CN111546313A - Head joint of power-assisted exoskeleton robot and power-assisted exoskeleton robot - Google Patents
Head joint of power-assisted exoskeleton robot and power-assisted exoskeleton robot Download PDFInfo
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- CN111546313A CN111546313A CN202010384761.7A CN202010384761A CN111546313A CN 111546313 A CN111546313 A CN 111546313A CN 202010384761 A CN202010384761 A CN 202010384761A CN 111546313 A CN111546313 A CN 111546313A
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- bracket
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- exoskeleton robot
- peripheral
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a head joint of a power-assisted exoskeleton robot and the power-assisted exoskeleton robot, wherein the head joint is arranged on a base of the power-assisted exoskeleton robot and comprises a peripheral mounting bracket and an electric supporting assembly, the supporting assembly is arranged between the peripheral mounting bracket and the base and is provided with a plurality of movement shafts, and the electric supporting assembly can drive the peripheral mounting bracket to do multi-shaft movement; the follow-up controller is electrically connected with the electric support assembly to control the electric support assembly to operate, so that the peripheral mounting bracket moves along with the head of a user. According to the invention, by arranging the peripheral installation support and the electric support assembly, a user can install a load or a peripheral to the peripheral installation support, and the electric support assembly provides auxiliary support force for the peripheral installation support, so that the load borne by the head of the user is greatly reduced or extra load is not required to be borne, and the head load of the user is greatly reduced.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a head joint of a power-assisted exoskeleton robot and the power-assisted exoskeleton robot.
Background
The exoskeleton robot is a mechanical device that can help a user to increase his strength, is worn on the outside of a human body, and assists the skeleton of the human body to support, so it is called an exoskeleton, and is commonly used in industrial transportation and military fields, and can greatly improve the ability of the user to transport or carry materials. The existing exoskeleton robot mainly aims at improving the strength of arms and legs of a user, but the head of the user also has auxiliary support requirements in many occasions, for example, the head of a soldier in the military field is required to wear various high-tech military facilities to improve the capacity of the soldier for acquiring various information, the superposed weight of the facilities is heavy, the head of the soldier is seriously stressed without the exoskeleton auxiliary support, and the existing exoskeleton robot cannot meet the requirements.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a head joint of a power-assisted exoskeleton robot and the power-assisted exoskeleton robot, which can reduce the head burden of a user and enable the head of the user to have higher load capacity.
The technical scheme is as follows: in order to achieve the above object, the head joint of the power-assisted exoskeleton robot is installed on a base of the power-assisted exoskeleton robot, and comprises a peripheral installation bracket and an electric support assembly, wherein the support assembly is arranged between the peripheral installation bracket and the base, the electric support assembly is provided with a plurality of movement axes, and the electric support assembly can drive the peripheral installation bracket to do multi-axis movement; the follow-up controller is electrically connected with the electric support assembly to control the electric support assembly to operate, so that the peripheral mounting bracket moves along with the head of a user.
Further, the electric support assembly comprises a first bracket, a second bracket and a third bracket; the first bracket is mounted on the base and can rotate relative to the base, so that the peripheral mounting bracket can follow the head shaking action of the head of a user; the second bracket is arranged on the first bracket and can swing left and right relative to the first bracket, so that the peripheral installation bracket can follow the left and right head swinging motion of the head of a user; the third bracket is arranged on the second bracket and can do pitching swing relative to the second bracket, so that the peripheral installation bracket can follow the nodding and head-raising actions of the head of a user; the peripheral installation support is fixed on the third support.
Further, a first driving assembly is arranged between the first support and the base to drive the relative movement of the first support and the base; the first driving assembly comprises a first motor, a first pinion and a first fixed gear part; the first fixing gear part is mounted on the base or integrally formed with the base; the first pinion is in driving connection with an output shaft of the first motor; the first pinion gear is engaged with the first motor.
Further, install on the base and lead the slider, be fixed with on the first support with lead the arc that the slider cooperation was used and lead the slide rail.
Further, a second driving assembly is arranged between the second bracket and the first bracket, and the second driving assembly comprises a second motor; the second bracket is hinged on the first bracket, and the relative rotation between the second bracket and the first bracket is driven by the second motor.
Further, the second drive assembly further comprises a timing belt assembly, and the second motor establishes a driving connection relationship with the second bracket through the timing belt assembly.
Further, a third driving assembly is arranged between the third bracket and the second bracket, the third driving assembly comprises a third motor, a third pinion and a third gear part, and the third gear part is mounted on the second bracket or integrally formed with the second bracket; the third motor is mounted on the third bracket, the third pinion is in driving connection with an output shaft of the third motor, and the third pinion is meshed with the third gear part.
Further, the peripheral mounting bracket includes two rings.
Further, a peripheral installation seat is installed on the peripheral installation support, and the peripheral installation seat can be detached relative to the peripheral installation support.
A power-assisted exoskeleton robot comprises the head joint of the power-assisted exoskeleton robot.
Has the advantages that: according to the head joint of the power-assisted exoskeleton robot and the power-assisted exoskeleton robot, the peripheral installation bracket and the electric support assembly are arranged, a user can install a load or a peripheral to the peripheral installation bracket, and the electric support assembly provides auxiliary support force for the peripheral installation bracket, so that the load borne by the head of the user is greatly reduced or extra load is not required to be borne, and the head burden of the user is greatly reduced.
Drawings
FIG. 1 is a first perspective view of a head joint of a power assist exoskeleton robot;
FIG. 2 is a second perspective view of the head joint of the assisted exoskeleton robot;
fig. 3 is an enlarged structural view of a portion a of fig. 2.
In the figure: 1-a base; 2-peripheral installation support; 21-a ring-shaped member; 3-an electrically powered support assembly; 31-a first scaffold; 32-a second bracket; 33-a third scaffold; 34-a first drive assembly; 341-a first electric machine; 342-a first pinion gear; 343-a first fixing gear part; 344-a guide block; 345-arc-shaped guide rails; 35-a second drive assembly; 351-a second electric machine; 352-a timing belt assembly; 36-a third drive assembly; 361-a third motor; 362-third pinion; 363-a third gear section; 4-a follow-up controller; 41-attitude tracking sensors; 5-peripheral installation seats; 51-a seat body; 511-a positioning groove; 512-a first profile; 52-a positioning block; 521-a second profile; 53-hand screw.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The head joint of the power-assisted exoskeleton robot shown in fig. 1 and 2 is mounted on a base 1 of the power-assisted exoskeleton robot, the head joint comprises a peripheral mounting bracket 2 and an electric supporting assembly 3, the supporting assembly 3 is disposed between the peripheral mounting bracket 2 and the base 1, the electric supporting assembly 3 has a plurality of motion axes, and the electric supporting assembly 3 can drive the peripheral mounting bracket 2 to move in multiple axes; the device also comprises a follow-up controller 4, wherein the follow-up controller 4 is electrically connected with the electric support assembly 3 to control the operation of the electric support assembly so that the peripheral installation bracket 2 follows the head of a user to move.
Through the above-mentioned head joint, the user can install all kinds of equipment or load on peripheral hardware installing support 2, if can install equipment such as thermal imaging system, communication earphone, gas mask on peripheral hardware installing support 2, because the supporting role of electronic supporting component 3, can alleviate user's head burden by a wide margin or need not user's head at all to undertake the load, electronic supporting component 3 provides whole supporting role, in addition, because along with the operation of the steerable electronic supporting component 3 of controller 4 makes peripheral hardware installing support 2 follow user's head motion, make install all kinds of peripheral hardware on peripheral hardware installing support 2 also can follow user's head synchronous motion.
Preferably, the peripheral mounting bracket 2 comprises two rings 21 arranged concentrically and staggered in the axial direction. And the peripheral mounting bracket 2 is provided with a peripheral mounting seat 5, and the peripheral mounting seat 5 can be detached relative to the peripheral mounting bracket 2. The peripheral equipment is arranged on the peripheral installation seat 5 with uniform specification, and is disassembled and assembled relative to the peripheral installation support 2 through the peripheral installation seat 5, so that various peripherals can be fixed conveniently, a peripheral interface can be arranged on the peripheral installation seat 5, the peripheral equipment can be directly arranged on the peripheral installation seat 5, or the peripheral equipment is arranged on the peripheral installation support 2 through a specially designed fixed jig, and therefore the peripheral equipment can be disassembled and assembled conveniently, the disassembling and assembling methods of various peripheral equipment are consistent, and disassembling and assembling troubles caused by different assembling methods of various peripheral equipment are avoided.
Specifically, as shown in fig. 3, the peripheral installation base 5 includes a base 51, and a positioning groove 511 is formed on an upper side of the base 51; a first molded surface 512 is arranged on the lower side of the seat body 51, a positioning block 52 is further arranged on the lower side of the seat body 51, the positioning block 52 can slide relative to the seat body 51, a second molded surface 521 is arranged on the positioning block 52, and the second molded surface 521 can be matched with the first molded surface 512 to form a positioning groove which can act on the annular part 21; the seat body 51 is further rotatably provided with a hand screw 53, the hand screw 53 is arranged on the lower side of the seat body 51, and the hand screw 53 is connected with the positioning block 52 through a thread pair, so that the positioning block 52 can be driven to translate when the hand screw 53 rotates. With the above structure, the user can fix the peripheral mounting seat 5 with respect to the peripheral mounting bracket 2 or can detach it with respect to the peripheral mounting bracket 2 by rotating the hand screw 53. When the peripheral mounting seat 5 is installed, the upper ring-shaped member 21 enters the positioning groove 511, then the first profile 512 abuts against the lower ring-shaped member 21, and then the hand screw 53 is rotated to make the second profile 521 on the positioning block 52 abut against the lower ring-shaped member 21 to complete the fixed installation, which is convenient to operate.
The electric support assembly 3 comprises a first bracket 31, a second bracket 32 and a third bracket 33; the first bracket 31 is mounted on the base 1 and is rotatable relative to the base 1 so that the peripheral mounting bracket 2 can follow the head shaking motion of the user's head; the second bracket 32 is mounted on the first bracket 31 and can swing left and right relative to the first bracket 31, so that the peripheral mounting bracket 2 can follow the left and right head swinging motion of the head of a user; the third bracket 33 is mounted on the second bracket 32 and can be swung in pitch relative to the second bracket 32, so that the peripheral mounting bracket 2 can follow the nodding and raising actions of the head of a user; the peripheral mounting bracket 2 is fixed to the third bracket 33. Through setting up three motion axis for electronic supporting component 3 can do the triaxial motion, can follow the user and carry out the combination action of point new line, control the yaw, shake the head and three kinds of actions.
Specifically, a first driving assembly 34 is arranged between the first bracket 31 and the base 1 to drive the relative movement of the two; the first driving assembly 34 includes a first motor 341, a first pinion gear 342, and a first fixing gear 343; the first fixing gear part 343 is mounted on the base 1 or integrally formed with the base 1; the first pinion gear 342 is in driving connection with an output shaft of the first motor 341; the first pinion gear 342 is engaged with the first motor 341. The base 1 is provided with a guide block 344, and the first bracket 31 is fixed with an arc-shaped guide rail 345 matched with the guide block 344.
A second driving assembly 35 is arranged between the second bracket 32 and the first bracket 31, and the second driving assembly 35 comprises a second motor 351; the second bracket 32 is hinged to the first bracket 31, and the relative rotation between the two is driven by the second motor 351. The second driving assembly 35 further includes a timing belt assembly 352, and the second motor 351 establishes a driving connection relationship with the second support 32 through the timing belt assembly 352.
A third driving assembly 36 is disposed between the third bracket 33 and the second bracket 32, the third driving assembly 36 includes a third motor 361, a third pinion 362 and a third gear portion 363, and the third gear portion 363 is mounted on the second bracket 32 or integrally formed with the second bracket 32; the third motor 361 is mounted on the third bracket 33, and the third pinion 362 is in driving connection with an output shaft of the third motor 361, and the third pinion 362 is engaged with the third gear 363.
Preferably, the second support 32 has an arc-shaped strip structure, when the head of the user swings, the second support 32 is arranged at the back side of the head of the user, the third support 33 has a block shape, a guide slot is formed on the third support, and the second support 32 passes through the guide slot so as to be slidable along the second support 32; so set up for electronic supporting component 3 overall structure is succinct compact, can not occupy a lot of spaces, and is less to user's interference.
The follow-up controller 4 comprises a control unit and an attitude tracking sensor 41, the attitude tracking sensor 41 can acquire the motion condition of the head of the user, and the control unit can control the electric support assembly 3 to operate according to data acquired by the attitude tracking sensor 41, so that the peripheral installation support 2 can change the attitude along with the change of the attitude of the user to realize the follow-up head motion. In order to better monitor the head movement of the user, the posture tracking sensors 41 are control rockers, the two posture tracking sensors 41 are symmetrically installed on two sides of the ring-shaped member 21, and when the user wears the power-assisted exoskeleton robot, the end parts of the two control rockers are respectively arranged in the left ear and the right ear of the user, so that when the head of the user moves, the control rockers can detect deviation data, the deviation data comprises a deviation direction and a deviation amount, the control unit controls the electric support assembly 3 to move according to the deviation data so as to compensate the deviation data, and the deviation amount in the deviation data is within a set threshold value, so that the purpose that the peripheral installation support 2 follows the head of the user is achieved. Because the posture tracking sensors 41 are arranged on the left and right and are respectively controlled by the two ears of the user, the posture change condition of the head of the user in the three-dimensional space can be conveniently known according to the data collected by the two posture tracking sensors 41, the control mode is set by fully utilizing the characteristics of the head of the user, the difficulty of data collection of the head of the user is reduced, and the method is effective and low in cost. The end of the control rocker can be provided with an earphone unit, so that the user can control the electric support component 3 to move by ears, and simultaneously, the user can listen to communication voice information through the earphone unit at the end of the control rocker extending into the ear canal.
The invention also provides a head joint pose tracking method of the power-assisted exoskeleton robot, which is applied to the control unit and comprises the following steps:
a step a1 of acquiring deviation data of each of the two attitude tracking sensors 41;
step A2, judging whether the deviation amount of at least one deviation data exceeds the set threshold value, if yes, entering step A3;
step A3, determining the operation parameters of the electric support assembly 3 according to the deviation data, wherein the operation parameters comprise the operation direction and the power parameters;
in this step, the controller 3 may determine the movement trend of the head of the user by combining the deviation data of the two posture tracking sensors 41, such as: when the deviation data of the two attitude tracking sensors 41 generate deviation data with opposite deviation directions, the deviation direction of the deviation data is combined, and the user can be judged to shake the head or tilt the head to one side; when the deviation data of the two attitude tracking sensors 41 generate deviation data having the same deviation direction, it is determined that the user intends to tilt the head by combining the deviation directions of the deviation data. And the dynamic parameters are determined according to the deviation, and the larger the deviation is, the larger the acceleration and the displacement are selected.
Step A4, determining the operation parameter component of each bracket according to the operation parameters, namely determining the rotation component and the dynamic parameter component of each of the first bracket 31, the second bracket 32 and the third bracket 33;
step a5, controlling the first motor 341, the second motor 351, and the third motor 361 to rotate according to the operation parameter component, so that each bracket operates according to the operation parameter component, so as to compensate the deviation.
The steps A1-A5 are circularly operated until the deviation amount of each deviation datum is within the set threshold value.
By the control method, the peripheral installation support 2 can be made to have strong following performance along with the movement of the user and small delay.
The structure skillfully utilizes the attributes of the left ear and the right ear of the head of a person to determine the position of the electric support component 3 relative to the head of the user and the movement trend of the head of the user, so that the peripheral installation bracket 2 can always follow the head of the user to move.
In addition, in order to prevent the movement direction of the head of the user from being parallel to the central axis of the control rocker, so that the control rocker has a tendency of going deep into the ear canal of the user, a circle of flanges are arranged on the periphery of the control rocker to prevent the control rocker from continuing to go deep into the ear canal, the control unit can know that the deflection direction of the head of the user is parallel to the central axis of the control rocker by acquiring the pressure of the control rocker to the rocker seat (a pressure sensor can be arranged between the control rocker and the rocker seat), and the electric support component 3 is controlled to operate to enable the pressure of the control rocker to the rocker.
The invention also provides a power-assisted exoskeleton robot which comprises the head joint of the power-assisted exoskeleton robot. The base 1 is further provided with a leg supporting unit, an arm supporting unit and a battery pack, and the design of the leg supporting unit and the arm supporting unit adopts the prior art, which is not described herein any more.
According to the head joint of the power-assisted exoskeleton robot and the power-assisted exoskeleton robot, the peripheral installation bracket and the electric support assembly are arranged, a user can install a load or a peripheral to the peripheral installation bracket, and the electric support assembly provides auxiliary support force for the peripheral installation bracket, so that the load borne by the head of the user is greatly reduced or extra load is not required to be borne, and the head burden of the user is greatly reduced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A head joint of a power-assisted exoskeleton robot is mounted on a base of the power-assisted exoskeleton robot, and is characterized in that the head joint comprises a peripheral mounting bracket and an electric support assembly, the support assembly is arranged between the peripheral mounting bracket and the base, the electric support assembly is provided with a plurality of movement axes, and the electric support assembly can drive the peripheral mounting bracket to move in multiple axes; the follow-up controller is electrically connected with the electric support assembly to control the electric support assembly to operate, so that the peripheral mounting bracket moves along with the head of a user.
2. The power-assisted exoskeleton robot head joint of claim 1 wherein the motorized support assembly comprises a first bracket, a second bracket, and a third bracket; the first bracket is mounted on the base and can rotate relative to the base, so that the peripheral mounting bracket can follow the head shaking action of the head of a user; the second bracket is arranged on the first bracket and can swing left and right relative to the first bracket, so that the peripheral installation bracket can follow the left and right head swinging motion of the head of a user; the third bracket is arranged on the second bracket and can do pitching swing relative to the second bracket, so that the peripheral installation bracket can follow the nodding and head-raising actions of the head of a user; the peripheral installation support is fixed on the third support.
3. The power-assisted exoskeleton robot head joint of claim 2 wherein a first drive assembly is disposed between the first support and the base to drive relative movement therebetween; the first driving assembly comprises a first motor, a first pinion and a first fixed gear part; the first fixing gear part is mounted on the base or integrally formed with the base; the first pinion is in driving connection with an output shaft of the first motor; the first pinion gear is engaged with the first motor.
4. The power-assisted exoskeleton robot head joint of claim 3 wherein a guide block is mounted on the base, and an arc-shaped guide rail matched with the guide block for use is fixed on the first bracket.
5. The power-assisted exoskeleton robot head joint of claim 2 wherein a second drive assembly is disposed between the second bracket and the first bracket, the second drive assembly comprising a second motor; the second bracket is hinged on the first bracket, and the relative rotation between the second bracket and the first bracket is driven by the second motor.
6. The power assisted exoskeleton robot head joint of claim 5 wherein the second drive assembly further comprises a timing belt assembly through which the second motor establishes its driving connection with the second support.
7. The power-assisted exoskeleton robot head joint of claim 2 wherein a third drive assembly is disposed between the third bracket and the second bracket, the third drive assembly comprising a third motor, a third pinion gear and a third gear portion, the third gear portion being mounted on or integrally formed with the second bracket; the third motor is mounted on the third bracket, the third pinion is in driving connection with an output shaft of the third motor, and the third pinion is meshed with the third gear part.
8. The power-assisted exoskeleton robot head joint of claim 1 wherein the peripheral mounting bracket comprises two rings.
9. The power-assisted exoskeleton robot head joint of claim 8 wherein a peripheral mounting bracket is mounted on the peripheral mounting bracket, the peripheral mounting bracket being detachable with respect to the peripheral mounting bracket.
10. A power assisted exoskeleton robot comprising a head joint of the power assisted exoskeleton robot as claimed in any one of claims 1 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020103299326 | 2020-04-24 | ||
| CN202010329932 | 2020-04-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111546313A true CN111546313A (en) | 2020-08-18 |
Family
ID=71999840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010384761.7A Withdrawn CN111546313A (en) | 2020-04-24 | 2020-05-09 | Head joint of power-assisted exoskeleton robot and power-assisted exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111546313A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319721A (en) * | 2022-10-11 | 2022-11-11 | 南方科技大学 | Outer limb arm device capable of moving along body |
-
2020
- 2020-05-09 CN CN202010384761.7A patent/CN111546313A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319721A (en) * | 2022-10-11 | 2022-11-11 | 南方科技大学 | Outer limb arm device capable of moving along body |
| CN115319721B (en) * | 2022-10-11 | 2022-12-23 | 南方科技大学 | Can follow outer limb arm device of body removal |
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Application publication date: 20200818 |