CN109940585A - A kind of back integration module of exoskeleton robot - Google Patents
A kind of back integration module of exoskeleton robot Download PDFInfo
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- CN109940585A CN109940585A CN201910228909.5A CN201910228909A CN109940585A CN 109940585 A CN109940585 A CN 109940585A CN 201910228909 A CN201910228909 A CN 201910228909A CN 109940585 A CN109940585 A CN 109940585A
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- box
- power box
- motor driver
- control
- lithium battery
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- 230000010354 integration Effects 0.000 title claims abstract description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 38
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 38
- 239000000725 suspension Substances 0.000 claims description 7
- 239000006260 foam Substances 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 4
- 239000002360 explosive Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Abstract
A kind of back integration module of exoskeleton robot, including three split type boxes being mounted on exoskeleton robot backboard, split type box includes left power box, control box and right power box, pass through pedestal, upper end cover, lower cover, upper cover connects and composes, dynamic lithium battery is installed inside it, controller, motor driver, bluetooth module, temperature sensor, gyroscope, relay, voltage reduction module, LCD screen, 19 needle aviation plugs, 4 needle aviation plugs, 2 needle aviation plugs, master switch etc., by battery, controller, motor driver is integrated into a module, it is easy to use；Single split type box is easily installed, and is conducive to the maintenance and replacement of internal element, convenient to use in the different enterprising enforcements of ectoskeleton；Motor driver receives the control signal and output motor driving signal of controller；Gyroscope can detecte the information such as attitude angle, acceleration and pass controller back and is used, and have the characteristics that easy to repair, replacement, failure rate are low.
Description
Technical field
The invention belongs to robotic technology field, in particular to the back integration module of a kind of exoskeleton robot.
Background technique
The a part of ectoskeleton back integration module as ectoskeleton, major function are to provide electricity for ectoskeleton power section
Data that source, receiving sensor are passed back are simultaneously handled；Part for the control of the needs such as motor provides control signal.Traditional back
Part device had not considered the heat dissipation problem of power supply, driver etc. mostly；And integrated level is lower；The dispersions such as power supply, controller installation
Even exposure in air, considerably increases a possibility that failure occurs；And the closing of most of only installation batteries
Box, have a single function, user can not learn the status information of temperature, battery, sensor etc..
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of back of exoskeleton robot
Integration module has a variety of monitoring functions, and integrated level is high, has the characteristics that easy to repair, replacement, failure rate are low.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of back integration module of exoskeleton robot, three including being mounted on exoskeleton robot backboard 1 dissipate
The good split type box of heat, split type box include left power box 13, control box 12 and right power box 11；
The right power box 11 includes the right power box base 14 and right power box cover 19 to be linked together by sliding slot,
The upper and lower of right power box base 14 has been respectively fixedly connected with right power box band fixed ear upper end cover 15 and right power box band fixed ear
Lower cover 20 constitutes box body, and suspension has the first temperature sensor 39 in box, and right 14 inside of power box base is successively solid from top to bottom
Surely it is connected with first motor driver 16, the second motor driver 17 and the first dynamic lithium battery 18, first motor driver 16,
The power supply line of second motor driver 17 is connect with the first dynamic lithium battery 18, and right power box band fixed ear lower cover 20 is fixed
It is connected with 4 needle aviation plug 6 of right 2 needle aviation plug 5 of power box and right power box, right 2 needle aviation plug 5 of power box, right power
4 needle aviation plug 6 of box is electrically connected with the first dynamic lithium battery 18；
The left power box 13 includes the left power box base 21 and left power box cover 26 to be linked together by sliding slot,
The upper and lower of left power box base 21 has been respectively fixedly connected with left power box band fixed ear upper end cover 22 and left power box band fixed ear
Lower cover 27 constitutes box body, and suspension has second temperature sensor 40 in box, and left 21 inside of power box base is successively solid from top to bottom
Surely it is connected with third motor driver 23, the 4th motor driver 24 and the second dynamic lithium battery 25, third motor driver 23,
The power supply line of 4th motor driver 24 is connect with the second dynamic lithium battery 25, and left power box band fixed ear lower cover 27 is fixed
It is connected with 2 needle aviation plug 10 of left 4 needle aviation plug 9 of power box and left power box, left 4 needle aviation plug 9 of power box and a left side are dynamic
2 needle aviation plug 10 of power box is electrically connected with the second dynamic lithium battery 25；
The control box 12 includes the control box base 28 to be linked together by sliding slot and control box cover 30, controls box
The upper and lower of pedestal 28 has been respectively fixedly connected with control tape fixed ear upper end cover 29 and the control composition of tape fixed ear lower cover 35
Box body, suspension has third temperature sensor 41 in box, control be fixedly connected on the inside of box base 28 relay 38, gyroscope 37,
RS232 adapter 36, STM32 controller 33, voltage reduction module 34, the voltage reduction module 34, RS232 adapter 36, gyroscope 37,
LCD screen 31, third temperature sensor 41 are electrically connected with STM32 controller 33, and RS232 adapter 36 and first motor drive
The control signal wire electrical connection of device 16, the second motor driver 17, third motor driver 23, the 4th motor driver 24, drop
Die block 34 is electrically connected with the first dynamic lithium battery 18, in the opening that LCD screen 31 is entrenched on control box cover 30 and is passed through
Four stay bolts in LCD fixed plate 32, which are held out against, to be fixed, and master switch 3 is fastened on control tape fixed ear upper end cover 29
It above and with relay 38 is electrically connected, relay 38 and the first dynamic lithium battery 18, the second dynamic lithium battery 25, STM32 controller
33 electrical connections；Right power box band fixed ear lower cover 20 is fixed with 19 needle aviation plug 7 of the first control box and the second control box 19
Needle aviation plug 8,19 needle aviation plug 7 of the first control box and the second control 19 needle aviation plug 8 of box with the first power lithium battery
Pond 18, STM32 controller 33, first motor driver 16, the second motor driver 17, the 23, the 4th electricity of third motor driver
Machine driver 24 is electrically connected.
The second radiator fan 4 is fixed on the right power box band fixed ear upper end cover 15 to radiate.
First dynamic lithium battery 18 is bonded with right power box base 14 by high-intensitive sponge foam glue.
The first radiator fan 2 is fixed on the left power box band fixed ear upper end cover 22 to radiate.
Second dynamic lithium battery 25 is bonded with left power box base 21 by high-intensitive sponge foam glue.
The beneficial effects of the present invention are:
The present invention is designed using split type structure, and three power supply, control, driving segment sets are become an entirety, structure
At an ectoskeleton back module compact, integrated level is high.Battery, controller, motor driver are integrated into a module,
It is easy to use；Single split type box is not only convenient for installing, and is conducive to the maintenance and replacement of internal element, while modularization
Be conducive to use in the different enterprising enforcements of ectoskeleton；Motor driver receives the control signal of controller and output motor driving letter
Number；Gyroscope can detecte the information such as attitude angle, acceleration and pass controller back and is used.And increase intelligent temperature control
Function processed, battery status monitoring function, athletic posture detection function, obstruction warning function, human-computer interaction function.Buzzer is by controlling
Device control processed carries out abnormal alarm.
The present invention is compact to design, integrated level is high, easy to use.Offer power is being provided and is controlling the same of signal basic function
When also have the function of temperature adjusting, attitude detection, battery status monitoring and human-computer interaction.And there are cooling fin in box two sides,
Be conducive to temperature adjusting.Temperature sensor sense temperature and temperature signal is passed into controller, controller decides whether to drive
Radiator fan is radiated to realize that the intelligence of back inside modules temperature is adjusted, and is conducive to the normal work of device, extension makes
Use the service life.
Detailed description of the invention
Fig. 1 system structure diagram.
The overall structure figure of the back Fig. 2 module.
The right power box explosive view of Fig. 3.
The left power box explosive view of Fig. 4.
Fig. 5 controls box explosive view.
The present invention includes 1 backboard, 2 first radiator fans, 3 master switch, 4 second radiator fans, 5 right 2 needle aviations of power box
Plug, 6 right 4 needle aviation plugs of power box, 7 first control 19 needle aviation plugs of box, 8 second control 19 needle aviation plugs of box, 9 is left
4 needle aviation plug of power box, 10 left 2 needle aviation plugs of power box, 11 right power boxes, 12 control boxes, 13 left power boxes, 14 is right dynamic
Power box base, 15 right power box band fixed ear upper end covers, 16 first motor drivers, 17 second motor drivers, 18 first is dynamic
Power lithium battery, 19 right power box covers, 20 right power box band fixed ear lower covers, 21 left power box bases, 22 left power box bands
Fixed ear upper end cover, 23 third motor drivers, 24 the 4th motor drivers, 25 second dynamic lithium batteries, on 26 left power boxes
Lid, 27 left power box band fixed ear lower covers, 28 control box bases, 29 control tape fixed ear upper end covers, 30 control box covers,
31LCD screen, 32LCD screen fixed plate, 33STM32 controller, 34 voltage reduction modules, 35 control tape fixed ear lower covers,
36RS232 adapter, 37 gyroscopes, 38 relays, 39 first temperature sensors, 40 second temperature sensors, 41 third temperature
Sensor.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of back integration module of exoskeleton robot, system connection figure is as shown in Figure 1, the first dynamic lithium battery 18 is logical
It crosses voltage reduction module and provides voltage, the electricity of 5V DC power supply and the detectable battery of controller to 33 controller STM32F103RCT6
Amount etc. directly provides 25.2V DC power supply simultaneously for 16 second motor driver 17 of first motor driver.Second power lithium battery
Pond 25 is directly third motor driver 23, the 4th motor driver 24 provides 25.2V DC power supply.Controller passes through RS232
Adapter 36 controls signals to four motor driver outputs.Four motor driver models are all DCOBRA4812.Controller
Attitude signal is received from 37 gyroscope VG103PT, from temperature sensor DS18B20 module 39, second temperature sensor 40, third
Temperature sensor 41 receive temperature signal, and according to temperature conditions control radiator fan 2, the second radiator fan 4 revolving speed and open
Off status carries out temperature adjusting.When abnormal conditions occur, as temperature is excessively high, low battery when, controller can control buzzer
It alarms, buzzer is integrated on controller.Controller can carry out information exchange with LCD screen simultaneously, such as to LCD screen
Output signal shows some status informations and receives the touch information passed back from screen.
Overall construction drawing is as shown in Fig. 2, the present invention includes including three heat dissipations being mounted on exoskeleton robot backboard 1
Good split type box, split type box include left power box 13, control box 12 and right power box 11.The material of the box
Using aluminium 6061, convenient for heat dissipation and loss of weight.Three split type boxes pass through right power box band fixed ear upper end cover 15, right power box
Band fixed ear lower cover 20, left power box band fixed ear upper end cover 22, left power box band fixed ear lower cover 27, control tape are solid
Determine ear upper end cover 29, the fixed ear on control tape fixed ear lower cover 35 and be bolted to be mounted on backboard, three aluminium boxes
It is all removable to be divided into pedestal, upper end cover, lower cover, four part of upper cover.
As shown in figure 3, right power box can be divided into right power box base 14, right power box band fixed ear upper end cover 15, the right side is moved
Power box cover 19, right power box band 20 4 part of fixed ear lower cover.The right power box 11 includes being connected to one by sliding slot
The right power box base 14 and right power box cover 19 risen, right power box base 14 have been bolted to connection respectively up and down
Right power box band fixed ear upper end cover 15 and right power box band fixed ear lower cover 20 constitute box body.Second radiator fan 4 and the right side
Power box band fixed ear upper end cover 15 is attached by bolt, the first radiator fan 2 and left power box band fixed ear upper end cover
22 are attached by bolt.Left 4 needle aviation plug 9 of power box, 2 needle aviation plug 10 of left power box are fixed with left power box band
Ear lower cover 27 is attached by bolt.Right 2 needle aviation plug 5 of power box, 4 needle aviation plug 6 of right power box and right power box
Band fixed ear lower cover 20 is attached by bolt.
16 second motor driver 17 of first motor driver is connected by being bolted with pedestal in right power box.First is dynamic
Power lithium battery 18 is bonded with right power box base 14 by high-intensitive sponge foam glue.
As shown in figure 4, the left power box 13 includes that the left power box base 21 to be linked together by sliding slot and a left side are dynamic
Power box cover 26, the upper and lower of left power box base 21 have been respectively fixedly connected with left power box band fixed ear upper end cover 22 and left power
Tape fixed ear lower cover 27 constitutes box body, and suspending in box has second temperature sensor 40, from upper on the inside of left power box base 21
Being fixedly connected sequentially under has third motor driver 23, the 4th motor driver 24 and the second dynamic lithium battery 25, third electricity
Machine driver 23, the 4th motor driver 24 power supply line connect with the second dynamic lithium battery 25, left power box band fixed ear
Lower cover 27 is fixedly connected with 2 needle aviation plug 10 of left 4 needle aviation plug 9 of power box and left power box, left 4 needle aviation of power box
Plug 9 and 2 needle aviation plug 10 of left power box are electrically connected with the second dynamic lithium battery 25.
The 4th motor driver 24 of third motor driver 23 is connected by being bolted with pedestal in left power box.Second is dynamic
Power lithium battery 25 is bonded with left power box base 21 by high-intensitive sponge foam glue.
As shown in figure 5, the control box 12 includes on the control box base 28 to be linked together by sliding slot and control box
Lid 30, the upper and lower of control box base 28 have been respectively fixedly connected under control tape fixed ear upper end cover 29 and control tape fixed ear
End cap 35 constitutes box body, and suspension has third temperature sensor 41 in box, control be fixedly connected on the inside of box base 28 relay 38,
Gyroscope 37, RS232 adapter 36, STM32 controller 33, voltage reduction module 34, the voltage reduction module 34, RS232 adapter 36,
Gyroscope 37, LCD screen 31, third temperature sensor 41 are electrically connected with STM32 controller 33, RS232 adapter 36 and
One motor driver 16, the second motor driver 17, third motor driver 23, the 4th motor driver 24 control signal wire
Electrical connection, voltage reduction module 34 are electrically connected with the first dynamic lithium battery 18, and LCD screen 31 is entrenched in the opening on control box cover 30
It is interior and held out against and be fixed by four stay bolts in LCD fixed plate 32,
Control box in master switch 3 by itself screw thread be tightened on control tape fixed ear upper end cover 29 on and with relay 38
Electrical connection.The master switch 3 is one, and for controlling the on-off of whole power supply, circuit can be played by being electrically connected with relay 38
Protective effect.Relay 38 is electrically connected with the first dynamic lithium battery 18, the second dynamic lithium battery 25, STM32 controller 33；The right side is dynamic
Power tape fixed ear lower cover 20 is fixed with 19 needle aviation plug 7 of the first control box and the second control 19 needle aviation plug 8 of box, the
One control box, 19 needle aviation plug 7 and the second control 19 needle aviation plug 8 of box are controlled with the first dynamic lithium battery 18, STM32
Device 33, first motor driver 16, the second motor driver 17, third motor driver 23, the 4th motor driver 24 are electrically connected
It connects.
Claims (5)
1. a kind of back integration module of exoskeleton robot, which is characterized in that including being mounted on exoskeleton robot backboard (1)
On three good split type boxes of heat dissipation, split type box includes left power box (13), control box (12) and right power box
(11)；
The right power box (11) includes the right power box base (14) to be linked together by sliding slot and right power box cover
(19), the upper and lower of right power box base (14) is respectively fixedly connected with right power box band fixed ear upper end cover (15) and right power box band
Fixed ear lower cover (20) constitutes box body, and suspension has the first temperature sensor (39) in box, on the inside of right power box base (14) from
Top to bottm, which is fixedly connected sequentially, first motor driver (16), the second motor driver (17) and the first dynamic lithium battery
(18), first motor driver (16), the second motor driver (17) power supply line connect with the first dynamic lithium battery (18),
Right power box band fixed ear lower cover (20) is fixedly connected with right 2 needle aviation plug (5) of power box and the 4 needle aviation of right power box is inserted
Head (6), right 2 needle aviation plug (5) of power box, 4 needle aviation plug (6) of right power box are electrically connected with the first dynamic lithium battery (18)
It connects；
The left power box (13) includes the left power box base (21) to be linked together by sliding slot and left power box cover
(26), the upper and lower of left power box base (21) has been respectively fixedly connected with left power box band fixed ear upper end cover (22) and left power box
Band fixed ear lower cover (27) constitutes box body, and there is second temperature sensor (40) suspension in box, on the inside of left power box base (21)
Being fixedly connected sequentially from top to bottom has third motor driver (23), the 4th motor driver (24) and the second dynamic lithium battery
(25), third motor driver (23), the 4th motor driver (24) power supply line connect with the second dynamic lithium battery (25),
Left power box band fixed ear lower cover (27) is fixedly connected with left 4 needle aviation plug (9) of power box and the 2 needle aviation of left power box is inserted
Head (10), left 4 needle aviation plug (9) of power box and 2 needle aviation plug (10) of left power box with the second dynamic lithium battery (25)
Electrical connection；
Control box (12) includes the control box base (28) to be linked together by sliding slot and control box cover (30), control
The upper and lower of box base (28) has been respectively fixedly connected with control tape fixed ear upper end cover (29) and control tape fixed ear lower cover
(35) box body is constituted, there is third temperature sensor (41) suspension in box, be fixedly connected with relay on the inside of control box base (28)
(38), gyroscope (37), RS232 adapter (36), STM32 controller (33), voltage reduction module (34), the voltage reduction module
(34), RS232 adapter (36), gyroscope (37), LCD screen (31), third temperature sensor (41) with STM32 controller
(33) it is electrically connected, RS232 adapter (36) and first motor driver (16), the second motor driver (17), third motor drive
The control signal wire electrical connection of dynamic device (23), the 4th motor driver (24), voltage reduction module (34) and the first dynamic lithium battery
(18) it is electrically connected, LCD screen (31) is entrenched in the opening in control box cover (30) and by four on LCD fixed plate (32)
A stay bolt, which is held out against, to be fixed, and master switch (3) is fastened in control tape fixed ear upper end cover (29) and and relay
(38) it is electrically connected, relay (38) and the first dynamic lithium battery (18), the second dynamic lithium battery (25), STM32 controller (33)
Electrical connection；Right power box band fixed ear lower cover (20) is fixed with 19 needle aviation plug (7) of the first control box and the second control box
19 needle aviation plugs (8), the first control 19 needle aviation plug (7) of box and second control 19 needle aviation plug (8) of box with first
Dynamic lithium battery (18), STM32 controller (33), first motor driver (16), the second motor driver (17), third motor
Driver (23), the electrical connection of the 4th motor driver (24).
2. a kind of back integration module of exoskeleton robot according to claim 1, which is characterized in that the right power
The second radiator fan (4) is fixed on tape fixed ear upper end cover (15) to radiate.
3. a kind of back integration module of exoskeleton robot according to claim 1, which is characterized in that described first is dynamic
Power lithium battery (18) is bonded with right power box base (14) by high-intensitive sponge foam glue.
4. a kind of back integration module of exoskeleton robot according to claim 1, which is characterized in that the left power
The first radiator fan (2) is fixed on tape fixed ear upper end cover (22) to radiate.
5. a kind of back integration module of exoskeleton robot according to claim 1, which is characterized in that described second is dynamic
Power lithium battery (25) is bonded with left power box base (21) by high-intensitive sponge foam glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228909.5A CN109940585A (en) | 2019-03-25 | 2019-03-25 | A kind of back integration module of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228909.5A CN109940585A (en) | 2019-03-25 | 2019-03-25 | A kind of back integration module of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109940585A true CN109940585A (en) | 2019-06-28 |
Family
ID=67010767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910228909.5A Pending CN109940585A (en) | 2019-03-25 | 2019-03-25 | A kind of back integration module of exoskeleton robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
| DE102016121203A1 (en) * | 2016-11-07 | 2018-05-09 | Otto Bock Healthcare Gmbh | Device for supporting an arm |
| CN207915474U (en) * | 2018-03-08 | 2018-09-28 | 艾尔恩曼（深圳）科技有限公司 | A kind of multi-axis industrial robot's control device |
| WO2018209198A1 (en) * | 2017-05-11 | 2018-11-15 | Board Of Regents, The University Of Texas System | Powered orthosis with combined motor and gear technology |
| CN109202863A (en) * | 2017-07-04 | 2019-01-15 | 现代自动车株式会社 | Wearable muscle strength auxiliary device and its control method and system |
-
2019
- 2019-03-25 CN CN201910228909.5A patent/CN109940585A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| DE102016121203A1 (en) * | 2016-11-07 | 2018-05-09 | Otto Bock Healthcare Gmbh | Device for supporting an arm |
| CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
| WO2018209198A1 (en) * | 2017-05-11 | 2018-11-15 | Board Of Regents, The University Of Texas System | Powered orthosis with combined motor and gear technology |
| CN109202863A (en) * | 2017-07-04 | 2019-01-15 | 现代自动车株式会社 | Wearable muscle strength auxiliary device and its control method and system |
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Application publication date: 20190628 |