CN110096066A - A kind of power tactile regeneration ectoskeleton structure and unmanned plane during flying attitude control method - Google Patents
A kind of power tactile regeneration ectoskeleton structure and unmanned plane during flying attitude control method Download PDFInfo
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- CN110096066A CN110096066A CN201910315033.8A CN201910315033A CN110096066A CN 110096066 A CN110096066 A CN 110096066A CN 201910315033 A CN201910315033 A CN 201910315033A CN 110096066 A CN110096066 A CN 110096066A
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- upper arm
- forearm
- joint
- motor
- ectoskeleton
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a kind of power tactile regeneration ectoskeleton structure and unmanned plane during flying attitude control methods, specifically include that back link block；Shoulder joint mechanism: including shoulder protector, shoulder mounting plate, shoulder shaft part and revolving part etc.；Upper arm: including motor, upper arm mr fluid damper, upper arm adjustable plate and armlet；Exercising elbow joint mechanism: including elbow joint encoder, optoelectronic switch and bevel gear；Forearm structure is similar with upper arm；Wrist joints moving mechanism: including sequentially connected holding, rotary shaft, pliable pressure sensor and wrist support.It on tactile Design for Regeneration, is assisted using motor movement, establishes unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) and motor exports upper extremity exercise auxiliary force relationship.In structure design, needle movement presses corresponding pressure-strain piece to change output voltage when manipulator's upper limb is along (inverse), predicts structure motion trend, motor assist ectoskeleton movement, to control distal end unmanned plane during flying.
Description
Technical field
The present invention relates to wearable upper limb exoskeleton field of structural design more particularly to a kind of wearable upper limb ectoskeletons
It is controlled using power tactile regeneration techniques from end unmanned plane, and the method for controlling unmanned plane during flying posture.
Background technique
As wearable ectoskeleton is in the extensive use of numerous areas, tactile regeneration, wearable device and unmanned plane are flown
The research fields fusion such as row control, proposes that novel tactile formula shakes manipulation unmanned aerial vehicle (UAV) control.
Ectoskeleton technique functions are derived from nineteen sixty, are originally defined as a kind of active mechanical device of personification, by operator
It wears and increases mechanical performance.Wearable upper limb exoskeleton device is answered in various fields such as industry, military, traffic and medical treatment
With equally, in agricultural aviation field, introducing tactile wearable upper limb exoskeleton is then particularly important to shake manipulation unmanned plane.
With the development of ectoskeleton technology, specific gravity of the wearable device in market is applied is more and more important.
Human body ectoskeleton is also known as robotic exoskeleton, means the robot for covering side out of the human body, also referred to as " wearable machine
People ", exoskeleton robot technology are fusion sensing, control, information and algorithm, provide a kind of wearable mechanical structure for the mankind
Complex art.Current manipulation unmanned plane mainly passes through handheld remote control device, depends on vision unduly and realizes unmanned plane security control.
The design largely improves the distant manipulation system of unmanned plane using mr fluid damper, tactile regeneration and flexible material design
The research of system, unnecessary loss caused by reducing because of visual fatigue have stronger realistic meaning.Therefore tactile is wearable
Ectoskeleton, distant manipulation and agricultural aviation unmanned plane area research combine, and can provide technical support to expand other field.
There are the following problems for current existing upper limb ectoskeleton:
1, traditional upper limb ectoskeleton design is complicated too fat to move, and power supply and driving equipment are integrated in stage body using desk-top mechanism
Portion, so that mechanism is huge and reduces flexibility, the occasion having higher requirements to use space and precision, it is difficult to popularize and make
With.
2, traditional upper limb ectoskeleton design uses metal material, and the selection of motor and encoder has that weight is big, noise
Big disadvantage is easy to extraneous and generates signal interference, causes to be difficult to expect risk.
3, domestic exoskeleton mechanism involves great expense at present, and active equipment figure is huge, and general groups can not consume, based on kind
Kind reason, this kind of product popularity be not high.
Upper limb ectoskeleton is more used in rehabilitation medical field at present, for the combination with agricultural aviation unmanned plane field
It is applied using also needing further to study.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of tactile wearable upper limb exoskeleton knots
Structure.
Another object of the present invention is to overcome the deficiencies of the prior art and provide it is a kind of based on above structure for controlling
The method of unmanned plane during flying posture.
The purpose of the invention is achieved by the following technical solution:
A kind of power tactile regeneration ectoskeleton structure, the ectoskeleton structure mainly include back link block and symmetrically set
Shoulder joint mechanism, upper arm, exercising elbow joint mechanism, forearm and the wrist joints moving mechanism set.It is the wrist joints moving mechanism, preceding
Arm, exercising elbow joint mechanism, upper arm, shoulder joint mechanism and back link block are sequentially connected.The back link block wearing
In human body back, the shoulder joint mechanism, upper arm, exercising elbow joint mechanism, forearm and wrist joints moving mechanism are worn on respectively
Shoulder, upper arm, ancon, forearm and the wrist location of human body realize the motion attitude control of object by the rotation of each component.
Specifically, the shoulder joint mechanism mainly includes shoulder protector, shoulder protector mounting plate, shoulder protector axis, countershaft mounting plate, shoulder joint
Linking axes and shoulder joint flange.The shoulder protector is mounted on the bottom of shoulder protector mounting plate, and passes through shoulder protector mounting plate and shoulder protector axis
It is fixedly connected.The end of the shoulder protector axis is set in shoulder joint linking axes, is vertically arranged with shoulder joint linking axes.The shoulder joint
The both ends of linking axes are rotatably connected by bearing and countershaft mounting plate.The countershaft mounting plate is fixed on by shoulder joint flange
Upper arm.
Specifically, the upper arm mainly includes upper arm rotation mounting plate, armlet, upper arm adjustable plate, upper arm bevel gear, upper arm
Damper, upper arm motor linking axes, upper arm pressure-strain piece, upper arm foil gauge module and upper arm motor.The upper arm rotation
One end of mounting plate is connect with exercising elbow joint mechanism, the other end and upper arm adjustable plate nested encryptions.The upper arm adjustable plate
One end is embedded in upper arm rotation mounting plate, rotates the adjustable connection of mounting plate by screw and upper arm, and that realizes upper arm lengths can
It adjusts, the other end is connect with shoulder joint mechanism.The armlet is mounted on upper arm adjustable plate, and contacts with the fitting of human body upper arm.It is described
Upper arm motor rotates mounting plate with upper arm by mounting plate and is fixedly connected, and output end and upper arm motor linking axes are sequentially connected.
The other end of the upper arm motor linking axes is fixedly connected with upper arm bevel gear.The upper arm pressure-strain piece setting is bored in upper arm
The end face of gear.The upper arm foil gauge module is connect with upper arm motor linking axes；The upper arm damper is mounted on upper arm electricity
Chain spindle.
Specifically, the exercising elbow joint mechanism mainly includes elbow joint flange, elbow joint ring flange, elbow joint induction
Piece, elbow joint optoelectronic switch, first bevel gear, second bevel gear, elbow joint encoder and elbow joint encoder seat.It is described
Elbow joint flange is fixedly connected with upper arm, and the elbow joint ring flange is fixedly connected with forearm, and the elbow joint flange and elbow close
Ring flange coaxial arrangement is saved, upper arm and forearm is made to realize rotation connection by exercising elbow joint mechanism.The elbow joint sensing chip
It is mounted on forearm, the elbow joint optoelectronic switch is mounted on upper arm, the inspection by elbow joint optoelectronic switch to elbow joint sensing chip
Survey the limitation realized to the rotation between forearm and upper arm.The first bevel gear is mounted on elbow joint ring flange, passes with upper arm
Dynamic connection.The second bevel gear is mounted on one end of elbow joint encoder seat, is sequentially connected with upper arm, and and first bevel gear
It is symmetrical arranged.The elbow joint encoder is connect with second bevel gear.The other end of the elbow joint encoder seat is fixedly mounted
In upper arm.
Specifically, the forearm mainly includes that gear wheel, pinion gear, forearm pressure-strain piece, forearm encoder, forearm are answered
Become piece module, forearm damper, forearm motor, forearm adjustable plate and forearm connecting plate.The pinion gear is arranged in forearm tune
On the outside of the end for saving plate, the tip inside of forearm adjustable plate is arranged in the forearm encoder, and connect with pinion gear.Before described
Arm motor is fixed on forearm adjustable plate by mounting plate, and output shaft and gear wheel are sequentially connected.The gear wheel and pinion gear
Engagement.The forearm foil gauge module and forearm damper are installed in the output shaft of forearm motor.The forearm pressure-strain
Piece is mounted on the end position of gear wheel.One end of the forearm connecting plate is connect with exercising elbow joint mechanism, other end insertion
In forearm adjustable plate, and by screw and the adjustable connection of forearm adjustable plate, the adjustable of forearm is realized.
Specifically, the wrist joint mainly includes pressure sensor, holding, holds axis, chained block, the first encoder, the
Two encoders, wrist joint rotation fixed plate, front axle, rotary shaft, wrist joint optoelectronic switch and wrist joint sensing chip.The wrist
Joint rotation fixed plate is connect by rotary shaft with forearm, revolves wrist joint rotation fixed plate around rotary shaft under external force
Turn.The both ends of the front axle are connect by the both ends that bearing rotates fixed plate with wrist joint respectively.The second encoder setting
Wrist joint rotation fixed plate outside, and with preceding axis connection.One end of the chained block and preceding axis connection can turn around front axle
It is dynamic.First encoder is fixed on chained block.Described one end for holding axis is fixedly connected with holding, and the other end passes through chained block
It is connect afterwards with the first encoder.Described hold is arranged perpendicular to chained block.The pressure sensor is mounted on holding top position,
With human body thumb.The wrist joint sensing chip is mounted on wrist joint rotation fixed plate, the wrist joint optoelectronic switch peace
Mounted in forearm, realize that carpal rotational angle is limited to the detection of wrist joint sensing chip by wrist joint optoelectronic switch.
As a preferred solution of the present invention, it is (new to be all made of mr fluid damper for the upper arm damper and forearm damper
Type functional material: the mobility of existing liquid, and have the magnetism of solid magnetic material)；Guarantee provided when ectoskeleton rotation
Damping is variable, avoids structure because of mechanism collapse caused by vibration；Flexible damping change power is provided simultaneously, ensure that ectoskeleton movement
Safety.
As a preferred solution of the present invention, the upper arm and forearm are equipped with the outer cover for protecting internal part.
As a preferred solution of the present invention, the back link block includes that the Backpack type worked out of nylon material is set
It is standby, human body back is directly worn on using sleeve type, shoulder is connected by screw hole with shoulder connector.
The present invention, using motor movement supplementary mode, establishes unmanned plane safe flight grade in terms of tactile Design for Regeneration
(motor drives ectoskeleton to (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise auxiliary force relationship
Movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, then feeds back corresponding electric signal to electricity
Machine, motor reversal (spatial relation between unmanned plane and barrier is different, and the auxiliary force for feeding back to motor is strong and weak different),
Manipulator's Real Time Obstacle Avoiding is reminded, the flight attitude from end unmanned plane is changed, to realize the tactile regeneration of ectoskeleton.In ectoskeleton
Structure design aspect, pressure-strain piece inner shaft one end are connect with force pressure foil gauge, needle movement when manipulator's upper limb is along (inverse),
Pressure-strain piece inner shaft presses corresponding pressure-strain piece, and pressure-strain piece module output voltage changes, and single-chip microcontroller passes through signal
Acquisition knows that this pressure-strain piece is pressurized, and then predicts the movement tendency of ectoskeleton formation joint, the movement of motor assist ectoskeleton,
To control the flight attitude of distal end unmanned plane.
Another object of the present invention is achieved through the following technical solutions:
A kind of power tactile regeneration ectoskeleton structure unmanned plane during flying attitude control method, which mainly includes as follows
Step:
Step S1: in terms of UAV Flight Control, defining motor pattern, realizes that ectoskeleton arm motion and unmanned plane fly
Row posture synchronizes correspondence, presses the pliable pressure sensor at thumb, realizes the start-up and shut-down control of unmanned plane, guarantees the essence for shaking manipulation
True property and stability；
Step S2: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, wrist joint
Clockwise/anticlockwise rotation, press pressure foil gauge, pressure-strain piece module output voltage change, and then predict ectoskeleton wrist joint
Movement tendency, moved by motor assist ectoskeleton, to control the flight attitude of distal end unmanned plane；
Step S3: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, elbow joint
Movable device changes to up/down movement, pressing force compressive strain piece, pressure-strain piece module output voltage, and then predicts ectoskeleton
The movement tendency of axis joint, motor assist ectoskeleton movement, to control the flight attitude of distal end unmanned plane；
Step S4: when unmanned plane during flying, which is met, to be hindered, upper limb fortune is exported by establishing the distance between barrier and motor
Dynamic auxiliary power relationship, signal are transmitted to motor, and motor drives ectoskeleton arm motion, change the flight attitude from end unmanned plane,
To realize the tactile Regeneration control of ectoskeleton.
Specifically, using motor movement supplementary mode, establishing unmanned plane safe flight grade in terms of tactile Design for Regeneration
(motor drives ectoskeleton to (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise auxiliary force relationship
Movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, then feeds back corresponding electric signal to electricity
Machine, motor reversal (spatial relation between unmanned plane and barrier is different, and the auxiliary force for feeding back to motor is strong and weak different),
Manipulator's Real Time Obstacle Avoiding is reminded, the flight attitude from end unmanned plane is changed, to realize the tactile regeneration of ectoskeleton.
The present invention installs pliable pressure sensor by being defined to upper limb ectoskeleton motion conditions at thumb,
For controlling starting and stopping for unmanned plane；The movement of elbow joint mechanism, forearm and wrist joint mechanism respectively corresponds unmanned plane not
Same flight attitude.The concrete thought of structure design is: shoulder protector is played as the key position being connected with back connector
Stablize the effect of exoskeleton device；Shoulder protector is by armlet mounting plate, and slidably adjustment length, meets the need of different manipulator's wearings
It asks；Upper arm by being pivotally connected to bevel gear, is bored using structure design-adjustable, motor and mr fluid damper (flexible variable damping)
Gear engagement rotates synchronously, and encoder acquires movement angle and displacement data；Ancon is equipped with photoelectric limit switch, guarantees that elbow closes
The angle of section rotation meets human body ancon motion range, plays the role of safety operation；Forearm also uses structure design-adjustable,
Motor and mr fluid damper (flexible variable damping) engage synchronous drive wrist rotation by being pivotally connected to spur gear；Wrist is also
Photoelectric limit switch is installed, guarantees that the angle of wrist articulation meets human body wrist range of motion, plays safe behaviour
The effect of work, while wrist is designed using Three Degree Of Freedom, meets ergonomics.
The concrete thought of distant manipulation unmanned plane is: ectoskeleton movement is inputted as signal, the strain of arm motion press pressure
Piece, acquisition signal control motor correspondingly rotate (passive), and ectoskeleton is driven to do corresponding rotation, fly to control unmanned plane
Row realizes the unification of upper extremity exercise and ectoskeleton movement.Tactile revived structure design aspect, by establishing unmanned plane safe flight
Grade and motor export upper extremity exercise auxiliary force relationship, when unmanned plane during flying meets barrier, pass through the corresponding relation of foundation, motor rotation
(active) drives manipulator's arm motion, realizes tactile regenerative UAV Flight Control.
Process and principle of the invention is: the invention discloses the design of tactile wearable upper limb exoskeleton structure and its controls
Method processed, using upper limb ectoskeleton exercise data as the input quantity of distal end UAV Flight Control, by believing upper extremity exercise
Number acquisition, analysis processing, control from end unmanned plane.In terms of tactile Design for Regeneration, using motor movement supplementary mode, pass through
It establishes unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise is auxiliary
Power-assisted relationship (motor drives ectoskeleton movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, so
After feed back corresponding electric signal to motor, (spatial relation between unmanned plane and barrier is different, feeds back to for motor reversal
The auxiliary force of motor is strong and weak different), manipulator's Real Time Obstacle Avoiding is reminded, the flight attitude from end unmanned plane is changed, to realize outer
The tactile of bone regenerates.The design provides more natural, more easily unmanned aerial vehicle (UAV) control, have manipulate it is easy, easy to operate, simultaneously
It can guarantee the flight stability and safety of unmanned plane, moreover it is possible to auxiliary force be provided, user is helped to restore the feel of upper limb power, magnetic fluid
Damper ensure that the ectoskeleton structure safety, smooth motion, it is most important that provide a kind of tactile of unmanned plane risk
Regeneration techniques.
Compared with prior art, it also have the advantage that
(1) power tactile provided by the present invention regeneration ectoskeleton structure and its control method move upper limb ectoskeleton and nothing
Man-machine flight attitude synchronizes correspondence, realizes ectoskeleton remotely distant manipulation unmanned plane with this, reduces the fatigue strength of manipulator.
(2) power tactile provided by the present invention regenerates ectoskeleton structure and its control method for mr fluid damper and flexibility
Material introduces, and more embodies target-safety first of structure design.Damp it is adjustable ensure that ectoskeleton movement encountering not
Stable revolving speed can be kept under same power effect, is avoided because quickly movement leads to the situation of manipulator's injury；Flexible material,
So that ectoskeleton structure is more bonded manipulator's upper limb, it is conducive to manipulator and dresses ectoskeleton, promote the stability for shaking manipulation.
(3) motor that power tactile regeneration ectoskeleton structure and its control method provided by the present invention use is in different situations
Under play different role；When the distant manipulation unmanned plane of ectoskeleton, the movement of motor assist ectoskeleton alleviates the feeling of fatigue of manipulator；?
Tactile revived structure design aspect, by establishing the unmanned plane safe flight grade (spatial position between unmanned plane and barrier
Relationship) and motor output upper extremity exercise auxiliary force relationship (motor drives ectoskeleton movement), signal is transmitted to motor, motor reversal
Ectoskeleton arm motion is driven, manipulator is reminded to change its flight attitude, realizes tactile regenerative UAV Flight Control.
(4) power tactile regeneration ectoskeleton structure and its control method provided by the present invention are applied to agricultural aviation unmanned plane
Fly control field.It is in the past more that upper limb exoskeleton device is used for medical rehabilitation power-assisted recovery system, with development in science and technology, by dermoskeleton
Bone and unmanned plane field combine, and carry out operation using the distant manipulation unmanned plane of upper limb ectoskeleton, have stronger realistic meaning.
(5) power tactile provided by the present invention regenerates ectoskeleton structure and its control method for tactile Design for Regeneration, upper limb
Exoskeleton device and unmanned plane shake the combination of manipulation field, break through the limitation of traditional unmanned plane visual perception control mode, pass through
It establishes unmanned plane safe flight grade and motor exports upper extremity exercise auxiliary force relationship, realize that tactile regeneration unmanned plane shakes manipulation.
(6) power tactile regeneration ectoskeleton structure and its control method provided by the present invention are maximized in line with use scope
Purpose can be used as a kind of wearable upper limb healing device use, but also as the device of distant manipulation unmanned plane, have relatively strong
Realistic meaning.
(7) power tactile provided by the present invention regeneration ectoskeleton structure and its control method are that a nested structure is simple, function
Tactile regeneration upper limb exoskeleton device that is complete, easy to maintain and using.Wrist uses gear drive, and shoulder meets freedom of motion
Degree, increases the accuracy and motion range of movement, has stronger generalization and practicability.
(8) power tactile regeneration ectoskeleton structure and its control method provided by the present invention, in terms of tactile Design for Regeneration,
Using motor movement supplementary mode, unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) is established
With motor output upper extremity exercise auxiliary force relationship (motor drives ectoskeleton movement).When unmanned plane during flying meets barrier, space bit confidence
It is number converted to become electric signal, corresponding electric signal is then fed back to motor, the motor reversal (sky between unmanned plane and barrier
Between positional relationship it is different, the auxiliary force for feeding back to motor is strong and weak different), remind manipulator's Real Time Obstacle Avoiding, change from end unmanned plane
Flight attitude, thus realize ectoskeleton tactile regeneration.
Detailed description of the invention
Fig. 1 is the overall structure signal of power tactile regeneration ectoskeleton structure provided by the present invention removed after the shell of two sides
Figure.
Fig. 2 is the overall perspective view of power tactile regeneration ectoskeleton structure provided by the present invention removed after the shell of left side.
Fig. 3 is the one-sided configuration schematic diagram of power tactile regeneration ectoskeleton structure provided by the present invention.
Fig. 4 is the structural schematic diagram of wrist joints moving mechanism and forearm provided by the present invention.
Fig. 5 is the right view of wrist joints moving mechanism and forearm provided by the present invention.
Fig. 6 is the perspective view of wrist joints moving mechanism and forearm provided by the present invention.
Fig. 7 is the main view of wrist joints moving mechanism and forearm provided by the present invention.
Fig. 8 is the side view of exercising elbow joint mechanism provided by the present invention, upper arm and shoulder joint mechanism.
Fig. 9 is the perspective view of exercising elbow joint mechanism provided by the present invention, upper arm and shoulder joint mechanism.
Figure 10 is the structural schematic diagram of exercising elbow joint mechanism provided by the present invention, upper arm and shoulder joint mechanism.
Figure 11 is the structure and scheme of installation of foil gauge provided by the present invention.
Figure 12 is the distant manipulation and tactile implementation flow chart of power tactile regeneration ectoskeleton structure provided by the present invention.
Figure 13 is power tactile regeneration ectoskeleton structure provided by the present invention for unmanned plane during flying attitude control method stream
Cheng Tu.
Figure 14 is foil gauge module, foil gauge and axis scheme of installation provided by the present invention.
Label declaration in above-mentioned attached drawing:
1- pressure sensor, 2- are held, 3- wrist joint bearing block, and 4- holds axis, 5- chained block, and 6- wrist joint hollow shaft is compiled
Code device, 7- rotation fixed plate, 8- wrist joint bearing cushion block, 9- front axle, 10- wrist joint deep groove ball bearing, 11- rotary shaft, 12- are small
Gear, 13- gear wheel, 14- wrist joint optoelectronic switch, 15- wrist joint sensing chip, the bis- trimming compact flanges of 16-6802,17-
Forearm pressure-strain piece, 18- forearm hollow shaft encoder, 19- forearm foil gauge connecting shaft, 20- forearm foil gauge module, before 21-
Arm damped mounting panel, 22- forearm mr fluid damper, 23- foil gauge inner shaft, 24- forearm motor mounting plate, 25- forearm outer cover,
26- forearm DC speed-reducing, 27- forearm adjustable plate, 28- forearm connecting plate, 6806 pairs of trimming compact methods of 29- standard type
Orchid, 30- ring flange, 31- elbow joint sensing chip, 32- elbow joint optoelectronic switch, 33- bevel gear, 34- elbow joint pressure-strain piece,
35- encoder linking axes, 36- elbow joint hollow shaft encoder, 37- encoder seat, 38- elbow joint foil gauge connecting shaft, 39- elbow close
Economize on electricity chain spindle, 40- elbow joint foil gauge module, 41- upper arm rotate mounting plate, 42- armlet, 43- upper arm adjustable plate, 44-
Upper arm mr fluid damper, 45- upper arm damped mounting panel, 46- upper arm motor linking axes, 47- upper arm motor mounting plate, on 48-
Arm DC speed-reducing, 49- upper arm outer cover, 608 round flange of 50- standard type, 51- countershaft mounting plate, 52- armlet axis, 53- shoulder joint
Bearings cushion block, 54- linking axes, 55- shoulder joint deep groove ball bearing, 56- shoulder joint bearing block, 57- armlet mounting plate, 58- shield
Shoulder.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
In conjunction with shown in Fig. 1 to Figure 14, present embodiment discloses a kind of power sense of touch regeneration ectoskeleton structure and unmanned plane during flyings
Attitude control method, as shown in Figure 1, include back link block, shoulder joint mechanism, upper arm, exercising elbow joint mechanism, forearm,
And wrist joints moving mechanism, it is worn on back, shoulder, upper arm, ancon, forearm and the wrist of human body respectively.
Wrist joint includes pliable pressure sensor 1, holds 2, wrist joint bearing block 3, holds axis 4, chained block 5, wrist joint
Hollow shaft encoder 6, rotation fixed plate 7, wrist joint bearing cushion block 8, front axle 9, wrist joint deep groove ball bearing 10, rotary shaft 11,
15,6802 pairs of pinion gear 12, gear wheel 13, wrist joint optoelectronic switch 14, wrist joint sensing chip trimming compact flanges 16.
Forearm includes forearm pressure-strain piece 17, forearm hollow shaft encoder 18, forearm foil gauge connecting shaft 19, forearm strain
It is piece module 20, forearm damped mounting panel 21, forearm mr fluid damper 22, foil gauge inner shaft 23, forearm motor mounting plate 24, preceding
Arm outer cover 25, forearm DC speed-reducing 26, forearm adjustable plate 27 and forearm connecting plate 28.
Elbow joint includes 6806 pairs of trimming compact flanges 29 of standard type, ring flange 30, elbow joint sensing chip 31, elbow joint
Optoelectronic switch 32, elbow joint pressure-strain piece 34, encoder linking axes 35, elbow joint hollow shaft encoder 36, is compiled at bevel gear 33
Code device seat 37, elbow joint foil gauge connecting shaft 38, elbow joint motor linking axes 39 and elbow joint foil gauge module 40.
Upper arm includes upper arm rotation mounting plate 41, armlet 42, upper arm adjustable plate 43, upper arm mr fluid damper 44, upper arm
Damped mounting panel 45, upper arm motor linking axes 46, upper arm motor mounting plate 47, upper arm DC speed-reducing 48 and upper arm outer cover
49。
Shoulder joint mechanism includes 608 round flange 50 of standard type, countershaft mounting plate 51, armlet axis 52, shoulder joint bearing cushion block
53, linking axes 54, shoulder joint shoulder joint deep groove ball bearing 55, shoulder joint bearing block 56, armlet mounting plate 57 and shoulder protector 58.
The Backpack type equipment that back link block is worked out including the use of nylon material is directly worn on using sleeve type
Human body back, shoulder are connected by screw hole with shoulder connector.
The wrist joint includes pliable pressure sensor 1, holds 2, wrist joint bearing block 3, holds axis 4, chained block 5, wrist
Joint hollow shaft encoder 6, rotation fixed plate 7, wrist joint bearing cushion block 8, front axle 9, wrist joint deep groove ball bearing 10, rotary shaft
11,15,6802 pairs of pinion gear 12, gear wheel 13, wrist joint optoelectronic switch 14, wrist joint sensing chip trimming compact flanges 16.
Pliable pressure sensor 1, which is installed on, to be held at thumb, thumb press pressure sensor 1, and pressure generates variation, and transmission signal is extremely
Processor control unmanned plane starts and stops.As independent individual, hold 2 and be fixed on chained block 5, by hold with a firm grip it make it is whole
A upper limb ectoskeleton is bonded closely with arm, is more conducive to the fitting of manipulator and ectoskeleton arm, it is comfortable to bring manipulator
Manipulation unmanned plane experience.
The forearm includes forearm pressure-strain piece 17, forearm hollow shaft encoder 18, forearm foil gauge connecting shaft 19, forearm
Foil gauge module 20, forearm damped mounting panel 21, forearm mr fluid damper 22, foil gauge inner shaft 23, forearm motor mounting plate
24, forearm outer cover 25, forearm DC speed-reducing 26, forearm adjustable plate 27 and forearm connecting plate 28.Forearm adjustable plate 27 is with before
Arm connecting plate 28 forms adjustable railroad, meets the brachium demand that different manipulators dress the device, and one end is connected by forearm
Fishplate bar 28 is connected with elbow joint, and one end passes through double trimming compact flanges 16 and connects with wrist joint.Preceding arm mechanism is transported using motor
Dynamic auxiliary mode establishes corresponding relationship, and realization shakes manipulation unmanned plane and tactile regeneration, with generalization and turns to purpose extensively,
More it is applied to unmanned plane field.
The elbow joint includes 6806 pairs of trimming compact flanges 29 of standard type, ring flange 30, elbow joint sensing chip 31, elbow
Joint optoelectronic switch 32, bevel gear 33, elbow joint pressure-strain piece 34, encoder linking axes 35, elbow joint hollow shaft encoder
36, encoder seat 37, elbow joint foil gauge connecting shaft 38, elbow joint motor linking axes 39 and elbow joint foil gauge module 40.Ancon
One end rotates mounting plate 41 by upper arm and connect with upper arm, and one end is connect by forearm connecting plate 28 with forearm, ensure that elbow closes
It is steady to save operational security.Ancon is equipped with elbow joint optoelectronic switch 32 and elbow joint sensing chip 31, prevents the ancon angle of operation to be more than
Human body ancon motion range, plays the role of safeguard protection.In outer skeletal structure design aspect, pressure-strain piece inner shaft one end with
The connection of pressure-strain piece, needle movement when manipulator's upper limb is along (inverse), pressure-strain piece inner shaft press corresponding pressure-strain piece, pressure
Stress-strain piece module output voltage changes, and single-chip microcontroller knows that this pressure-strain piece is pressurized by signal acquisition, and then predicts dermoskeleton
The movement tendency of bone formation joint, motor assist ectoskeleton movement, to control the flight attitude of distal end unmanned plane.Tactile again
Raw design aspect establishes the unmanned plane safe flight grade (sky between unmanned plane and barrier using motor movement supplementary mode
Between positional relationship) with motor output upper extremity exercise auxiliary force relationship (motor drive ectoskeleton movement).When unmanned plane during flying meets barrier,
Spatial position signal is converted to become electric signal, then feeds back corresponding electric signal to motor, motor reversal (unmanned plane and obstacle
Spatial relation between object is different, and the auxiliary force for feeding back to motor is strong and weak different), manipulator's Real Time Obstacle Avoiding is reminded, is changed
From the flight attitude of end unmanned plane, to realize the tactile regeneration of ectoskeleton.
The upper arm include upper arm rotation mounting plate 41, armlet 42, upper arm adjustable plate 43, upper arm mr fluid damper 44,
Outside upper arm damped mounting panel 45, upper arm motor linking axes 46, upper arm motor mounting plate 47, upper arm DC speed-reducing 48 and upper arm
Cover 49.Upper arm adjustable plate 43 and upper arm rotation mounting plate 41 form adjustable railroad, meet the needs of different user uses, adopt
It is connected with nut-screw hole, it serves as upper arm mechanism body, meets scalability demand, and easily buy, and cost performance is high.
The shoulder joint mechanism includes 608 round flange 50 of standard type, countershaft mounting plate 51, armlet axis 52, shoulder joint bearings
Cushion block 53, linking axes 54, shoulder joint shoulder joint deep groove ball bearing 55, shoulder joint bearing block 56, armlet mounting plate 57 and shoulder protector 58.
Shoulder joint shoulder joint deep groove ball bearing 55 is housed, shoulder joint bearing cushion block 53 is respectively placed in linking axes 54 on shoulder joint bearing block 56
Both ends, be easily installed.Shoulder protector 58 uses circular-arc-shaped design, more fitting shoulders of human body, meets ergonomics.Shoulder structure
The position the most complicated as freedom degree composition, ectoskeleton are the mechanism interference avoided between wrist motion and ancon movement, together
When also for the interference avoided between motor input signal and encoder output, reduce the interstructural friction of ectoskeleton,
Bearing is added in shoulder, wrist and elbow joint.
The Backpack type equipment that the back link block is worked out including the use of nylon material is directly worn using sleeve type
It is worn over human body back, shoulder is connected by screw hole with shoulder connector.
The control schematic diagram of a kind of power sense of touch regeneration ectoskeleton structure and unmanned plane during flying attitude control method, packet
Include following steps:
Step 1: in structure design, using design-adjustable, meet different manipulators and dress the exoskeleton device, introduce
Mr fluid damper (new function material: the mobility of existing liquid, and have the magnetism of solid magnetic material)；Guarantee ectoskeleton
Provided damping is variable when rotation, avoids structure because of mechanism collapse caused by vibration；Flexible damping change power is provided simultaneously, is guaranteed
The safety of ectoskeleton movement, further ensures the safety of ectoskeleton movement, improves the accuracy of distant manipulation.
Step 2: in terms of UAV Flight Control, by defining motor pattern, ectoskeleton arm motion and nobody are realized
Machine flight attitude synchronizes correspondence, presses the pliable pressure sensor at thumb, realizes the start-up and shut-down control of unmanned plane, and manipulation is shaken in guarantee
Accuracy and stability.
Step 3: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, manipulator
Wrist is rotated along (inverse) hour hands, press pressure foil gauge, and pressure-strain piece module output voltage changes, and then predicts ectoskeleton wrist
The movement tendency in joint, motor assist ectoskeleton move (passive), control the flight attitude of distal end unmanned plane.
Step 4: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, manipulator
Axle portion changes to upper (lower) movement, press pressure foil gauge, pressure-strain piece module output voltage, and then predicts that ectoskeleton axis closes
The movement tendency of section, motor assist ectoskeleton move (passive), control the flight attitude of distal end unmanned plane.
Step 5: in tactile revived structure design aspect, when unmanned plane during flying meets barrier, by the relationship of foundation, signal is passed
Motor is transported to, motor drives ectoskeleton arm motion, changes the flight attitude from end unmanned plane, realizes the tactile of ectoskeleton again
It is raw.
It is corresponding to design a kind of same upper extremity exercise according to human upper limb locomotion track for the design of ectoskeleton in step 1
Ectoskeleton structure.Meanwhile the application of tactile Design for Regeneration, mr fluid damper and flexible material is introduced, break through traditional ectoskeleton
The design of structure purely mechanicization promotes ectoskeleton working efficiency.
Ectoskeleton arm motion correspondence synchronous with unmanned plane during flying posture is realized in step 2.Firstly, being installed at holding soft
Property pressure sensor, by press it realize it is distant manipulation unmanned plane start and stop；Wrist joint and ancon install pressure-strain piece, hand
Arm movement pressing foil gauge, signal is transmitted to distal end unmanned plane, realizes ectoskeleton arm motion and unmanned plane during flying appearance with this
State synchronizes correspondence.It is constituted at the shoulder node with complicated movement in power, it is moved without measuring and defining, meet dermoskeleton
The design requirement of bone shoulder；It analyzes and compares by many experiments, determine the best ectoskeleton arm of distant manipulation unmanned plane
Movement.
Motor provides the implementation of auxiliary force (wrist) in step 3.In structure design, motor is outer as auxiliary
Skeleton motion provides power-assisted；On tactile Design for Regeneration, motor active movement drives the operating of ectoskeleton arm, realizes that tactile is distant
Manipulate unmanned plane.Size setting for exoskeleton hand arm strength needed for unmanned plane starting, stopping and change of flight posture, ensure that
The stability and safety of unmanned plane during flying；Unmanned plane start and stop can be realized by pliable pressure sensor at pressing holding, pass through
Multiple analysis of experiments and comparison are crossed, determines the best model changed from ectoskeleton wrist and ancon power needed for the unmanned plane during flying posture of end
Enclose, realize unmanned plane from start to landing.Meanwhile photoelectric limit switch being installed in wrist position, guarantee wrist spin safe fortune
It is dynamic.
Motor provides the implementation of auxiliary force (ancon) in step 4.As connection upper arm and forearm key position,
The design of ancon equally uses motor assist and tactile to regenerate to realize distant manipulation, to guarantee that ancon sports safety is steady, at it
Ancon installs photoelectric limit switch.
The design of tactile revived structure in step 5.As the another core concept of ectoskeleton control, the structure is using electricity
Machine moves supplementary mode, establishes unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) and motor
Export upper extremity exercise auxiliary force relationship (motor drives ectoskeleton movement).When unmanned plane during flying meets barrier, spatial position signal is through turning
It changes into as electric signal, then feeds back corresponding electric signal to motor, the motor reversal (spatial position between unmanned plane and barrier
Relationship is different, and the auxiliary force for feeding back to motor is strong and weak different), manipulator's Real Time Obstacle Avoiding is reminded, the flight from end unmanned plane is changed
Posture, to realize the tactile regeneration of ectoskeleton.
Embodiment 2:
Present embodiment discloses a kind of power sense of touch regeneration ectoskeleton structure and unmanned plane during flying attitude control methods, to solve
Problem is proposed in above-mentioned background technique.By being defined to ectoskeleton ancon, forearm and Wrist-sport, acquisition signal is transmitted to
From end unmanned plane, long-range distant manipulation is realized.The exoskeleton mechanism is in terms of tactile Design for Regeneration, using motor movement auxiliary square
Formula, establishes unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) and motor exports upper extremity exercise
Auxiliary force relationship (motor drives ectoskeleton movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal,
Then corresponding electric signal is fed back to motor, and (spatial relation between unmanned plane and barrier is different, feedback for motor reversal
Auxiliary force to motor is strong and weak different), manipulator's Real Time Obstacle Avoiding is reminded, changes the flight attitude from end unmanned plane, to realize
The tactile of ectoskeleton regenerates.In terms of safe design, mr fluid damper is added, realizes the variation of flexible damping, more guarantees
The safety and stability of ectoskeleton movement.Meanwhile the introducing of flexible material, so that exoskeleton device more sticks on skin, more
Meet ergonomics.
To achieve the above object, the present invention adopts the following technical scheme: a kind of power sense of touch regeneration ectoskeleton structure and nobody
Machine flight attitude control method, including back link block, shoulder joint mechanism, upper arm, exercising elbow joint mechanism, forearm and
Wrist joints moving mechanism is worn on back, shoulder, upper arm, ancon, forearm and the wrist of human body respectively.Each joint is successively set
Set, the connecting plate and shoulder joint connecting plate on elbow joint are setting up and down, wrist joint connector and with set before and after elbow joint connecting plate
It sets.It is designed using both arms, increases the stability and safety of ectoskeleton structure, provide more guarantees for distant manipulation unmanned plane.
The wrist joint includes pliable pressure sensor 1, holds 2, wrist joint bearing block 3, holds axis 4, chained block 5, wrist
Joint hollow shaft encoder 6, rotation fixed plate 7, wrist joint bearing cushion block 8, front axle 9, wrist joint deep groove ball bearing 10, rotary shaft
11,15,6802 pairs of pinion gear 12, gear wheel 13, wrist joint optoelectronic switch 14, wrist joint sensing chip trimming compact flanges 16.
Pliable pressure sensor 1, which is installed on, to be held at thumb, thumb press pressure sensor 1, and pressure generates variation, and transmission signal is extremely
Processor control unmanned plane starts and stops；It holds the connection of 4 one end of axis and holds 2, one end connects wrist joint hollow shaft encoder
6, wrist joint bearing block 3 is installed in the both sides of rotation fixed plate 7 and surveys, and front axle 9 is closed by wrist joint deep groove ball bearing 10 and wrist
It saves hollow shaft encoder 6 to connect, pinion gear 12 is fixed on centre, gear wheel 13 by rotary shaft 11 and double trimming compact flanges 16
With 12 engagement rotation of pinion gear；Meanwhile wrist is equipped with wrist joint optoelectronic switch 14 and wrist joint sensing chip 15, prevents wrist from rotating
Angle is more than human body elbow wrist motion range, plays the role of safeguard protection.As independent individual, holds 2 and be fixed on chained block 5
On, by holding with a firm grip, it is bonded entire upper limb ectoskeleton closely with arm, is more conducive to the patch of manipulator and ectoskeleton arm
It closes, brings manipulator and comfortably manipulate unmanned plane experience.
The forearm includes forearm pressure-strain piece 17, forearm hollow shaft encoder 18, forearm foil gauge connecting shaft 19, forearm
Foil gauge module 20, forearm damped mounting panel 21, forearm mr fluid damper 22, foil gauge inner shaft 23, forearm motor mounting plate
24, forearm outer cover 25, forearm DC speed-reducing 26, forearm adjustable plate 27 and forearm connecting plate 28.Forearm design is set with upper arm
It counts similar, the brachium demand of different manipulators need to be met, forearm adjustable plate 27 and forearm connecting plate 28 form adjustable railroad,
One end is connected by forearm connecting plate 28 with elbow joint, and one end passes through double trimming compact flanges 16 and connects with wrist joint.Forearm
DC speed-reducing 26 is connected with forearm mr fluid damper 22 by foil gauge inner shaft 23, forearm mr fluid damper 22
It is introduced as ectoskeleton movement and increases safety guarantee, improve sport efficiency；Motor mounting plate 24 and forearm damped mounting panel 21
It is mounted side by side on forearm adjustable plate 27, avoiding forearm DC speed-reducing 26 and forearm magnetic fluid resistance during humeral movement
Buddhist nun's device 22, which is installed, unstable brings unnecessary loss and error.Preceding arm mechanism also uses motor movement supplementary mode, establishes phase
The relationship answered, realization shake manipulation unmanned plane and tactile regeneration, with generalization and turn to purpose extensively, are more applied to unmanned plane
Field.
The elbow joint includes 6806 pairs of trimming compact flanges 29 of standard type, ring flange 30, elbow joint sensing chip 31, elbow
Joint optoelectronic switch 32, bevel gear 33, elbow joint pressure-strain piece 34, encoder linking axes 35, elbow joint hollow shaft encoder
36, encoder seat 37, elbow joint foil gauge connecting shaft 38, elbow joint motor linking axes 39 and elbow joint foil gauge module 40.Ancon
Structure is a disc structure, and one end rotates mounting plate 41 by upper arm and connect with upper arm, and one end is by forearm connecting plate 28 with before
Arm connection, is equipped with 6806 pairs of trimming compact flanges 29 of standard type and ring flange 30, while connecting plate is all by adding above
Thickness processing, ensure that elbow joint operational security is steady.Three engagements of bevel gear 33 rotate synchronously, elbow joint hollow shaft encoder 36
Connected by encoder linking axes linking axes 35 with bevel gear, be spaced an encoder seat 37, ancon rotation obtain rotational angle and
Displacement data；Elbow joint pressure-strain piece 34 is pasted on 39 head both sides (see Fig. 9) of elbow joint motor linking axes, motor output shaft
On be cased with specially designed axis 39, respectively there are two card slots for both sides, are used for clamping foil gauge module.Meanwhile ancon is also equipped with elbow pass
Optoelectronic switch 32 and elbow joint sensing chip 31 are saved, preventing ancon angle of operation is more than human body ancon motion range, plays safe guarantor
The effect of shield.Structure design aspect establishes unmanned plane safe flight grade using motor movement (actively and passively) supplementary mode
(the distance between unmanned plane and barrier) and motor export upper extremity exercise auxiliary force relationship, and manipulation unmanned plane and tactile are shaken in realization
Regeneration.
The upper arm include upper arm rotation mounting plate 41, armlet 42, upper arm adjustable plate 43, upper arm mr fluid damper 44,
Outside upper arm damped mounting panel 45, upper arm motor linking axes 46, upper arm motor mounting plate 47, upper arm DC speed-reducing 48 and upper arm
Cover 49.Upper arm adjustable plate 43 and upper arm rotation mounting plate 41 form adjustable railroad, meet the needs of different user uses, adopt
It is connected with nut-screw hole, it serves as upper arm mechanism body, meets scalability demand, and easily buy, and cost performance is high；Upper arm tune
Section 43 outer end of plate is connected with armlet, and nylon braided strap winding is connected in upper arm with armlet, guarantees upper arm smooth motion.Upper arm direct current subtracts
Speed motor 48 is connected with upper arm mr fluid damper 44 by upper arm motor linking axes 46, and upper arm mr fluid damper 44 draws
Enter and increase safety guarantee for ectoskeleton movement, improves sport efficiency；Motor mounting plate 47 and upper arm damped mounting panel 45 are simultaneously
Row is installed on rotation mounting plate 41, avoids upper arm DC speed-reducing 48 and the damping of upper arm magnetic fluid during humeral movement
Device 44, which is installed, unstable brings unnecessary loss and error.
The shoulder joint mechanism includes 608 round flange 50 of standard type, countershaft mounting plate 51, armlet axis 52, shoulder joint bearings
Cushion block 53, linking axes 54, shoulder joint shoulder joint deep groove ball bearing 55, shoulder joint bearing block 56, armlet mounting plate 57 and shoulder protector 58.
Shoulder joint shoulder joint deep groove ball bearing 55 is housed, shoulder joint bearing cushion block 53 is respectively placed in linking axes 54 on shoulder joint bearing block 56
Both ends, be easily installed.Shoulder protector 58 is bonded armlet mounting plate 57, by adjusting the position of shoulder protector 58, it can be achieved that different manipulators
Exoskeleton mechanism is dressed, shoulder protector 58 uses circular-arc-shaped design, more fitting shoulders of human body, meets ergonomics.Armlet axis 52
One end connect armlet mounting plate 57, it can be achieved that shoulder up and down motion；The other end is connected with countershaft mounting plate 51, realizes shoulder
Rotary motion, round flange 50 are connected by axis and countershaft mounting plate 51, form shoulder structure, complete the movement of ectoskeleton shoulder.
Shoulder structure forms position the most complicated as freedom degree, to avoid structure from interfering, reduces friction, bearing is added.
The Backpack type equipment that the back link block is worked out including the use of nylon material is directly worn using sleeve type
It is worn over human body back, shoulder is connected by screw hole with shoulder connector.
By being defined to upper limb ectoskeleton motion conditions, pliable pressure sensor is installed at thumb, for controlling
Unmanned plane processed starts and stops；The movement of elbow joint mechanism, forearm and wrist joint mechanism respectively correspond unmanned plane it is different fly
Row posture.The concrete thought of structure design is: shoulder protector plays outside stablizing as the key position being connected with back connector
The effect of bone device；Shoulder protector is by armlet mounting plate, and slidably adjustment length, meets the needs of different manipulators；Upper arm is adopted
With design-adjustable, motor and magnetic damper (flexible variable damping) are rotated synchronously by being pivotally connected to bevel gear, bevel gear engagement,
Encoder acquires movement angle and displacement data；Ancon is equipped with photoelectric limit switch, guarantees that the angle of elbow joint rotation meets
Human body ancon motion range, plays the role of safety operation；Forearm also uses design-adjustable, and motor and magnetic damper are (flexible
Variable damping) by being pivotally connected to spur gear, engage synchronous drive wrist rotation；Wrist is also equipped with photoelectric limit switch, guarantees
The angle of wrist articulation meets human body wrist range of motion, plays the role of safety operation, while wrist uses three
Freedom degree design, meets ergonomics.
The concrete thought of distant manipulation unmanned plane is: ectoskeleton movement is inputted as signal, the strain of arm motion press pressure
Piece, acquisition signal control motor correspondingly rotate (passive), and upper limb ectoskeleton is driven accordingly to rotate, and fly to control unmanned plane
Row realizes the unification of upper extremity exercise and ectoskeleton movement.In terms of tactile Design for Regeneration, using motor movement supplementary mode, build
Vertical unmanned plane safe flight grade (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise auxiliary
Power relationship (motor drives ectoskeleton movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, then
Corresponding electric signal is fed back to motor, and (spatial relation between unmanned plane and barrier is different, feeds back to electricity for motor reversal
The auxiliary force of machine is strong and weak different), manipulator's Real Time Obstacle Avoiding is reminded, changes the flight attitude from end unmanned plane, to realize dermoskeleton
The tactile of bone regenerates.
Annotation:
Motor passive movement: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece,
Needle movement when manipulator's upper limb is along (inverse), pressure-strain piece inner shaft press corresponding pressure-strain piece, and pressure-strain piece module is defeated
Voltage changes out, and single-chip microcontroller understands this foil gauge by signal acquisition and is pressurized, and then predicts that the movement of ectoskeleton formation joint becomes
Gesture, motor assist ectoskeleton movement, to control the flight attitude of distal end unmanned plane.
Motor active movement: it in terms of tactile Design for Regeneration, using motor movement supplementary mode, establishes unmanned plane and flies safely
(motor drives for row grade (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise auxiliary force relationship
Ectoskeleton movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, then feeds back corresponding telecommunications
Number to motor, (spatial relation between unmanned plane and barrier is different, and the auxiliary force for feeding back to motor is strong and weak for motor reversal
It is different), manipulator's Real Time Obstacle Avoiding is reminded, is changed from end unmanned plane during flying posture, to realize the Regeneration control of ectoskeleton tactile.
A kind of control system schematic diagram such as Figure 12 of the wearable ectoskeleton structure of tactile, including the following steps:
Step 1: in tactile regeneration ectoskeleton structure design, using structure length design-adjustable, meet different manipulations
Person dresses the exoskeleton device, introduces mr fluid damper, further ensures the safety of ectoskeleton movement, improves distant behaviour
The accuracy of control.
Step 2: in terms of UAV Flight Control, by defining motor pattern, ectoskeleton arm motion and nobody are realized
Machine flight attitude synchronizes correspondence, presses the pliable pressure sensor at thumb, realizes the start-up and shut-down control of unmanned plane, and manipulation is shaken in guarantee
Accuracy and stability.
Step 3: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, manipulator
Wrist is rotated along (inverse) hour hands, press pressure foil gauge, and pressure-strain piece module output voltage changes, and then predicts ectoskeleton wrist
The movement tendency in joint, motor assist ectoskeleton move (passive), control the flight attitude of distal end unmanned plane.
Step 4: in outer skeletal structure design aspect, pressure-strain piece inner shaft one end is connect with pressure-strain piece, manipulator
Axle portion changes to upper (lower) movement, press pressure foil gauge, pressure-strain piece module output voltage, and then predicts that ectoskeleton axis closes
The movement tendency of section, motor assist ectoskeleton move (passive), control the flight attitude of distal end unmanned plane.
Step 5: in terms of tactile Design for Regeneration, using motor movement supplementary mode, unmanned plane safe flight grade is established
(motor drives ectoskeleton to (spatial relation between unmanned plane and barrier) and motor output upper extremity exercise auxiliary force relationship
Movement).When unmanned plane during flying meets barrier, spatial position signal is converted to become electric signal, then feeds back corresponding electric signal to electricity
Machine, motor reversal (spatial relation between unmanned plane and barrier is different, and the auxiliary force for feeding back to motor is strong and weak different),
Manipulator's Real Time Obstacle Avoiding is reminded, is changed from end unmanned plane during flying posture, to realize the Regeneration control of ectoskeleton tactile.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of power tactile regenerates ectoskeleton structure, which is characterized in that including back link block and symmetrically arranged shoulder joint
Save mechanism, upper arm, exercising elbow joint mechanism, forearm and wrist joints moving mechanism；The wrist joints moving mechanism, forearm, elbow close
Section movable device, upper arm, shoulder joint mechanism and back link block are sequentially connected；The back link block is worn on human body back
Portion, the shoulder joint mechanism, upper arm, exercising elbow joint mechanism, forearm and wrist joints moving mechanism are worn on the shoulder of human body respectively
Portion, upper arm, ancon, forearm and wrist location realize the motion attitude control of object by the rotation of each component.
2. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the shoulder joint mechanism includes shield
Shoulder, shoulder protector mounting plate, shoulder protector axis, countershaft mounting plate, shoulder joint linking axes and shoulder joint flange；The shoulder protector is mounted on shield
The bottom of shoulder mounting plate, and be fixedly connected by shoulder protector mounting plate with shoulder protector axis；The end of the shoulder protector axis is set in shoulder joint
Linking axes is vertically arranged with shoulder joint linking axes；The both ends of the shoulder joint linking axes can be turned by bearing with countershaft mounting plate
Dynamic connection；The countershaft mounting plate is fixed on upper arm by shoulder joint flange.
3. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the upper arm includes upper arm rotation
Mounting plate, armlet, upper arm adjustable plate, upper arm bevel gear, upper arm damper, upper arm motor linking axes, upper arm pressure-strain piece, on
Arm foil gauge module and upper arm motor；One end of the upper arm rotation mounting plate is connect with exercising elbow joint mechanism, the other end
With upper arm adjustable plate nested encryptions；In one end insertion upper arm rotation mounting plate of the upper arm adjustable plate, pass through screw and upper arm
The adjustable connection of mounting plate is rotated, realizes the adjustable of upper arm lengths, the other end is connect with shoulder joint mechanism；The armlet is mounted on
Upper arm adjustable plate, and contacted with the fitting of human body upper arm；The upper arm motor rotates the fixed company of mounting plate by mounting plate and upper arm
It connects, output end and upper arm motor linking axes are sequentially connected；The other end of the upper arm motor linking axes and upper arm bevel gear are solid
Fixed connection；The end face of upper arm bevel gear is arranged in the upper arm pressure-strain piece；The upper arm foil gauge module and upper arm motor
Link axis connection；The upper arm damper is mounted on upper arm motor linking axes.
4. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that exercising elbow joint mechanism packet
Include elbow joint flange, elbow joint ring flange, elbow joint sensing chip, elbow joint optoelectronic switch, first bevel gear, second bevel gear,
Elbow joint encoder and elbow joint encoder seat；The elbow joint flange is fixedly connected with upper arm, the elbow joint ring flange
It is fixedly connected with forearm, the elbow joint flange and elbow joint ring flange are coaxially disposed, and keep upper arm and forearm living by elbow joint
Motivation structure realizes rotation connection；The elbow joint sensing chip is mounted on forearm, and the elbow joint optoelectronic switch is mounted on upper arm, leads to
Cross limitation of the elbow joint optoelectronic switch to the detection realization of elbow joint sensing chip to the rotational angle between forearm and upper arm；It is described
First bevel gear is mounted on elbow joint ring flange, is sequentially connected with upper arm；The second bevel gear is mounted on elbow joint encoder
One end of seat is sequentially connected with upper arm, and is symmetrical arranged with first bevel gear；The elbow joint encoder and second bevel gear connect
It connects；The other end of the elbow joint encoder seat is fixedly mounted on upper arm.
5. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the forearm include gear wheel,
Pinion gear, forearm pressure-strain piece, forearm encoder, forearm foil gauge module, forearm damper, forearm motor, forearm are adjusted
Plate and forearm connecting plate；The pinion gear is arranged on the outside of the end of forearm adjustable plate, and the forearm encoder is arranged preceding
The tip inside of arm adjustable plate, and connect with pinion gear；The forearm motor is fixed on forearm adjustable plate by mounting plate,
Output shaft and gear wheel are sequentially connected；The gear wheel is engaged with pinion gear；The forearm foil gauge module and forearm damper
It is installed in the output shaft of forearm motor；The forearm pressure-strain piece is mounted on the end position of gear wheel；The forearm connects
One end of fishplate bar is connect with exercising elbow joint mechanism, and the other end is embedded in forearm adjustable plate, and passes through screw and forearm adjustable plate
Adjustable connection, realizes the adjustable of forearm.
6. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the wrist joint includes that pressure passes
Axis, chained block, the first encoder, second encoder, wrist joint rotation fixed plate, front axle, rotary shaft, wrist are held in sensor, holding
Joint optoelectronic switch and wrist joint sensing chip；The wrist joint rotation fixed plate is connect by rotary shaft with forearm, and wrist is closed
Section rotation fixed plate is rotated around rotary shaft under external force；The both ends of the front axle are solid with wrist joint rotation respectively by bearing
The both ends of fixed board connect；The second encoder be arranged in wrist joint rotation fixed plate outside, and with preceding axis connection；The chain
Connect block one end and preceding axis connection, can be around front axis；First encoder is fixed on chained block；It is described to hold the one of axis
End is fixedly connected with holding, and the other end is connect after passing through chained block with the first encoder；Described hold is arranged perpendicular to chained block；
The pressure sensor is mounted on holding top position, with manipulator's thumb；The wrist joint sensing chip is mounted on wrist
Joint rotates in fixed plate, and the wrist joint optoelectronic switch is mounted on forearm, by wrist joint optoelectronic switch to wrist joint sense
The detection of piece is answered to realize carpal rotational angle limitation.
7. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the upper arm damper and forearm
Damper is all made of mr fluid damper.
8. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that be all provided on the upper arm and forearm
There is the outer cover for protecting internal part.
9. power tactile according to claim 1 regenerates ectoskeleton structure, which is characterized in that the back link block includes
The Backpack type equipment that nylon material is worked out directly is worn on human body back using sleeve type, and shoulder passes through screw hole and shoulder
Connector is connected.
10. a kind of power tactile regenerates ectoskeleton structure unmanned plane during flying attitude control method, which is characterized in that including walking as follows
It is rapid:
Step S1: defining motor pattern, realizes ectoskeleton arm motion correspondence synchronous with unmanned plane during flying posture, presses at thumb
Pliable pressure sensor, realize the start-up and shut-down control of unmanned plane, guarantee the accuracy and stability of shaking manipulation；
Step S2: wrist joint clockwise/anticlockwise rotation presses foil gauge, and foil gauge module output voltage changes, and then predicts dermoskeleton
The carpal movement tendency of bone, is moved by motor assist ectoskeleton, to control the flight attitude of distal end unmanned plane；
Step S3: upward/lower movement of exercising elbow joint mechanism presses foil gauge, foil gauge module output voltage changes, and then in advance
Survey the movement tendency of ectoskeleton axis joint, motor assist ectoskeleton movement, to control the flight attitude of distal end unmanned plane；
Step S4: auxiliary by establishing the distance between barrier and motor output upper extremity exercise when unmanned plane during flying, which is met, to be hindered
Power-assisted relationship, signal are transmitted to motor, and motor drives ectoskeleton arm motion, change the flight attitude from end unmanned plane, thus
Realize the tactile Regeneration control of ectoskeleton.
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