CN109223456B

CN109223456B - Lower limb exoskeleton robot system based on man-machine terminal interaction

Info

Publication number: CN109223456B
Application number: CN201811240077.0A
Authority: CN
Inventors: 董为; 陈朝峰; 杜志江; 毛薇
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2018-10-23
Filing date: 2018-10-23
Publication date: 2020-10-13
Anticipated expiration: 2038-10-23
Also published as: CN109223456A

Abstract

A lower limb exoskeleton robot system based on human-computer terminal interaction relates to a lower limb exoskeleton robot. The invention solves the problems of poor human-computer following effect and unobvious power assisting effect caused by poor fitting property between the existing lower limb exoskeleton and a human body, uncomfortable wearing, and inaccurate human-computer interaction information. The lower part of the back frame is symmetrically provided with two hip joint supports, one end of each hip joint support is rotatably connected with the back frame 1 through an adduction abduction shaft, the free end of each hip joint support is rotatably connected with a corresponding hip joint through an internal and external hip rotating shaft, each hip joint is connected with a corresponding thigh rod through a hip flexion and extension shaft, the upper part of each thigh rod is provided with an inertia unit, the lower part of each thigh rod is connected with the upper end of a corresponding shank rod through a knee joint, one end of a pneumatic spring is connected with the back frame, and the other end of the pneumatic spring is connected with a corresponding hip joint support. The invention is used for the lower limb exoskeleton robot.

Description

Lower limb exoskeleton robot system based on man-machine terminal interaction

Technical Field

The invention relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot system based on human-computer terminal interaction.

Background

The exoskeleton robot is a wearable device which integrates multiple technologies such as a sensing technology and a control technology, particularly, the lower limb exoskeleton robot is an exoskeleton robot which is similar to the structure of the lower limb of a human body, and can help a wearer to realize actions such as assisted walking, lower limb rehabilitation, climbing up and down stairs and the like.

The lower limb exoskeleton robot mainly comprises hip joints, knee joints and ankle joints, has 15 degrees of freedom and comprises waist rotation, hip extension and flexion, hip abduction, hip internal and external rotation, knee extension and flexion, ankle rotation and ankle eversion.

At present, the existing lower limb exoskeleton is poor in fitting performance with a human body, uncomfortable to wear and inaccurate in human-computer interaction information, so that a human-computer following effect is poor, and a power assisting effect is not obvious.

Disclosure of Invention

The invention provides a lower limb exoskeleton robot system based on human-computer terminal interaction, aiming at solving the problems of poor human-computer following effect and unobvious power assisting effect caused by poor fitting performance, uncomfortable wearing and inaccurate human-computer interaction information of the existing lower limb exoskeleton and human bodies.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention relates to a lower limb exoskeleton robot system based on human-computer terminal interaction, which comprises a back frame 1, two hip joints 2, two inertia units 3, two thigh rods 4, two knee joints 5, two shank rods 6, two ankle joints 7 and two sole pressure shoes 8, wherein the lower part of the back frame 1 is symmetrically provided with two hip joint supports 104, one end of each hip joint support 104 is rotatably connected with the back frame 1 through an adduction abduction shaft 201, the free end of each hip joint support 104 is rotatably connected with the corresponding hip joint 2 through an internal and external hip rotating shaft 203, each hip joint 2 is connected with the corresponding shank rod 4 through a hip flexion and extension shaft 202, the upper part of each thigh rod 4 is provided with one inertia unit 3, the lower part of each thigh rod 4 is connected with the upper end of the corresponding shank rod 6 through one knee joint 5, the lower end of each shank rod 6 is connected with the corresponding sole pressure shoe 8 through one ankle joint 7, the lower limb exoskeleton robot system further comprises two pneumatic springs 106, one end of each pneumatic spring 106 is connected with the back frame 1, the other end of each pneumatic spring 106 is connected with a corresponding hip joint support 104, the ankle joint 7 is provided with a telecentric mechanism 701, the telecentric mechanism comprises a first connecting rod assembly, a second connecting rod assembly and a plurality of connecting shafts 711, one end of the first connecting rod assembly is rotatably connected with the ankle joint connecting piece 703 through the connecting shafts 711, the other end of the first connecting rod assembly is rotatably connected with one end of the second connecting rod assembly through the connecting shafts 711, the other end of the second connecting rod assembly is rotatably connected with the ankle joint base 712 through the connecting shafts 711, and the ankle joint base 712 is arranged on the sole pressure shoes.

Further, the first link assembly of the telecentric mechanism comprises a first link 705, a second link 706 and two first connecting pieces 708, the first link 705 and the second link 706 are parallel and opposite to each other, the length of the first link 705 is smaller than that of the second link 706, one end of each of the first link 705 and the second link 706 is rotatably connected with the ankle joint connector 703 through a connecting shaft 711, and the other end of the first link 705 is connected with the middle part of the second link 706 through the two first connecting pieces 708 and the two connecting shafts 711; the second connecting rod assembly of the telecentric mechanism comprises a third connecting rod 707, a fourth connecting rod 710 and two second connecting pieces 709, the third connecting rod 707 and the fourth connecting rod 710 are parallel and are arranged oppositely, the length of the third connecting rod 707 is smaller than that of the fourth connecting rod 710, one ends of the third connecting rod 707 and the fourth connecting rod 710 are rotatably connected with the ankle joint base 712 through a connecting shaft 711, the other end of the third connecting rod 707 is rotatably connected with the first connecting rod 705 through a connecting shaft 711, the other end of the fourth connecting rod 710 is rotatably connected with the second connecting rod 706 through a connecting shaft 711, and the other end of the third connecting rod 707 is connected with the fourth connecting rod 710 through the two second connecting pieces 709.

Further, the knee joint 5 comprises a motor 501, a fixed cover 502, a harmonic reducer 503, a connecting plate 504, a knee joint body, a thigh rod connecting piece 505, a shank rod connecting piece 507 and a reducer output shaft 508, wherein the lower end of the thigh rod connecting piece 505 is provided with an outer edge, the fixed cover 502 and the connecting plate 504 are arranged in parallel and fixedly arranged on the outer edge of the thigh rod connecting piece 505, the motor 501 is fixedly arranged on one end face of the fixed cover 502, one end of the harmonic reducer 503 is fixedly arranged on the other end face of the fixed cover 502, the other end of the harmonic reducer 503 is connected with the connecting plate 504, the reducer output shaft 508 is fixedly arranged on the harmonic reducer 503, the knee joint body is arranged on the reducer output shaft 508 through a deep groove ball bearing 506, the upper end of the shank rod connecting piece 507 is fixedly arranged on the lower part of the knee joint body, and, The magnetic encoder comprises a magnetic encoder magnetic head 511 and an end cover 512, the end cover 512 is fixedly arranged on the outer ring surface of a knee joint body through a flange, a parallel elastic body 509 is fixedly arranged in the end cover 512, the parallel elastic body 509 is fixedly connected with a reducer output shaft 508 through a shaft bracket in a coaxial mode, a magnetic encoder magnetic ring 510 is arranged on the knee joint body, the magnetic encoder magnetic head 511 is arranged on the parallel elastic body 509, the magnetic encoder magnetic ring 510 and the magnetic encoder magnetic head 511 are arranged oppositely, an arc groove is formed in the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks 521 are arranged in the arc groove, the arc groove is arranged opposite to a connecting plate 504, a plurality of limiting holes 522 are formed in the connecting plate 504 along the circumferential direction of the connecting plate, a limiting pin 523 is inserted in the connecting plate 504, an elastic rubber block 524 is arranged between the adjustable, the adjustable limiting block 521 is locked on the arc groove of the knee joint body through bolts and nuts.

Further, the parallel connection elastic body 509 comprises an elastic body outer ring 901, an elastic body inner ring 903, six pairs of rectangular springs 902, three pairs of triangular blocks 905 and six pairs of elastic positioning pins 906, three dovetail blocks are uniformly processed on the elastic body inner ring 903 along the circumferential direction, three pairs of triangular blocks 905 are uniformly arranged on the inner wall of the elastic body outer ring 901 along the circumferential direction, each pair of triangular blocks 905 are arranged in parallel, the elastic body inner ring 903 is positioned in the elastic body outer ring 901, one end of each pair of rectangular springs 902 is contacted with one pair of triangular blocks 905, the other end of each pair of rectangular springs 902 is contacted with one corresponding dovetail block, each rectangular spring 902 is positioned by one elastic positioning pin 906, the triangular blocks 905 are fixed with the elastic body outer ring 901 through the pressure action of the rectangular springs 902 at two sides and screws, the parallel elastomer 509 also includes six pairs of ball studs 904, with a pair of ball studs 904 disposed on either side of each dovetail block of the elastomer inner ring 903.

Further, the back frame 1 comprises a back frame inner layer and a back frame outer layer, the back frame inner layer comprises two flexible straps 101 and two waist seals 103, the two flexible straps 101 are arranged on the upper portion of the front end face of the back frame plate, and the two waist seals 103 are arranged on the lower portion of the front end face of the back frame plate; the outer layer of the back frame comprises a power supply 110, a control box 107, a six-dimensional force sensor 102, a six-dimensional force acquisition card 105, two single-dimensional force acquisition cards 109 and a power supply board 108, the power supply 110, the control box 107, the six-dimensional force acquisition card 105, the two single-dimensional force acquisition cards 109 and the power supply board 108 are arranged on the rear end face of the back frame plate, the back frame plate is a double-layer back frame plate, and the six-dimensional force sensor 102 is arranged between the double-layer back frame plates.

Furthermore, the inner side of the thigh rod 4 is provided with a thigh strap, the length range of the thigh rod 4 is 418 mm-478 mm, and the length range of the shank rod 6 is 390 mm-450 mm.

Further, the thigh rod 4 and the shank rod 6 are both made of carbon fiber material.

Further, the sole pressure shoe comprises a heel baffle 13, a rear bandage 14, two rear bandage frames 15, two rear bandage frame seats 16, a front bandage 17, two front bandage frames 18, two front bandage frame seats 19, an upper sole 20, a middle sole 21 and a lower sole 22, wherein the upper sole 20, the middle sole 21 and the lower sole 22 are sequentially arranged from top to bottom, the front bandage frame seats 19 and the rear bandage frame seats 16 are correspondingly arranged on two sides of the sole in the front and back direction, each front bandage frame seat 19 is provided with one front bandage frame 18, each rear bandage frame seat 16 is provided with one rear bandage frame 15, the rear bandage 14 is arranged between the two rear bandage frames 15, the front bandage 17 is arranged between the two front bandage frames 18, and the heel baffle 13 is arranged on the rear side of the sole.

Further, the middle sole 21 consists of a front sole and a rear sole, the front sole and the rear sole of the middle sole 21 are connected through hinges, and the middle sole 21 is fixed on the upper end face of the lower sole 22 through a plurality of hexagon socket head cap screws; the upper sole 20 is composed of a front sole and a rear sole, the front part of the upper sole 20 is fixedly arranged at the front part of the middle sole 21 through screws, and the rear part of the upper sole 20 is fixedly arranged at the rear part of the middle sole 21 through screws.

Furthermore, the hip joint 2 adopts a brushless motor and a harmonic reducer as a driving unit of the exoskeleton, the hip joint 2 comprises the brushless motor, the harmonic reducer, a magnetic encoder and a parallel elastomer, and the hip joint 2 and the knee joint 5 have the same structure.

Compared with the prior art, the invention has the following beneficial effects:

the lower limb exoskeleton robot system based on human-computer terminal interaction is provided with two pneumatic springs, and achieves the effect that a wearer does not need to overcome gravity to do work in a gravity balance mode, namely a hip joint structure based on active balance design is adopted; the hip joint rod piece is designed into a curved surface form, can envelop the hip to the maximum extent, has telescopic degree of freedom and can be adjusted to 440mm to the maximum extent so as to meet the requirements of wearers with different hip joint widths;

the exoskeleton robot system adopts a motor as power, the system needs a power supply, a controller and a driver, in order to ensure the use safety of an electrical system, the whole structure of the robot is compact, all electrical modules are uniformly distributed on the waist and back of the exoskeleton robot, simultaneously, the back also needs to bear load, the rated load is 20kg, meanwhile, a rotational degree of freedom is added on the waist of a trunk, and the situation that the back cannot move when sitting down and squatting down is avoided;

the waist belt is arranged on the waist and abdomen part, on one hand, the waist belt can play a role in fixing human-computer hip joints, and on the other hand, when one human-computer coupling leg is lifted in the walking process of a human-computer system, namely, the human-computer coupling leg is in a swing phase, part of the weight of the leg can be transferred to the other leg in a supporting phase through the waist belt and the hip joint, so that the gravity compression of the leg gravity on a wearer can be partially shared when one leg is lifted;

human-computer interaction information is communicated with the control box in a CAN bus mode, the power supply boards of all original components are designed, the whole system is powered by two 24V lithium battery power supplies, continuous working time CAN be guaranteed to be two hours, the power supply boards are designed into integrated modules, various voltages of 24V, 12V and 5V CAN be provided, and the integral cruising ability of the lower limb exoskeleton system is guaranteed.

The lower limb exoskeleton is good in fitting performance with a human body, comfortable to wear, accurate in man-machine interaction information, good in man-machine following effect and obvious in assistance effect.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a lower extremity exoskeleton robot system based on human-computer terminal interaction according to the invention;

FIG. 2 is a left side view of a back frame 1 according to an embodiment of the present invention;

FIG. 3 is a rear view of the back frame 1 according to one embodiment of the present invention;

FIG. 4 is a front view of the back frame 1 and hip joint in one embodiment of the present invention;

FIG. 5 is an exploded view of the knee joint 5 according to the third embodiment of the present invention;

FIG. 6 is a right side view of a body of a third knee joint in accordance with embodiments of the present invention;

FIG. 7 is a schematic diagram of a parallel elastomer 509 according to a fourth embodiment of the present invention;

FIG. 8 is a schematic view of a telecentric mechanism 701 for ankle joint 7 in accordance with one embodiment of the present invention;

fig. 9 is a schematic structural view of a telecentric mechanism 701 and a plantar pressure shoe according to a second embodiment and an eighth embodiment of the present invention.

Detailed Description

The first embodiment is as follows: as shown in fig. 1 to 8, the lower extremity exoskeleton robot system based on human-computer terminal interaction according to the present embodiment includes a back frame 1, two hip joints 2, two inertia units 3, two thigh bars 4, two knee joints 5, two shank bars 6, two ankle joints 7, and two sole pressure shoes 8, wherein two hip joint supports 104 are symmetrically disposed on a lower portion of the back frame 1, one end of each hip joint support 104 is rotatably connected to the back frame 1 through an adduction-abduction shaft 201, a free end of each hip joint support 104 is rotatably connected to the corresponding hip joint 2 through an hip internal and external rotation shaft 203, each hip joint 2 is connected to the corresponding thigh bar 4 through a hip flexion-extension shaft 202, one inertia unit 3 is disposed on an upper portion of each thigh bar 4, a lower portion of each thigh bar 4 is connected to an upper end of the corresponding shank bar 6 through one knee joint 5, a lower end of each shank bar 6 is connected to the corresponding sole pressure shoe 8 through one ankle joint 7, the lower limb exoskeleton robot system further comprises two pneumatic springs 106, one end of each pneumatic spring 106 is connected with the back frame 1, the other end of each pneumatic spring 106 is connected with a corresponding hip joint support 104, the ankle joint 7 is provided with a telecentric mechanism 701, the telecentric mechanism comprises a first connecting rod assembly, a second connecting rod assembly and a plurality of connecting shafts 711, one end of the first connecting rod assembly is rotatably connected with the ankle joint connecting piece 703 through the connecting shafts 711, the other end of the first connecting rod assembly is rotatably connected with one end of the second connecting rod assembly through the connecting shafts 711, the other end of the second connecting rod assembly is rotatably connected with the ankle joint base 712 through the connecting shafts 711, and the ankle joint base 712 is arranged on the sole pressure shoes.

Because a large joint moment and instantaneous power are output in the processes of walking, climbing steps, squatting and the like of a human body, a power assisting mechanism is necessarily introduced at the hip, a plurality of exoskeleton systems design the degree of freedom as a driving degree of freedom, but the design can increase the difficulty of a control algorithm and increase the overall mass of the system, so that in order to reduce the output power of a wearer and simultaneously lighten the system, the degree of freedom is designed to be supported by two symmetrical pneumatic springs 106, the effect that the wearer does not need to overcome gravity to do work is achieved in a gravity balance mode, namely, a hip joint structure based on active balance design is adopted. In order to design the degree of freedom into a quasi-anthropomorphic structure and further improve the comfort, the degree of freedom is designed based on an ergonomic design, wherein a hip adduction and abduction shaft 201, a hip flexion and extension shaft 202 and a hip inner and outer rotation shaft 203 are superposed with a hip joint rotation shaft of a human body. As shown in fig. 4, the hip joint support 104 is designed into a curved surface to maximally envelop the hip, and the degree of freedom is designed into a telescopic mechanism to meet the requirements of wearers with different hip joint widths, and can be adjusted to 440mm at most.

The second embodiment is as follows: as shown in fig. 8 and 9, the first link assembly of the telecentric mechanism of the embodiment comprises a first link 705, a second link 706 and two first connecting pieces 708, wherein the first link 705 is parallel to and opposite to the second link 706, the length of the first link 705 is smaller than that of the second link 706, one end of each of the first link 705 and the second link 706 is rotatably connected with the ankle joint connector 703 through a connecting shaft 711, and the other end of the first link 705 is connected with the middle part of the second link 706 through the two first connecting pieces 708 and the two connecting shafts 711; the second connecting rod assembly of the telecentric mechanism comprises a third connecting rod 707, a fourth connecting rod 710 and two second connecting pieces 709, the third connecting rod 707 and the fourth connecting rod 710 are parallel and are arranged oppositely, the length of the third connecting rod 707 is smaller than that of the fourth connecting rod 710, one ends of the third connecting rod 707 and the fourth connecting rod 710 are rotatably connected with the ankle joint base 712 through a connecting shaft 711, the other end of the third connecting rod 707 is rotatably connected with the first connecting rod 705 through a connecting shaft 711, the other end of the fourth connecting rod 710 is rotatably connected with the second connecting rod 706 through a connecting shaft 711, and the other end of the third connecting rod 707 is connected with the fourth connecting rod 710 through the two second connecting pieces 709. So design for the rotation center of ectoskeleton ankle joint external rotation, internal rotation all with the human rotation center coincidence, avoided the uncomfortable of wearing person when the motion, slow down simultaneously lifting the leg and falling to the ground the in-process to the oppression of ankle, long-time the use does not have uncomfortable sense yet, accords with the ergonomic design. Other components and connections are the same as those in the first embodiment.

The invention adopts a lower limb exoskeleton ankle joint based on a telecentric mechanism and is used for a lower limb exoskeleton robot, and the rotation center is arranged at an internal and external turning dynamic point of the human ankle joint through a double-parallelogram telecentric mechanism 701, so that the superposition of the rotation center of the exoskeleton ankle joint and the rotation center of the ankle joint is realized, the internal and external turning movement of the human body around a distant center point is assisted, the problem that the internal and external turning rotation center of the exoskeleton ankle joint is not superposed with the rotation center of the human ankle joint is avoided, and the comfort of wearing the exoskeleton by the human body is improved.

The third concrete implementation mode: as shown in fig. 5, the knee joint 5 of the present embodiment includes a motor 501, a fixing cover 502, a harmonic reducer 503, a connecting plate 504, a knee joint body, a thigh rod connecting piece 505, a shank rod connecting piece 507 and a reducer output shaft 508, wherein the lower end of the thigh rod connecting piece 505 is provided with an outer edge, the fixing cover 502 and the connecting plate 504 are arranged in parallel and fixedly mounted on the outer edge of the thigh rod connecting piece 505, the motor 501 is fixedly mounted on one end surface of the fixing cover 502, one end of the harmonic reducer 503 is fixedly mounted on the other end surface of the fixing cover 502, the other end of the harmonic reducer 503 is connected with the connecting plate 504, the reducer output shaft 508 is fixedly mounted on the harmonic reducer 503, the knee joint body is mounted on the reducer output shaft 508 through a deep groove ball bearing 506, the upper end of the shank rod connecting piece 507 is fixedly mounted on, The magnetic encoder comprises a magnetic encoder magnetic ring 510, a magnetic encoder magnetic head 511 and an end cover 512, wherein the end cover 512 is fixedly arranged on the outer ring surface of a knee joint body through a flange, a parallel elastomer 509 is fixedly arranged in the end cover 512, the parallel elastomer 509 is fixedly connected with a reducer output shaft 508 through a shaft bracket in a coaxial manner, the magnetic encoder magnetic ring 510 is arranged on the knee joint body, the magnetic encoder magnetic head 511 is arranged on the parallel elastomer 509, the magnetic encoder magnetic ring 510 and the magnetic encoder magnetic head 511 are oppositely arranged, an arc groove is formed on the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks 521 are arranged in the arc groove, the arc groove is opposite to a connecting plate 504, a plurality of limiting holes 522 are formed in the connecting plate 504 along the circumferential direction of the connecting plate, a limiting pin 523 is inserted in the connecting plate 504, an elastic rubber block, the rubber pad is located between two regulating flaps, and adjustable stopper 521 locks on the circular arc recess of knee joint body through bolt nut. By the design, the joint limiting buffer can meet the flexible requirement, and meanwhile, the joint limiting angle can be adjusted to meet different joint angles, so that the joint limiting buffer has high universality. Other components and connection relationships are the same as those in the first or second embodiment.

Because the robot has extreme singularity, dead points can appear when lifting legs, namely, the rod piece cannot be pushed even if the force on the driving piece is infinite, so that the knee joint cannot normally move, and even the human body is injured. In order to avoid the occurrence of singular points, the exoskeleton knee joint is subjected to angle isomerism. In order to realize the isomerism of the knee joint, the adjustable limiting block 521 is used for mechanical limiting, and the isomerism angle can be set to three steps: 0 °, 20 °, 45 ° for limiting the range of knee flexion and extension freedom, wherein the elastic rubber blocks 524 may act as a buffer to avoid a purely rigid contact.

The fourth concrete implementation mode: as shown in fig. 7, the parallel connection elastic body 509 of the present embodiment includes an elastic body outer ring 901, an elastic body inner ring 903, six pairs of rectangular springs 902, three pairs of triangular blocks 905 and six pairs of elastic positioning pins 906, three dovetail blocks are uniformly processed on the elastic body inner ring 903 along the circumferential direction, three pairs of triangular blocks 905 are uniformly arranged on the inner wall of the elastic body outer ring 901 along the circumferential direction, each pair of triangular blocks 905 are arranged in parallel, the elastic body inner ring 903 is located in the elastic body outer ring 901, one end of each pair of rectangular springs 902 is in contact with one pair of triangular blocks 905, the other end of each pair of rectangular springs 902 is in contact with a corresponding dovetail block, each rectangular spring 902 is positioned by one elastic positioning pin 906, the triangular blocks 905 are fixed with the elastic body outer ring 901 by the pressure action of the rectangular springs 902 on, the parallel elastomer 509 also includes six pairs of ball studs 904, with a pair of ball studs 904 disposed on either side of each dovetail block of the elastomer inner ring 903. So design for the elastomer satisfies the big demand of rigidity of small-size, can realize that the spring is to three hornblocks 905 forward pressure application, can improve power transmission efficiency, and three hornblocks 905 pass through bolted connection easy to assemble and dismantlement, can change the spring as required, and the relative pivoted in-process spring of while interior outer lane can remain line contact with the sphere throughout, can guarantee the stability of motion process. Other components and connection relationships are the same as those in the third embodiment.

The fifth concrete implementation mode: as shown in fig. 1, 2 and 3, the back frame 1 of the present embodiment includes a back frame inner layer and a back frame outer layer, the back frame inner layer includes two flexible straps 101 and two waistbands 103, the two flexible straps 101 are disposed on the upper portion of the front end face of the back frame plate, and the two waistbands 103 are disposed on the lower portion of the front end face of the back frame plate; the outer layer of the back frame comprises a power supply 110, a control box 107, a six-dimensional force sensor 102, a six-dimensional force acquisition card 105, two single-dimensional force acquisition cards 109 and a power supply board 108, the power supply 110, the control box 107, the six-dimensional force acquisition card 105, the two single-dimensional force acquisition cards 109 and the power supply board 108 are arranged on the rear end face of the back frame plate, the back frame plate is a double-layer back frame plate, and the six-dimensional force sensor 102 is arranged between the double-layer back frame plates. So design, on the one hand through the human body design of back of the body frame inlayer laminating, improved the travelling comfort of ectoskeleton with human contact, the outer automatically controlled unit that has integrateed of on the other hand makes things convenient for the person of wearing to switch over power and collection equipment information at any time. Other components and connection relationships are the same as those in the third embodiment.

The outer layer of the back frame is provided with a power supply 110, a control box 107, a six-dimensional force acquisition card 105, a single-dimensional force acquisition card 109 and a power supply board 108, the inner layer and the outer layer of the back frame are connected through a six-dimensional force sensor 102, and the inclination and the squatting intention of the upper body of a human body can be detected through six-dimensional force.

The waist design is adjustable structure, and the control range is 440mm 10 to the wearer of different waistlines of adaptation. In order to enable the exoskeleton robot to be more stable in the walking process, a waist belt 103 is arranged on the waist and the abdomen, on one hand, the waist belt can fix hip joints of a human machine, and on the other hand, in the walking process of a human-machine system, when one human-machine coupling leg is lifted, namely, when the human-machine coupling leg is in a swing phase, part of the weight of the leg can be transferred to the other leg in a supporting phase through the waist belt and the hip joints, so that the gravity compression of the leg gravity on a wearer can be partially shared when one leg is lifted.

The sixth specific implementation mode: as shown in fig. 1, the thigh strap is provided on the inner side of the thigh lever 4 of the present embodiment, the length range of the thigh lever 4 is 418mm to 478mm, and the length range of the shank lever 6 is 390mm to 450 mm. So design, can satisfy the people of different height sizes and dress, adjust as required. Other components and connection relations are the same as those of the fourth or fifth embodiment.

In order to avoid the singular point problem of the straight line type exoskeleton and the problem of difficult leg lifting, the damping and vibration absorption effects are met, the knee joint based on the heterogeneous design is adopted, meanwhile, the large leg rod piece and the small leg rod piece are designed into an adjustable mode, and the adjustable knee joint can be suitable for being worn by wearers with different heights. The length of the thigh is 448mm +/-30, the length of the shank is 420mm +/-30, and the applicable height range of the wearer is 165 cm-185 cm. Meanwhile, in order to reduce the weight of the whole system, the large and small leg rods are made of carbon fiber materials. The exoskeleton robot system adopts a motor as power, the system needs a power supply, a controller and a driver, in order to ensure the use safety of an electrical system, the whole structure of the robot is compact, and all electrical modules are uniformly distributed on the waist and back of the exoskeleton robot. Simultaneously, the back also needs to bear load, the rated load is 20kg, and a rotational degree of freedom is added at the waist of the trunk, so that the situation that the back cannot move when sitting down and squatting down is avoided.

The seventh embodiment: as shown in fig. 1, the thigh rod 4 and the shank rod 6 of the present embodiment are both made of a carbon fiber material. By the design, the self weight of the exoskeleton system can be reduced, and the light design of the exoskeleton is met. Other components and connection relationships are the same as those in the first, second, fourth or fifth embodiment.

The specific implementation mode is eight: as shown in fig. 1 and 9, the plantar pressure shoe of the present embodiment includes a heel baffle 13, a rear strap 14, two rear strap frames 15, two rear strap frame seats 16, a front strap 17, two front strap frames 18, two front strap frame seats 19, an upper sole 20, a middle sole 21, and a lower sole 22, the upper sole 20, the middle sole 21, and the lower sole 22 are sequentially disposed from top to bottom, the front strap frame seat 19 and the rear strap frame seat 16 are correspondingly disposed on both sides of the sole in front and rear directions, one front strap frame 18 is disposed on each front strap frame seat 19, one rear strap frame 15 is disposed on each rear strap frame seat 16, the rear strap 14 is disposed between the two rear strap frames 15, the front strap 17 is disposed between the two front strap frames 18, and the rear strap baffle 13 is disposed on the rear side of the sole. By the design, the impact on the upper layer and the lower layer of pressure conduction in the movement can be buffered, the comfort of the pressure shoe is improved, and the pressure shoe is convenient to wear. The other components and the connection relations are the same as those of the first, second or fourth embodiment.

The specific implementation method nine: as shown in fig. 9, the middle sole 21 of the present embodiment is composed of a front sole and a rear sole, the front sole and the rear sole of the middle sole 21 are connected by hinges, and the middle sole 21 is fixed on the upper end surface of the lower sole 22 by a plurality of hexagon socket head cap screws; the upper sole 20 is composed of a front sole and a rear sole, the front part of the upper sole 20 is fixedly arranged at the front part of the middle sole 21 through screws, and the rear part of the upper sole 20 is fixedly arranged at the rear part of the middle sole 21 through screws. So design, preceding bandage frame passes through second hinge and preceding sensor supporting layer swing joint, and the sole shoes of being convenient for are dressed, have strengthened the flexibility that sole shoes were dressed. Other components and connection relationships are the same as those in the eighth embodiment.

The detailed implementation mode is ten: as shown in fig. 1, the hip joint 2 of the present embodiment employs a brushless motor and a harmonic reducer as drive means for the exoskeleton, the hip joint 2 includes a brushless motor, a harmonic reducer, a magnetic encoder, and a parallel elastic body, and the hip joint 2 and the knee joint 5 have the same structure. So design, through having increased the flexibility of knee joint, increased the bandwidth of control power, the inner circle of parallelly connected elastomer links to each other with the reduction gear output shaft, and the outer lane of parallelly connected elastomer links to each other with thigh pole, measures the angle difference through magnetic encoder and motor encoder, and then carries out the measurement of human-computer interaction power. Other components and connection relations are the same as those of the first, second, fourth, sixth, seventh or ninth embodiment.

The control system of the invention adopts an ELMO driver to control the motor, the main controller adopts an industrial control board based on Cortex-ARM9 as a core, the single-dimensional force acquisition card 109 and the six-dimensional force acquisition card 105 respectively acquire human-computer interaction information, the human-computer interaction information is communicated with the control box 107 in a CAN bus mode, and power supply boards of all elements are designed, the whole system adopts two 24V lithium battery power supplies 110 to supply power, and the continuous working time CAN be ensured to be two hours. The power panel 108 is designed as an integrated module, and can provide various voltages such as 24V, 12V and 5V, so that the integral cruising ability of the lower limb exoskeleton system is ensured.

The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.

Claims

1. The utility model provides a lower limbs ectoskeleton robot system based on terminal mutual of man-machine, lower limbs ectoskeleton robot system includes back of the body frame (1), two hip joints (2), two inertial unit (3), two thigh poles (4), two knee joint (5), two shank poles (6), two ankle joint (7) and two plantar pressure shoes (8), its characterized in that: the exoskeleton robot system is characterized in that two hip joint supports (104) are symmetrically arranged at the lower part of the back frame (1), one end of each hip joint support (104) is rotatably connected with the back frame (1) through an adduction abduction shaft (201), the free end of each hip joint support (104) is rotatably connected with the corresponding hip joint (2) through an internal and external hip rotation shaft (203), each hip joint (2) is connected with the corresponding thigh rod (4) through a hip flexion and extension shaft (202), the upper part of each thigh rod (4) is provided with an inertia unit (3), the lower part of each thigh rod (4) is connected with the upper end of the corresponding shank rod (6) through a knee joint (5), the lower end of each shank rod (6) is connected with the corresponding lower limb (8) of a sole pressure shoe through an ankle joint (7), the exoskeleton robot system further comprises two pneumatic springs (106), one end of each pneumatic spring (106) is connected with the back frame (1), the other end of the pneumatic spring (106) is connected with a corresponding hip joint support (104), the ankle joint (7) is provided with a telecentric mechanism (701), the telecentric mechanism comprises a first connecting rod assembly, a second connecting rod assembly and a plurality of connecting shafts (711), one end of the first connecting rod assembly is rotatably connected with the ankle joint connecting piece (703) through the connecting shaft (711), the other end of the first connecting rod assembly is rotatably connected with one end of the second connecting rod assembly through the connecting shaft (711), the other end of the second connecting rod assembly is rotatably connected with the ankle joint base (712) through the connecting shaft (711), and the ankle joint base (712) is arranged on the sole pressure shoe;

the first connecting rod assembly of the telecentric mechanism comprises a first connecting rod (705), a second connecting rod (706) and two first connecting plates (708), the first connecting rod (705) and the second connecting rod (706) are parallel and oppositely arranged, the length of the first connecting rod (705) is smaller than that of the second connecting rod (706), one ends of the first connecting rod (705) and the second connecting rod (706) are rotatably connected with the ankle joint connecting piece (703) through a connecting shaft (711), and the other end of the first connecting rod (705) is connected with the middle part of the second connecting rod (706) through the two first connecting plates (708) and the two connecting shafts (711); the second connecting rod assembly of the telecentric mechanism comprises a third connecting rod (707), a fourth connecting rod (710) and two second connecting pieces (709), the third connecting rod (707) and the fourth connecting rod (710) are parallel and are arranged oppositely, the length of the third connecting rod (707) is smaller than that of the fourth connecting rod (710), one ends of the third connecting rod (707) and the fourth connecting rod (710) are rotatably connected with the ankle joint base (712) through a connecting shaft (711), the other end of the third connecting rod (707) is rotatably connected with the first connecting rod (705) through a connecting shaft (711), the other end of the fourth connecting rod (710) is rotatably connected with the second connecting rod (706) through a connecting shaft (711), and the other end of the third connecting rod (707) is connected with the fourth connecting rod (710) through two second connecting pieces (709).

2. The human-machine end interaction based lower extremity exoskeleton robot system of claim 1, wherein: the knee joint (5) comprises a motor (501), a fixed cover (502), a harmonic reducer (503), a connecting plate (504), a knee joint body, a thigh rod connecting piece (505), a shank rod connecting piece (507) and a reducer output shaft (508), wherein the lower end of the thigh rod connecting piece (505) is provided with an outer edge, the fixed cover (502) and the connecting plate (504) are arranged in parallel and fixedly arranged on the outer edge of the thigh rod connecting piece (505), the motor (501) is fixedly arranged on one end surface of the fixed cover (502), one end of the harmonic reducer (503) is fixedly arranged on the other end surface of the fixed cover (502), the other end of the harmonic reducer (503) is connected with the connecting plate (504), the reducer output shaft (508) is fixedly arranged on the harmonic reducer (503), the knee joint body is arranged on the reducer output shaft (508) through a deep groove ball bearing (506), the upper end of the shank rod connecting piece (507) is fixedly, the knee joint body comprises a parallel elastomer (509), a magnetic encoder magnetic ring (510), a magnetic encoder magnetic head (511) and an end cover (512), the end cover (512) is fixedly arranged on the outer ring surface of the knee joint body through a flange, the parallel elastomer (509) is fixedly arranged in the end cover (512), the parallel elastomer (509) is coaxially and fixedly connected with a reducer output shaft (508) through a shaft bracket, the magnetic encoder magnetic ring (510) is arranged on the knee joint body, the magnetic encoder magnetic head (511) is arranged on the parallel elastomer (509), the magnetic encoder magnetic ring (510) and the magnetic encoder magnetic head (511) are oppositely arranged, an arc groove is processed on the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks (521) are arranged in the arc groove, the arc groove is opposite to the connecting plate (504), a plurality of limiting holes (522) are processed on the connecting plate (504) along the circumferential direction of the connecting plate, an elastic rubber block (524) is arranged between the adjustable limiting block (521) and the limiting pin (523), the adjustable limiting block (521) comprises a rubber pad and two adjusting sheets, the rubber pad is located between the two adjusting sheets, and the adjustable limiting block (521) is locked on the arc groove of the knee joint body through bolts and nuts.

3. The lower extremity exoskeleton robot system based on human-machine end interaction of claim 2, wherein:

the parallel connection elastic body (509) comprises an elastic body outer ring (901), an elastic body inner ring (903), six pairs of rectangular springs (902), three pairs of triangular blocks (905) and six pairs of elastic positioning pins (906), wherein three dovetail blocks are uniformly processed on the elastic body inner ring (903) along the circumferential direction of the elastic body inner ring, three pairs of triangular blocks (905) are uniformly arranged on the inner wall of the elastic body outer ring (901) along the circumferential direction of the elastic body outer ring, each pair of triangular blocks (905) are arranged in parallel, the elastic body inner ring (903) is positioned in the elastic body outer ring (901), one end of each pair of rectangular springs (902) is contacted with one pair of triangular blocks (905), the other end of each pair of rectangular springs (902) is contacted with one corresponding dovetail block, each rectangular spring (902) is positioned through one elastic positioning pin (906), the triangular blocks (905) are fixed with the elastic body outer ring (901) through the pressure action of screws and the rectangular springs, the parallel connection elastic body (509) further comprises six pairs of ball pins (904), and a pair of ball pins (904) is arranged on two sides of each dovetail block of the elastic body inner ring (903).

4. The human-machine end interaction based lower extremity exoskeleton robot system of claim 1 or 3, wherein: the back frame (1) comprises a back frame inner layer and a back frame outer layer, the back frame inner layer comprises two flexible straps (101) and two waist seals (103), the two flexible straps (101) are arranged on the upper portion of the front end face of the back frame plate, and the two waist seals (103) are arranged on the lower portion of the front end face of the back frame plate; the outer layer of the back frame comprises a power supply (110), a control box (107), a six-dimensional force sensor (102), a six-dimensional force acquisition card (105), two single-dimensional force acquisition cards (109) and a power supply board (108), wherein the power supply (110), the control box (107), the six-dimensional force acquisition card (105), the two single-dimensional force acquisition cards (109) and the power supply board (108) are arranged on the rear end face of the back frame board, the back frame board is a double-layer back frame board, and the six-dimensional force sensor (102) is arranged between the double-layer back frame board.

5. The human-machine end interaction based lower extremity exoskeleton robot system of claim 4, wherein: the inner side of the thigh rod (4) is provided with a thigh binding belt, the length range of the thigh rod (4) is 418-478 mm, and the length range of the shank rod (6) is 390-450 mm.

6. The human-machine end interaction based lower extremity exoskeleton robot system of claim 5, wherein: the thigh rod (4) and the shank rod (6) are both made of carbon fiber materials.

7. The human-machine end interaction based lower extremity exoskeleton robot system of claim 1 or 3, wherein: the sole pressure shoes comprise a heel baffle (13), a rear binding band (14), two rear binding band frames (15), two rear binding band frame seats (16), a front binding band (17), two front binding band frames (18), two front binding band frame seats (19), an upper sole (20), a middle sole (21) and a lower sole (22), the upper sole (20), the middle sole (21) and the lower sole (22) are sequentially arranged from top to bottom, a front binding band frame seat (19) and a rear binding band frame seat (16) are correspondingly arranged on two sides of the sole in the front and at the back, a front binding band frame (18) is arranged on each front binding band frame seat (19), a rear binding band frame (15) is arranged on each rear binding band frame seat (16), a rear binding band (14) is arranged between the two rear binding band frames (15), a front binding band (17) is arranged between the two front binding band frames (18), and a heel baffle (13) is arranged on the rear side of the sole.

8. The human-machine end interaction based lower extremity exoskeleton robot system of claim 7, wherein: the middle-layer sole (21) consists of a front sole and a rear sole, the front sole and the rear sole of the middle-layer sole (21) are connected through hinges, and the middle-layer sole (21) is fixed on the upper end face of the lower-layer sole (22) through a plurality of hexagon socket head cap screws; the upper layer sole (20) consists of a front sole and a rear sole, the front part of the upper layer sole (20) is fixedly arranged at the front part of the middle layer sole (21) through screws, and the rear part of the upper layer sole (20) is fixedly arranged at the rear part of the middle layer sole (21) through screws.

9. The human-machine end interaction based lower extremity exoskeleton robotic system of claims 1, 3, 5, 6 or 8, wherein: the hip joint (2) adopts the brushless motor and the harmonic reducer as the driving unit of the exoskeleton, the hip joint (2) comprises the brushless motor, the harmonic reducer, the magnetic encoder and the parallel connection elastic body, and the hip joint (2) and the knee joint (5) have the same structure.