and ball
Lead screw 9 connects；Ball-screw 9 is connect with motor 11；Motor 11 is installed on motor cabinet 10；Third angle sensor 12 is installed on
11 end of motor controls the position of sliding block 7-1 to realize for measuring the rotational angle of motor 11.
In one embodiment, driver may also include power transmitting elements 2.Electrical machine element 1 can be transmitted by power
Element 2 is connect with the input terminal of the transmission shaft 3-1 of braking member 3.Power is arranged between electrical machine element 1 and braking member 3 to pass
Element 2 is passed, using velocity transducer, the speed of electrical machine element 1 is reduced to the revolution of needs, while biggish output can be obtained
Torque.It is such to be disposed with the input current for being conducive to reduce electrical machine element 1, improve the safety of drive system.Power transmitting
Element 2 can be harmonic speed reducer, RV retarder or planetary reduction gear.
In one embodiment, driver may also include first angle sensor 13 and second angle sensor 14.Fig. 8
Diagrammatically illustrate the first angle sensor 13 of embodiment according to the present invention and the installation site of second angle sensor 14.
As shown in figure 8, first angle sensor 13 and second angle sensor 14 are located at the two sides of torsional spring 5, wherein first angle
Sensor 13 is fixedly installed in driver fixing seat 4, and rotating part and 3 output end of braking member are sequentially connected；Second jiao
Degree sensor 14 is fixedly installed in driver fixing seat 4, and rotating part is coaxially connected on joint shaft 15.First angle passes
The deflection of sensor 13 and second angle sensor 14 by measurement torsional spring 5 in torque transmittance process, and according to the rigid of torsional spring 5
Degree, can calculate the output torque of electrical machine element 1 and braking member 3.First angle sensor 13 and second angle sensor
14 may include one or both of incremental encoder and/or absolute type encoder.
The present invention can be used for driving lower limb rehabilitation medical robot.People is during normal walking, knee joint and ankle-joint
It is typically created as spring model, rigidity can change with the variation of the factors such as the walking step state state of people and environment.?
During rehabilitation medical robot carries out athletic rehabilitation and auxiliary walking to the patient with motor dysfunction of lower limb, stiffness variable
There are many functions, including driving function, braking function and stiffness tuning function for elastic multifunctional driving implement.
Fig. 9 is the driver motion control method flow chart of embodiment according to the present invention.As shown in figure 9, driver is transported
Flowing control method includes the following steps：
（1）, the athletic rehabilitation of the patient with motor dysfunction of lower limb or auxiliary walking during, be based on gait analysis,
When needing to provide driving moment, electrical machine element 1 amplifies output driving torque by power transmitting elements 2, and passes through braking
The transmission shaft 3-1 of element 3 passes to torsional spring 5 and connecting rod 6, and driving moment is passed to motor cabinet 10 finally by sliding block 7-1, from
And joint motions are driven, realize the driving function of driver.At this point, electric current will not be passed through in the coil 3-3 of braking member 3, make
Dynamic element 3 does not generate braking moment.Torsional spring 5 can pass through first angle sensor 13 and in the deflection of torque transmittance process
Two angular transducers 14 measure, and according to the rigidity of torsional spring 5, can calculate putting through power transmitting elements 2 for the output of electrical machine element 1
Big driving moment.
（2）, during the athletic rehabilitation of the patient with motor dysfunction of lower limb or auxiliary walking, based on gait point
Analysis, when needing to provide braking moment, the coil 3-3 of braking member 3 will be passed through electric current, so that induced magnetic field is generated, it is magnetorheological
Fluid 3-6 will generate shear stress under the action of induced magnetic field；As internal silicon steel sheet 3-5 as transmission shaft 3-1 is rotated together
When will cut magneto-rheological fluid 3-6, to export braking moment.The braking moment that braking member 3 exports is passed by transmission shaft 3-1
Torsional spring 5 and connecting rod 6 are passed, braking moment is finally passed into motor cabinet 10 by sliding block 7-1, realizes the braking work of driver
Energy.Electrical machine element 1 will be in off working state at this time, not output torque.The size of electric current in coil 3-3 is passed through by controlling,
It can control the size of the braking moment of the output of braking member 3.Since in the case where generating identical braking moment, braking is first
The energy that part 3 consumes is far smaller than the energy of conventional motors consumption, to improve the energy efficiency and safety of system.
（3）, during the athletic rehabilitation of the patient with motor dysfunction of lower limb or auxiliary walking, based on gait point
Analysis, when needing to change driver rigidity, by control motor 11, it can be achieved that being carried out to the position of 7 top shoe 7-1 of nut accurate
Control.When motor 11 rotates, nut 7 will move in a straight line on lead screw 9 along guide rod 8, to realize sliding block 7-1 in guide rail 6-
Sliding on 1.The auxiliary torque that electrical machine element 1 and braking member 3 export is to pass to sliding block 7-1 by torsional spring 5 and connecting rod 6,
And then joint is driven to be moved.With the change of the position sliding block 7-1, the torque arm length of auxiliary torque transmitting will accordingly change
Become.Under the action of torsional spring 5, the adjusting to driver rigidity may be implemented.Torsional spring 5 increases the flexibility of system, Ke Yiyou
The buffering of effect is extraneous（Such as ground）Impact to system；Meanwhile in some stages of gait cycle, the deformation of torsional spring 5 can be with
Then storage energy releases in the other stage of gait cycle, to save energy.
（4）, be based on lower limb rehabilitation medical robot gait analysis, repeat step（1）, step（2）And step（3）, until
The athletic rehabilitation of patient with motor dysfunction of lower limb or auxiliary walking terminate.
Claims (6)
1. stiffness variable elastic multifunctional driver, it is characterised in that：Including electrical machine element, braking member, stiffness tuning element,
Wherein the input terminal of the motor shaft of electrical machine element and braking member is sequentially connected, and the stiffness tuning element includes that driver is fixed
Seat, joint connector, torsional spring, connecting rod, nut, guide rod, lead screw, motor cabinet, motor, wherein it is solid to be integrally provided in driver for torsional spring
In reservation, torsional spring is made of the inside and outside multiple flexible bodies for enclosing and connecting inside and outside circle, and the output end of the braking member protrudes into drive
It is fixed in dynamic device fixing seat and coaxially in the inner ring of torsional spring, first angle sensor, institute is equipped between torsional spring and braking member
First angle sensor to be stated to be fixedly installed in driver fixing seat, rotating part and braking member output end are sequentially connected,
It is rotated with braking member output end, the connecting rod is made of plectane with the lever arm for being connected to plectane radial direction one end, is equipped in lever arm
It is parallel to the guide rail of itself extending direction, there is axis hole at plectane center, and the plectane in connecting rod is relatively fixed in disc in torsional spring
Outer ring is coaxially fixed with joint shaft far from the circle face of braking member side in the axis hole of plectane, with first angle sensor
It is symmetrically arranged with second angle sensor, the second angle sensor is fixedly installed in driver fixing seat, rotating part
It is coaxially connected on joint shaft, with joint shaft common rotation, the joint connector is fixedly mounted on motor cabinet, and and joint
Axis is coaxially fixed, and can be rotated with joint shaft opposing driver fixing seat, and the motor cabinet setting is equipped in connecting rod lever arm to be led
The side of rail, motor cabinet one end are equipped with motor, are coaxially installed with third angle sensor on the motor shaft of motor, in motor cabinet
It is rotatably equipped with lead screw, lead screw is parallel with the guide rail of connecting rod lever arm, and the motor shaft and lead screw transmission of the motor of motor cabinet one end connect
It connects, the guide rod parallel with lead screw is additionally provided in motor cabinet, screw thread is equipped with nut on lead screw, and nut is slidably mounted on leads simultaneously
On bar, nut is equipped with sliding block, and sliding block is slidably mounted in the guide rail of connecting rod lever arm.
2. stiffness variable elastic multifunctional driver according to claim 1, it is characterised in that：It is exported by electrical machine element
Active torque realizes driver driving function；Controllable braking moment is exported using braking member, realizes driver braking function；
The driver rigidity is adjusted in real time by stiffness tuning element, realizes the driver stiffness tuning function.
3. stiffness variable elastic multifunctional driver according to claim 1, it is characterised in that：The braking member is magnetic
Rheology brake, braking member include shell, transmission shaft are rotatably equipped in shell, transmission shaft one end is as input terminal and motor
The transmission connection of element output shaft, the transmission shaft other end are coaxially fixed in the inner ring of torsional spring as output end, the axle body of transmission shaft
Intermediate coaxial is equipped with circumferential groove body, be equipped with the coil of coaxial surrounding transmission shaft in circumferential groove body, the axial forward and backward side of circumferential groove body
Be respectively installed with side plate on transmission shaft, silicon steel sheet inside multiple tracks be fixed between both side plate, inside multiple tracks silicon steel sheet uniform ring around
To being uniformly distributed outside coil and along transmission shafts, outer casing inner wall corresponds to silicon steel sheet position inside multiple tracks and is equipped with silicon steel outside multiple tracks
Piece, multiple tracks outside silicon steel sheet is overlapped with silicon steel sheet inside multiple tracks in Staggered junction one by one, and inside and outside portion's silicon steel sheet cross-coincidence area
Magneto-rheological fluid is equipped in domain.
4. stiffness variable elastic multifunctional driver according to claim 1, it is characterised in that：It further include power transmitting member
Part, power transmitting elements are that harmonic speed reducer or RV retarder or planetary reduction gear, power transmitting elements are connected to electric motor element
Between part and braking member, the electric machine shaft driving of power transmitting elements input terminal and electrical machine element is connected, and power transmitting elements are defeated
The transmission connection of the input terminal of outlet and braking member.
5. stiffness variable elastic multifunctional driver according to claim 1, it is characterised in that：First, second, and third
Angular transducer can be incremental encoder or absolute type encoder.
6. the motion control method of stiffness variable elastic multifunctional driver described in a kind of any one of claim 1-5,
It is characterized in that：Include the following steps：
（1）, be based on lower limb rehabilitation medical robot gait analysis, when needing the driver to provide driving moment, the electricity
Machine element amplifies output driving torque by the power transmitting elements, and is transmitted by the transmission shaft of the braking member
To the torsional spring and the connecting rod, driving moment is passed into the motor cabinet finally by the sliding block, to drive rehabilitation
The driving function of the driver is realized in medical robot joint motions；At this point, will not be passed through in the coil of the braking member
Electric current, the braking member do not generate braking moment；The torsional spring can pass through described in the deflection of torque transmittance process
One angular transducer and the second angle sensor measure, and according to the rigidity of the torsional spring, can calculate the motor
The driving moment of element output amplified through the power transmitting elements；
（2）, be based on lower limb rehabilitation medical robot gait analysis, when needing the driver to provide braking moment, the system
The coil of dynamic element will be passed through electric current, to generate induced magnetic field, the magneto-rheological fluid will produce under the action of induced magnetic field
Raw shear stress；When the internal silicon steel sheet with the transmission shaft rotates together when will cut the magneto-rheological fluid, thus
Export braking moment；The braking moment of the braking member output passes to the torsional spring and the company by the transmission shaft
Braking moment is finally passed to the motor cabinet by the sliding block, realizes the braking function of the driver by bar；Institute at this time
Off working state will be in by stating electrical machine element, not output torque；It, can be with by controlling the size of electric current being passed through in the coil
Control the size of the braking moment of the braking member output；Due in the case where generating identical braking moment, the system
The energy of dynamic element consumption is far smaller than the energy of conventional motors consumption, to improve the energy efficiency and safety of system；
（3）, be based on lower limb rehabilitation medical robot gait analysis, when needing to change the driver rigidity, be based on the angle
The feedback signal for spending sensor controls the motor of the stiffness tuning element, realizes the essence to the position of the nut top shoe
Really control；When the motor rotates, the nut will move in a straight line on the lead screw along the guide rod, to realize institute
State sliding of the sliding block on the guide rail；The electrical machine element and the auxiliary torque of braking member output are by the torsion
Spring and the connecting rod pass to the sliding block, and then rehabilitation medical robot joint is driven to be moved；With the sliding block
The torque arm length of the change of position, auxiliary torque transmitting can accordingly change, and under the action of the torsional spring, realize to the driving
The adjusting of device rigidity；The torsional spring increases the flexibility of system, can effectively buffer the impact of outer bound pair system, improve
The safety of system；Meanwhile in some stages of gait cycle, the deformation of the torsional spring can store energy, then in step
It is released in the other stage in state period, to save energy；
（4）, be based on lower limb rehabilitation medical robot gait analysis, repeat step（1）, step（2）And step（3）, until having
The athletic rehabilitation of the patient of motor dysfunction of lower limb or auxiliary walking terminate.
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