CN110393657A - Novel exoskeleton lower limbs power-assisting robot - Google Patents
Novel exoskeleton lower limbs power-assisting robot Download PDFInfo
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- CN110393657A CN110393657A CN201910632695.8A CN201910632695A CN110393657A CN 110393657 A CN110393657 A CN 110393657A CN 201910632695 A CN201910632695 A CN 201910632695A CN 110393657 A CN110393657 A CN 110393657A
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- slide bar
- lower limbs
- assisting robot
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- 210000001624 hip Anatomy 0.000 claims abstract description 55
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 44
- 210000003423 ankle Anatomy 0.000 claims description 24
- 230000009467 reduction Effects 0.000 claims description 24
- 210000002414 leg Anatomy 0.000 claims description 22
- 238000013016 damping Methods 0.000 claims description 15
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- 230000007246 mechanism Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Abstract
The present invention provides a kind of novel exoskeleton lower limbs power-assisting robot.Novel exoskeleton lower limbs power-assisting robot, comprising: hip bracket；Waist backboard, the waist backboard are fixedly mounted on the hip bracket；Backpack support, the backpack support are fixedly mounted on the hip bracket；Two waist beam fixed frames, two waist beam fixed frames are fixedly mounted on the hip bracket；Adjustable waist beam, the adjustable waist beam are fixed on two waist beam fixed frames；Four bone slide bar outer plugins, four bone slide bar outer plugins are fixedly connected with the hip bracket；Four bone slide bar plug-in parts, four bone slide bar plug-in parts are plugged with four bone slide bar outer plugins respectively, and are connected by screw-driving.Novel exoskeleton lower limbs power-assisting robot provided by the invention have the advantages that it is easy to use, easy to operate, patient can be assisted to stand again.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of novel exoskeleton lower limbs power-assisting robots.
Background technique
Exoskeleton lower limbs power-assisting robot technology is an important branch of robot technology, it relates to robot skill
The fields such as art, ergonomics, machine maple, computational science and mechanics of communication, are hot spot technologies studied both at home and abroad at present.With
The incidence of China's spinal cord injury increases year by year, generated because of spinal cord injury lower limb paralysis to family and society bring it is heavy
Burden, this technology can help patient to stand and walk by rehabilitation equipment, not only contribute to the life for improving patient itself
Quality, can also mitigate the burden of family and society, therefore be with a wide range of applications in rehabilitation medical field.Ectoskeleton machine
Device people is assisted with its unique advantage in disabled person and later period rehabilitation subdivision substitution Traditional Rehabilitation robot has a high potential.America and Europe etc.
The rehabilitation medical industry of developed country is more flourishing, and healing robot starting is more early, and suitable rehabilitation institution uses towed/outstanding
Hanging manufacturer, robot is numerous, and by development in more than 10 years, competition situation tended towards stability and market tends to be saturated.This year rises
Exoskeleton-type robot it is more brilliant in the later period rehabilitation of patient and disabled person's slave side effect, exoskeleton robot is based on
The design of bionics and ergonomics makes it possess the incomparable therapeutic effect of tail end traction type healing robot and user
Experience is not only suitable for the organization users such as recovery centre, and shows great potential at the universal aspect of personal user.
Exoskeleton robot technology was once monopolized by states such as the U.S., Japan, Germany, domestic this robot of import, price
Reach 500,000 yuan or more, and if the domestic exoskeleton robot investment commercial market independently studied, estimate high endpoint also only
It is cheap many compared to external at 200,000 yuan or so.
But now most of moderate exoskeleton robot driving is designed as stepper motor and worm and gear on the market
Direct-drive, stepper motor volume is big, and utilization rate is low, cannot export larger torque, and when high speed operation can generate noise.
Therefore, it is necessary to provide a kind of novel exoskeleton lower limbs power-assisting robot solution above-mentioned technical problem.
Summary of the invention
The technical problem to be solved by the present invention is to provide it is a kind of it is easy to use, easy to operate, patient can be assisted to stand again
Novel exoskeleton lower limbs power-assisting robot.
In order to solve the above technical problems, novel exoskeleton lower limbs power-assisting robot provided by the invention, comprising: hip branch
Frame, waist backboard, the waist backboard are fixedly mounted on the hip bracket；Backpack support, the fixed peace of the backpack support
On the hip bracket；Two waist beam fixed frames, two waist beam fixed frames are fixedly mounted on the hip bracket
On；Adjustable waist beam, the adjustable waist beam are fixed on two waist beam fixed frames；Four bone slide bar outer plugins, four
A bone slide bar outer plugin is fixedly connected with the hip bracket；Four bone slide bar plug-in parts, four bones
Slide bar plug-in part is plugged with four bone slide bar outer plugins respectively, and is connected by screw-driving；Four joints are coaxial
Bar-link drive, four coaxial bar-link drives in joint are respectively and fixedly installed to four bone slide bar outer plugins
On；Four leg straps, four leg straps are fixedly connected with four bone slide bar outer plugins respectively；Two dampings
Ankle, two damping ankles are fixedly mounted on two corresponding bone slide bar plug-in parts and are fixedly connected；Two shoes,
Two shoes are respectively and fixedly installed on two damping ankles；Control assembly, the control assembly are fixedly mounted on institute
It states on backpack support.
Preferably, the coaxial bar-link drive in the joint includes: that slide bar, flange, tabletting, deep-groove ball axis is adjusted in leg
It holds, rotary shaft, contact pin, servo motor, planetary reduction gear and right-angle reduction device, slide bar and the hip branch is adjusted in the leg
Frame is fixedly connected, and the flange is fixedly mounted on the leg by screw and is adjusted on slide bar, the tabletting and the flange
It is fixedly connected, the deep groove ball bearing is located in the tabletting and rotates the outside for being set in the rotary shaft, the contact pin set
It is located at the outside of the rotary shaft and is fixedly connected with the tabletting, the right-angle reduction device is set in the outer of the rotary shaft
Side, the planetary reduction gear are fixedly mounted on the right-angle reduction device, and the servo motor is fixedly mounted on the planet and subtracts
On fast device.
Preferably, angular transducer pedestal is fixedly installed on the right-angle reduction device, on the angular transducer pedestal
Angular transducer is installed, the outer sheath of the angular transducer is equipped with the angle being fixedly connected with the angular transducer pedestal
Sensor protection lid.
Preferably, the damping ankle include: ankle inner casing, live spindle, the first torsional spring, the first gasket, the second torsional spring,
Axle sleeve, the second gasket, the first spring shim, second spring gasket, sole, hex nut, ankle shell and soket head cap screw.
Compared with the relevant technologies, novel exoskeleton lower limbs power-assisting robot provided by the invention has following beneficial to effect
Fruit:
The present invention provides a kind of novel exoskeleton lower limbs power-assisting robot, by using the coaxial bar-link drive in joint
Three-in-one type driving uses servo motor as power source, is used cooperatively planetary reduction gear and right-angle reduction device, double to subtract economic benefits and social benefits,
Increase torque, while cooperating coaxially connected mode, select a Concentric rotation axis, four compared with long spiro nail, by all components, successively
Series connection avoids operating the problems such as not smooth caused by because of angular deviation, while using ring flange and contact pin design connection, making machinery
Structure is more stablized compact, and mechanism loosens caused by avoiding because of long time running, and the problems such as sliding, the design of angular transducer makes
Entire mechanism can accurately be restored to initial position before executing order again, guarantee the accuracy of mechanical structure transmission, more just
In wearing, such reset design guarantees that user encounters any problem when in use and can stop in time, and does not have to disassembly, weight
Newly power on after can autonomous parking position accuracy, execute motion command again.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of novel exoskeleton lower limbs power-assisting robot first embodiment provided by the invention；
Fig. 2 is the coaxial bar-link drive configuration schematic diagram in joint shown in FIG. 1；
Fig. 3 is the structural schematic diagram of damping ankle shown in FIG. 1；
Fig. 4 is the separate block diagram of control assembly shown in FIG. 1；
Fig. 5 is that program of the invention uses modular flow chart；
Fig. 6 is the stress diagram of robot of the invention；
Fig. 7 is body gait period schematic diagram of the invention；
Fig. 8 is each joint angles of lower limb and the conversion curve figure of torque in a gait cycle of the invention；
Fig. 9 is lower limb plane coordinates system of the invention；
Figure 10 is the schematic diagram of novel exoskeleton lower limbs power-assisting robot second embodiment provided by the invention.
Figure label: 1, waist backboard, 2, backpack support, 3, hip bracket, 4, the coaxial bar-link drive in joint, 401,
Slide bar, 402, flange, 403, tabletting, 404, deep groove ball bearing, 405, rotary shaft, 406, contact pin, 407, servo are adjusted in leg
Motor, 408, planetary reduction gear, 409, right-angle reduction device, 410, angular transducer pedestal, 411, angular transducer, 412, angle
Sensor protection lid, 5, waist beam fixed frame, 6, adjustable waist beam, 7, bone slide bar outer plugin, 8, bone slide bar plug-in part, 9, leg
Portion's bandage, 10, shoes, 11, damping ankle, 1101, ankle inner casing, 1102, live spindle, the 1103, first torsional spring, 1104, first
Gasket, the 1105, second torsional spring, 1106, axle sleeve, the 1107, second gasket, the 1108, first spring shim, 1109, second spring pad
Piece, 1110, sole, 1111, hex nut, 1112, ankle shell, 1113, soket head cap screw, 12, control assembly.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
First embodiment
Fig. 1-Fig. 9 is please referred to, in the first embodiment of the present invention, novel exoskeleton lower limbs power-assisting robot packet
It includes: hip bracket 3；Waist backboard 1, the waist backboard 1 are fixedly mounted on the hip bracket 3；Backpack support 2, it is described
Backpack support 2 is fixedly mounted on the hip bracket 3；Two waist beam fixed frames 5, two waist beam fixed frames 5 are fixed
It is mounted on the hip bracket 3；Adjustable waist beam 6, the adjustable waist beam 6 are fixed on two waist beam fixed frames 5；
Four bone slide bar outer plugins 7, four bone slide bar outer plugins 7 are fixedly connected with the hip bracket 3；Four bones
Slide bar plug-in part 8, four bone slide bar plug-in parts 8 are plugged with four bone slide bar outer plugins 7 respectively, and are passed through
Screw-driving connection；The coaxial bar-link drive 4 in four joints, four coaxial bar-link drives 4 in joint are fixed respectively
It is mounted on four bone slide bar outer plugins 7；Four leg straps 9, four leg straps 9 are respectively and described in four
Bone slide bar outer plugin 8 is fixedly connected；Two damping ankles 11, two damping ankles 11 be fixedly mounted on two it is corresponding
The bone slide bar plug-in part 8 be fixedly connected；Two shoes 10, two shoes 10 are respectively and fixedly installed to two dampings
On ankle 11；Control assembly 12, the control assembly 12 are fixedly mounted on the backpack support 2.
The coaxial bar-link drive 4 in joint includes: that slide bar 401, flange 402, tabletting 403, zanjon is adjusted in leg
Ball bearing 404, rotary shaft 405, contact pin 406, servo motor 407, planetary reduction gear 408 and right-angle reduction device 409, the leg
Adjustable slide bar 401 is fixedly connected with the hip bracket 3, and the flange 402 is fixedly mounted on the leg by screw can
It adjusts on slide bar 401, the tabletting 403 is fixedly connected with the flange 402, and the deep groove ball bearing 404 is located at the tabletting
In 403 and rotate the outside for being set in the rotary shaft 405, the contact pin 406 be set in the outside of the rotary shaft 405 and with
The tabletting 403 is fixedly connected, and the right-angle reduction device 409 is set in the outside of the rotary shaft 405, the planetary reduction gear
Device 408 is fixedly mounted on the right-angle reduction device 409, and the servo motor 407 is fixedly mounted on the planetary reduction gear 408
On.
Angular transducer pedestal 410, the angular transducer pedestal 410 are fixedly installed on the right-angle reduction device 409
On angular transducer 411 is installed, the outer sheath of the angular transducer 411 is equipped with solid with the angular transducer pedestal 410
Surely the angular transducer protection cap 412 connected.
The damping ankle 11 includes: ankle inner casing 1101, live spindle 1102, the first torsional spring 1103, the first gasket
1104, the second torsional spring 1105, axle sleeve 1106, the second gasket 1107, the first spring shim 1108, second spring gasket 1109, foot
Bottom plate 1110, hex nut 1111, ankle shell 1112 and soket head cap screw 1113.
It is as follows according to the calculating of gait motion and ankles bit torque and elastic force:
When spring is flexible to be required.In order to guarantee torque when specified torsional deflection angle, the working deformation angle φ of spring
1, φ 2 should test angle φ 3 20%~80% between or operation torque T1, T2 test torque T3 20%~80% it
Between.
D-spring material diameter (mm)；D, in D1, D2 spring, inside and outside diameter (mm)；T1-test torque (N*mm) is
Spring peak torque allowed to bear；T1, T2-operation torque (N*mm)；φ 1, φ 2, φ 3-are under T1, T2, T3 effect
Deformation angle；H-drift；φ-pitch (mm)；By calculating as follows:
σ in formulaB--- bending stress (MPa)；
σBp--- permissible bending stress (MPa)；
T --- operation torque (N*mm)；
--- the deformation angle (°) under operation torque；
κ --- torsion spring rigidity (N*mm/ (°))；
K1--- the curvature correction factor of torsion spring compares C=D/d by curling up；
It is calculated as follows:
Ankle structure is designed, the torsional spring damping structure that our common springs from the beginning use till now,
Period finally obtains applicable dynamics and structure by repeatedly calculating and practicing.Overall structure is made of following 11 parts, is come
Realize self-regulating function.
Control assembly 12 uses High Speed Bluetooth transmission module, and transmission stabilization, real-time response, no-delay worry are simultaneously equipped with a key
Restoring function, robot can quickly revert to wearing state from any placing attitude.Using three position, speed, electric current closed loops
Negative-feedback PID regulating system is input with body gait movement angle, can real-time and accurately control each joint and put down as people
Cunning is swimmingly walked, and acquisition and accurate control to each joint position information are realized using incremental optical-electricity encoder.It utilizes
Navigation attitude sensor MPU6050 realizes the acquisition to body gait movement angle, and obtains ectoskeleton machine using its correlation properties
The absolute position in each joint of people, convenient for initialization and original point position.Using STM32F103ZET6 as master control, high property is used
The ARM Cortex-M3 kernel of energy, working frequency 72MHz, internal high-speed memories (the up to flash memory and 20K of 128K byte
The SRAM of byte) peripheral hardware (2 12 ADC, 8 16 bit timings abundant for enhancing I/O port and being connected to two APB buses
Device, additionally it contained I2C, SPI, RS232, RS485 of standard, the communication interfaces such as 5 UART and 1 CAN bus) low energy consumption,
The operation is stable, performance is high, and energy density is big.Program calling and controlling travel speed allows patient to have an adaptation process, gradually learns, by
Gradually restore, the limitation of speed can satisfy the patient of any age bracket.More importantly such exoskeleton robot is equipped with emergency stop
Key, prevents unexpected injury caused by emergency situations, and scram button realizes the safeguard protection to patient, allows patient household and patient
Can be safe to use to such bone robot, patient can be realized after dressing exoskeleton robot by simple training and adaptation
It freely walks, sits down, stand up, equal activities of squatting down.Patient, which independently completes these activities, may advantageously facilitate body blood circulation, increase
Cardio-pulmonary function solves patient because of body complication caused by not moving for a long time, solves the problems, such as that patient's individual physiological and psychology are asked
Topic.
Controller selects STM32 microprocessor in control assembly 12, and touch screen is coupled by RS485 bus, passes through
Touch screen can set gait, and movement velocity simultaneously obtains the information such as supply voltage and motion state.Bluetooth is provided on crutch
Module, can carry out human-computer interaction by USART serial ports, and wearer can be according to needed for being intended to select by the button on crutch
The motion state (stand up, walk, squatting down, emergency stop) wanted.The port PUS+DIR of four servo-drivers is connected to controller
Port (CH1, CH2, CH3, CH4) is compared in four inputs of TIM3, and servo motor is connected on servo-driver by UVW,
It obtains the position and speed in each joint in real time by photoelectric encoder behind, and is connected by velocity location electric current tricyclic
Pid control algorithm adjust in real time, can simulate people gait operation.In addition, four attitude transducers pass through iic bus
It is connected with controller, convenient for initializing the dynamic lookup with origin position, as shown in Figure 4.
(1), programming:
Program uses modular programming step, initializes first to used all GPIO mouthfuls, and then to pressing
Key scanning, LED light are initialized, and then carry out configuring communication (USART and IIC) and analog-to-digital conversion port,
It finally carries out interrupt distribution and channel is compared in the input of opening timing device, into endless loop.Wearer can lead to according to their own needs
The key proportionately scheduled movement on crutch is crossed, as shown in Figure 5.
(2), system survey:
A control system:
Control principle: exoskeleton device is run by the program numbered in advance, and operator can only carry out limited intervention.
Lower extremity movement apparatus for correcting is used to that paralysed patient is helped to restore locomitivity.The motion profile of device is that preprogramming is designed,
It is designed and is changed according to the movement gait of normal person when design to be adapted to means for correcting.Mainly in leg by
Patient's design of physical damnification, by the program finished in advance, the walking step state of mechanical joint simulation normal person is controlled, is driven
Patient motion helps patient to be trained rehabilitation.
The control system of exoskeleton lower limbs power-assisting robot mainly uses STM32 chip as master control, by master control to electricity
The driver of machine sends driving signal, and then controls the movement of motor to realize the purpose of assisted walk.
B drive system:
The drive system of exoskeleton lower limbs power-assisting robot is the core of robot hardware's system, and the system is by 4 servos
Motor and planetary reduction gear are constituted, and the voltage rating 36V of motor, rated power is 200W, and specified output torque is
0.637NM, max. output torque are 1.9NM, and rated speed is 3000RPM, and maximum (top) speed is 5000RPM.Driver selection
The encoder of DMS-055A is installed in each active joint.It is directed to this four drivers simultaneously, using serial communication, uses
Keil software carries out function call and programming.
C mechanical structure:
The key technical indexes has: robot can bear a heavy burden the people of 100KG or so, the main actions that robot can be realized
Have: standing up, sits down, advances, stops.Robot can reach the speed of 1.08Km/h.
The mechanism body of ectoskeleton power-assisting robot is made of pedipulator, foot and back.Pedipulator is used to provide power-assisted,
Foot and back are used to stationary machines people and wearer, and in addition back is also mainly used for the power supply device that storage is used for whole system
And control system.
(3), core technology:
Torsion and power calculation；
Force analysis is carried out first against the gait motion in joint, in the case where robot is in low-speed motion, to bar
Part directly carries out statics Analysis, can accurately calculate the value of joint drive power.Secondly, when for static analysis,
It chooses a joint of robot stress or needs to be calculated at the time of driving force maximum, can guarantee joint enough in this way
Driving moment selects the driving of the supporting leg of single leg support phase at this time；
Target of the joint as analysis.Third, for the power-assisted index of robot, the target of power-assisted bears the negative of 30Kg
It carries, calculates bones of the body joint and kneed driving moment.As shown in Figure 6.
T1 and T2 is bones of the body joint and kneed driving moment, acquires the bones of the body joint of robot and kneed instantaneous by figure
Maximum moment is T1=T2=60Nm, and this torque only exists the very short time, and when standing with one foot to the knee, the entire center of gravity of human body
It can turn forward, that is to say, that 200mm can be also less than by loading the arm of force generated relative to bones of the body joint and knee joint, right in this way
The driving moment in joint requires just more to reduce.When being robot driving joint output maximum moment at this time, and machine
The average torque of people should be less than 60Nm.
Power-assisting robot active joint designs drive in bones of the body joint and knee joint, and using direct current generator, direct current
The characteristics of machine is easy to control, the disadvantage is that driving moment and power are smaller.The problems such as motor-driven generated efficiency,
And referring to the external precedent for using motor driven robot, working efficiency and power of motor of the analysis robot under motor driven
With torque.Firstly, motor, after powering on, electric energy several forms will be consumed below, they respectively include useful work,
The function of mechanical friction consumption and the function of motor copper wire fever consumption.Wherein the useful work des bis- of motor is expressed from the next:
Pdes=Tdesdes；
Tdes it is expected torque one by one in formula；
Des desired speed one by one；
The function generated that rubs is also very big, and motor needs to consume when overcoming static friction and dynamic friction additional power D,
D is damped coefficient.Meanwhile the actuated elements inertia such as rotor and gear can also consume energy I, last machine in accelerator
The heat that tool distributes can consume energy T2/KM2, the power of last joint of robot consumption are as follows:
P=Tdesdes+D+I+T2/KM；
From the point of view of the data that research is driven by motor, kneed average output is 17w in gait processes, is done negative
Function, efficiency 21.2%, when having arrived swing phase, torque is less than the unloading torque of motor, and energy is mainly consumed and rubbed overcoming
It wipes and inertia force, power 81w needed for bones of the body joint, useful work 7.7w efficiency 9.5%.
1), by kneed CGA data it is found that the mean power 16.01w that level land is walked, average torque 40.5Nm, joint are flat
Equal speed is 56./s；Mean power of the knee joint in stair climbing is 35.3, and average torque is 87.0Nm, by marine hydrostatic calculation
Joint moment 60Nm out.Since the design object of this ectoskeleton power-assisting robot is only capable of the gait motion for completing to walk on level land,
So can be solved according to the power and torque that level land is walked.The rated power of motor substantially calculates are as follows:
P knee joint=X100%=X100%76W；
2), by the CGA data in bones of the body joint it is found that mean power 16.23w when the stair climbing of bones of the body joint, the average function of walking
Rate is 7.03W, and maximum power 97.3W, the torque that level land is walked is 60.0nm.It is identical as torque required by statics, stair climbing
Average torque is 84.7Nm.Although the power in bones of the body joint is small, its torque output is big, illustrates that bones of the body joint is in lower speed
Degree.In order to guarantee output torque, the rated power of TE=60Nm, motor are probably calculated are as follows:
P hip joint=X100%=X100%=74W；
(4), Human Body Gait Analysis；
By the gait analysis to Healthy People, can be used as lower limb assistance exoskeleton robot design provide it is necessary according to
According to and Analysis of System Dynamics premise.The movement of mankind's lower limb needs bone, muscle and the nervous system for controlling muscle
Three is unified to be cooperated, so it is a system extremely complex and with self-regulation ability.This system is by nervous system
Control, contraction of muscle provide power, and using bone as motion lever, each componental movement are contacted by joint, to realize mankind's lower limb
Proper motion.Normal gait walking is mankind's lower limb main movement, is also the primary simulation of lower limb assistance exoskeleton robot
And evaluation criteria.
As shown in Figure 7 and Figure 8, a gait cycle of mankind's walking refer to from the heel of certain side lower limb with contact out
Begin, to the secondary end of contacting to earth of the same side heel.In a gait cycle, there are two kinds of shapes for the lower limb of side
State: support phase and swing phase.Support phase refer to it is liftoff from heel strike to toe, i.e., foot and ground face contact a period of time,
Account for the 60% of a cycle total duration；Swing phase is to contact to earth again from toe is liftoff to heel, i.e., foot leaves one section of ground
Time accounts for about the 40% of total period.Support phase has the characteristic for bearing human body weight, and can be divided into dual-gripper phase and single support
Equal, dual-gripper mutually refers to that biped contacts to earth the stage, and single support phase is in contrast.Dual-gripper mutually comes across support phase initial stage and end
Phase, the duration is related with leg speed, and leg speed is faster, and the duration is shorter.During swing phase can then be divided into swing early stage, swing
Phase and swing three stage of later period.
For the motion information in each joint of healthy human body lower limb in a gait cycle, clinical gait analysis database is to it
It is collected.CGA database contains different researchers to the measurement result of different subject's gait datas, very comprehensively.
As shown in figure 8, data, from weight 70Kg in CGA database, walking speed is the subject of 1.3m/s.
By the analysis to human body lower limbs physiological structure, the maximum range of activities in each joint of lower limb have been obtained；And to human body
The analysis of gait has then understood the movement angle in each joint when human body is walked with normal gait.Thus Preliminary design robot master
Diarthrodial largest motion range, when between human body maximum range of activities and walking between motion range.Same this is also to execute
One of foundation of device type selecting, as shown in Figure 9.
C=-15.~+30.
K=+5.~+55.
Second embodiment:
Please refer to Figure 10, based on the first embodiment of the present invention provide novel exoskeleton lower limbs power-assisting robot,
The novel exoskeleton lower limbs power-assisting robot that the second embodiment of the present invention provides, the difference is that, novel exoskeleton lower limbs
Power-assisting robot further includes the first connecting plate 13, and first connecting plate 13 is fixedly mounted on the top of sole 1110, described
Cavity 14 is offered on first connecting plate 13, and rotating bar 15, the outside of the rotating bar 15 are rotatably equipped in the cavity 14
Thread bush is set there are two supporting block 16, and the side that two supporting blocks 16 are located remotely from each other is fixedly installed with fixture block 17, described
The outer sheath of first connecting plate 13 is equipped with the second connecting plate 20, and second connecting plate 20 connects with the top of sole 1110
Touching, and second connecting plate 20 is fixedly mounted on the bottom of shoes 10, offers locating slot 18 on second connecting plate 20, and two
The top of a supporting block 16 all extends in the locating slot 18, offers card on the two sides inner wall of the locating slot 18
Slot 19, the side that two fixture blocks 17 are located remotely from each other are located in two card slots 19.
The outside of the rotating bar 15 offers two sections of external screw threads, and two sections described externally threaded oppositely oriented.
Sliding eye is offered in the top inner wall of the cavity 14, the supporting block 16 runs through the corresponding sliding eye
And it is slidably connected with the inner wall of the sliding eye.
The bottom of second connecting plate 20 offers the mounting groove that side is opening, and first connecting plate 13 is located at institute
It states in mounting groove.
The side of first connecting plate 13 offers rotation slot, and rotating block is rotatably equipped in the rotation slot, described
The side of rotating block offers hexagonal groove, and the other side of the rotating block is fixedly connected with one end of the rotating bar 15.
The cavity 14 offers rotation hole close to the side of the rotation slot, and the rotating bar 15 runs through the rotation hole
And it is rotatablely connected with the inner wall of the rotation hole.
When dismantling to shoes 10, block need to be only rotated, rotating block drives rotating bar 15 to rotate in cavity 14, turns
Lever 15 drives two supporting blocks 16 close to each other, and supporting block 16 drives fixture block 17 to move, and keeps two fixture blocks 17 close to each other, directly
When being in contact to two supporting blocks 16, fixture block 17 is removed out of card slot 19 at this time, at this time can be by related second connecting plate of shoes 10
20 disassemble from sole 1110, to facilitate the replacement to shoes 10, also facilitate the cleaning work to shoes 10.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of novel exoskeleton lower limbs power-assisting robot characterized by comprising
Hip bracket；
Waist backboard, the waist backboard are fixedly mounted on the hip bracket；
Backpack support, the backpack support are fixedly mounted on the hip bracket；
Two waist beam fixed frames, two waist beam fixed frames are fixedly mounted on the hip bracket；
Adjustable waist beam, the adjustable waist beam are fixed on two waist beam fixed frames；
Four bone slide bar outer plugins, four bone slide bar outer plugins are fixedly connected with the hip bracket；
Four bone slide bar plug-in parts, four bone slide bar plug-in parts are mutually inserted with four bone slide bar outer plugins respectively
It connects, and is connected by screw-driving；
Four coaxial bar-link drives in joint, four coaxial bar-link drives in joint are respectively and fixedly installed to four institutes
It states on bone slide bar outer plugin；
Four leg straps, four leg straps are fixedly connected with four bone slide bar outer plugins respectively；
Two damping ankles, two damping ankles are fixedly mounted on two corresponding bone slide bar plug-in parts and fix
Connection；
Two shoes, two shoes are respectively and fixedly installed on two damping ankles；
Control assembly, the control assembly are fixedly mounted on the backpack support.
2. novel exoskeleton lower limbs power-assisting robot according to claim 1, which is characterized in that the coaxial connecting rod in joint
Driving mechanism includes: that slide bar is adjusted in leg, flange, tabletting, deep groove ball bearing, rotary shaft, contact pin, servo motor, planet subtract
Fast device and right-angle reduction device, the leg are adjusted slide bar and are fixedly connected with the hip bracket, and the flange is solid by screw
Dingan County is adjusted on slide bar mounted in the leg, and the tabletting is fixedly connected with the flange, and the deep groove ball bearing is located at institute
State in tabletting and rotate the outside for being set in the rotary shaft, the contact pin be set in the outside of the rotary shaft and with the pressure
Piece is fixedly connected, and the right-angle reduction device is set in the outside of the rotary shaft, and the planetary reduction gear is fixedly mounted on institute
It states on right-angle reduction device, the servo motor is fixedly mounted on the planetary reduction gear.
3. novel exoskeleton lower limbs power-assisting robot according to claim 1, which is characterized in that on the right-angle reduction device
It is fixedly installed with angular transducer pedestal, angular transducer, the angular transducer are installed on the angular transducer pedestal
Outer sheath be equipped with the angular transducer protection cap that is fixedly connected with the angular transducer pedestal.
4. novel exoskeleton lower limbs power-assisting robot according to claim 1, which is characterized in that the damping ankle packet
It includes: ankle inner casing, live spindle, the first torsional spring, the first gasket, the second torsional spring, axle sleeve, the second gasket, the first spring shim,
Two spring shims, sole, hex nut, ankle shell and soket head cap screw.
5. novel exoskeleton lower limbs power-assisting robot according to claim 4, which is characterized in that the top of the sole is solid
First connecting plate is installed, cavity is offered on first connecting plate, is rotatably equipped with rotating bar in the cavity, described turn
The outside screw of lever is arranged there are two supporting block, and the side that two supporting blocks are located remotely from each other is fixedly installed with fixture block,
The outer sheath of first connecting plate is equipped with the second connecting plate, is in contact at the top of second connecting plate and sole, and institute
The bottom that the second connecting plate is fixedly mounted on shoes is stated, offers locating slot on second connecting plate, two supporting blocks
Top all extends in the locating slot, and card slot is offered on the two sides inner wall of the locating slot, and two fixture blocks are mutual
Separate side is located in two card slots.
6. novel exoskeleton lower limbs power-assisting robot according to claim 5, which is characterized in that the outside of the rotating bar
Two sections of external screw threads are offered, and two sections described externally threaded oppositely oriented.
7. novel exoskeleton lower limbs power-assisting robot according to claim 5, which is characterized in that in the top of the cavity
Sliding eye is offered on wall, the supporting block slides company through the corresponding sliding eye and with the inner wall of the sliding eye
It connects.
8. novel exoskeleton lower limbs power-assisting robot according to claim 5, which is characterized in that second connecting plate
Bottom offers the mounting groove that side is opening, and first connecting plate is located in the mounting groove.
9. novel exoskeleton lower limbs power-assisting robot according to claim 5, which is characterized in that first connecting plate
Side offers rotation slot, and rotating block is rotatably equipped in the rotation slot, and the side of the rotating block offers hexagonal groove,
The other side of the rotating block is fixedly connected with one end of the rotating bar.
10. novel exoskeleton lower limbs power-assisting robot according to claim 9, which is characterized in that the cavity is close to institute
The side for stating rotation slot offers rotation hole, and the rotating bar rotates company through the rotation hole and with the inner wall of the rotation hole
It connects.
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| CN114800441A (en) * | 2022-03-19 | 2022-07-29 | 中国人民解放军空军军医大学 | Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers |
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