CN112828863A - Rigid-flexible hybrid lower limb assisting device and assisting method for extravehicular suit - Google Patents
Rigid-flexible hybrid lower limb assisting device and assisting method for extravehicular suit Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention provides a rigid-flexible hybrid lower limb assisting device and an assisting method for extravehicular clothes, which comprise the following steps: the upper body bandage, the hip joint elastic belt, the thigh bandage, the thigh support, the shank bandage, the backboard, the hip joint power assisting unit and the knee joint power assisting unit; each hip joint assist unit comprises: a hip joint Bowden wire, a hip joint motor turntable and a hip joint motor; each knee joint assisting unit comprises: the knee joint motor turntable comprises a first knee joint Bowden cable, a second knee joint Bowden cable, a knee joint motor, a knee joint turntable and a knee joint motor turntable. The invention designs the rigid-flexible hybrid power assisting device which is combined actively and passively by combining human gait analysis and joint resistance moment of the space suit, so that the power assisting device realizes bidirectional power assisting for hip joints and knee joints of spacemen when wearing the extravehicular suit in a limited space layout.
Description
Technical Field
The invention belongs to the technical field of special service robots, and particularly relates to a rigid-flexible hybrid lower limb assisting device and an assisting method for an extravehicular suit.
Background
The extravehicular garment is a special garment worn by astronauts during extravehicular operation on the moon or other spaces, and due to the fact that various adverse factors of space environments need to be resisted, the extravehicular garment is usually internally pressurized, the physical safety of the astronauts can be guaranteed, and the inconvenience of limb activities of the astronauts is also brought. The literature shows that the torque of the joints of the upper and lower limbs of the astronaut wearing the extravehicular suit is increased by about 50 percent compared with that of the astronaut wearing the extravehicular suit during normal activities.
In order to overcome the joint resisting moment of the extravehicular suit and effectively reduce the physical consumption of astronauts, a human body power assisting device is required. In the prior art, a human body power assisting device usually adopts an exoskeleton power assisting mode. The exoskeleton power assisting device is divided into a rigid exoskeleton power assisting device and a flexible exoskeleton power assisting device according to different structural forms and force transmission forms of the exoskeleton power assisting device. Rigid exoskeleton power-assisted devices are usually attached to a human body by a rigid bracket, and loads are transferred to the ground through the bracket; flexible exoskeleton force boosters typically do not have a brace device, and typically employ bowden cables to transmit force to a strap attached to the limb.
A wearable flexible lower limb assistance robot (CN109662869A) in the patent adopts a Bowden wire to assist the knee and the ankle joint, and the assistance effect is effective. Patent "a flexible helping hand equipment of wearing formula" (CN111409061A) adopts single motor to realize the helping hand to hip, knee, ankle three joints, though reduce from bearing weight by a wide margin, because the joint moment that each joint angle change leads to changes at any time, single motor can't realize the moment compliance control to every joint, therefore difficult reaching respond well helping hand effect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a rigid-flexible hybrid lower limb assisting device and an assisting method for extravehicular lower limbs, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a rigid-flexible hybrid lower limb assisting device for an extravehicular suit, which comprises: an upper body bandage (1), a hip joint elastic belt (2), a thigh bandage (3), a thigh support (4), a shank support (5), a shank bandage (6), a backboard (7), a hip joint power assisting unit (8) and a knee joint power assisting unit (9);
the upper body bandage (1) is fixedly connected with the back plate (7);
the hip joint elastic belt (2) is arranged below the upper body bandage (1) and is fixedly connected with the upper body bandage (1);
the number of the thigh binding bands (3) is two, the thigh binding bands are arranged below the hip joint elastic band (2) in a bilateral symmetry mode, and the front portion of each thigh binding band (3) is fixedly connected with the bottom of the hip joint elastic band (2);
the number of the shank binding bands (6) is two, and the shank binding bands are arranged below the thigh binding bands (3) on the corresponding sides in a bilateral symmetry manner;
the thigh bracket (4) is arranged on the outer side of the thigh strap (3) on each side; the outer side of the shank binding band (6) on each side is provided with the shank bracket (5); wherein the top of the thigh bracket (4) is fixed with the outer side of the thigh strap (3); the bottom of the shank bracket (5) is fixed with the outer side of the shank binding band (6); the bottom of the thigh support (4) is hinged with the top of the shank support (5);
the number of the hip joint power-assisted units (8) is two, and the two hip joint power-assisted units are respectively used for assisting the left hip joint and the right hip joint; each hip joint assist unit (8) comprises: a hip joint Bowden wire (8.1), a hip joint motor turntable (8.2) and a hip joint motor (8.3); wherein the hip joint motor (8.3) is fixed on the backboard (7); the hip joint motor (8.3) is connected with the hip joint motor turntable (8.2) and is used for driving the hip joint motor turntable (8.2) to rotate; one end of the hip joint Bowden cable (8.1) is fixed with the hip joint motor turntable (8.2); the other end of the hip joint Bowden cable (8.1) is fixed at the back of the thigh bandage (3) at the corresponding side as an anchor point;
the knee joint power assisting units (9) are arranged in two numbers and are respectively used for assisting the left knee joint and the right knee joint; each knee joint power assisting unit (9) comprises: a first knee joint Bowden cable (9.1), a second knee joint Bowden cable (9.2), a knee joint motor (9.3), a knee joint turntable (9.4) and a knee joint motor turntable (9.5); the knee joint rotary table (9.4) is arranged at the intersection point position of the thigh support (4) and the shank support (5) on the corresponding side; the knee joint rotary table (9.4) is hinged with the bottom of the thigh support (4) at the corresponding side and is fixedly connected with the top of the shank support (5) at the corresponding side; the knee joint motor (9.3) is fixed on the back plate (7); the knee joint motor (9.3) is connected with the knee joint motor turntable (9.5) and is used for driving the knee joint motor turntable (9.5) to rotate; one end of the first knee joint Bowden cable (9.1) is fixed with a 1 st position point (D1) of the knee joint motor turntable (9.5); the other end of the first knee bowden cable (9.1) is fixed with a 2 nd position point (D2) of the knee turntable (9.4); one end of the second knee joint Bowden cable (9.2) is fixed with a 3 rd position point (D3) of the knee joint motor turntable (9.5); the other end of the second knee bowden cable (9.2) is fixed to the 4 th position point (D4) of the knee turntable (9.4).
Preferably, the hip bowden cable (8.1) comprises a hip wire cable (8.1.1) and a hip wire sheath (8.1.2); -arranging a first hip-wire-sheath anchor point (C1) at the output of the hip-motor turntable (8.2), -arranging a second hip-wire-sheath anchor point (C2) on the backplate (7), the hip-wire sheath (8.1.2) being located between the first hip-wire-sheath anchor point (C1) and the second hip-wire-sheath anchor point (C2).
Preferably, the first knee joint bowden cable (9.1) and the second knee joint bowden cable (9.2) are identical in structure and comprise a knee joint steel wire rope (B1) and a knee joint wire sheath (B2);
wherein a first knee joint line sheath anchor point (B3) is arranged on the thigh support (4), and a second knee joint line sheath anchor point (B4) is arranged on the backboard (7); the knee joint wire sheath (B2) is located between the first knee joint wire sheath anchor (B3) and the second knee joint wire sheath anchor (B4).
Preferably, the device also comprises a control box (10) and a battery (11);
the battery (11) is fixed on the rear back plate (7); the control box (10) is fixed on the rear back plate (7); the control box (10) is respectively connected with the hip joint motor (8.3) and the knee joint motor (9.3).
Preferably, the device also comprises a hip joint posture detection unit and a knee joint posture detection unit;
the number of the hip joint posture detection units is two, and the hip joint posture detection units are respectively arranged on hip joints on the corresponding side; the knee joint posture detection units are arranged in two numbers and are respectively arranged on the knee joints on the corresponding side;
the hip joint posture detection unit and the knee joint posture detection unit are both connected to the control box (10).
The invention also provides a cabin outer clothing lower limb assisting method of the cabin outer clothing lower limb assisting device with rigid and flexible mixing, which comprises the following steps:
in a gait cycle of the astronaut walking outside the cabin, two legs mainly comprise a support phase mode and a swing phase mode;
when the posture of the lower limb is detected to be in a support phase mode through the hip joint posture detection unit and the knee joint posture detection unit, the control box (10) drives a hip joint motor (8.3), the hip joint motor (8.3) drives a hip joint motor turntable (8.2) to rotate, and then a hip joint Bowden wire (8.1) is driven to pull an anchor point at the rear part of a thigh, so that the assistance to the hip joint extension action is realized;
the knee joint needs to complete an extension action and a flexion action in the supporting phase; specifically, according to the detected posture change, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate in the forward direction, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint stretching action is completed; then, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate reversely, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint flexion action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable (9.4) to rotate forwards and backwards;
when the hip joint posture detection unit and the knee joint posture detection unit detect that the posture of the lower limb is in a swing phase mode, the control box (10) assists the flexion of the hip joint through the hip joint assisting unit (8); specifically, the hip joint elastic belt (2) is in a tight state due to the stretching action of the hip joint, and the assistance to the hip joint buckling action is realized through the pretightening force of the tight state;
the knee joint needs to complete an extension action and a flexion action in the swing phase; specifically, according to the detected posture change, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate in the forward direction, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint stretching action is completed; then, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate reversely, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint flexion action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable (9.4) to rotate forwards and backwards;
by the aid of the method, assistance to the hip joint of the lower limbs of the astronaut and bidirectional assistance to the knee joint of the astronaut are achieved in the walking process.
The rigid-flexible hybrid lower limb assisting device and the assisting method for the extravehicular lower limbs, provided by the invention, have the following advantages:
the invention designs the rigid-flexible hybrid power assisting device which is combined actively and passively by combining human gait analysis and joint resistance moment of the space suit, so that the power assisting device realizes bidirectional power assisting for hip joints and knee joints of spacemen when wearing the extravehicular suit in a limited space layout.
Drawings
FIG. 1 is an isometric view of a rigid-flexible hybrid deck lower limb assist device provided by the present invention;
FIG. 2 is a rear view of a rigid-flexible hybrid deck lower limb assist device provided by the present invention;
FIG. 3 is a front view of a rigid-flexible hybrid deck lower limb assist device provided by the present invention;
FIG. 4 is a right side view of a rigid-flexible hybrid deck lower limb assist device provided by the present invention;
FIG. 5 is a schematic diagram of the transmission of the Bowden cable for the knee joint according to the present invention;
fig. 6 is a layout diagram of knee joint bowden cables provided by the invention on a knee joint motor turntable.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a rigid-flexible mixed lower limb assisting device for extravehicular clothes, which overcomes joint resisting moment of the extravehicular clothes and can effectively reduce physical consumption of astronauts, thereby increasing the extravehicular activity time and safety. Specifically, the invention designs a rigid-flexible hybrid lower limb power assisting device aiming at the problem of joint resistance of the extravehicular garment, and mainly considers that the power assisting effect is influenced by the fact that the simple flexible power assisting device is greatly related to the elasticity of a human limb binding band and the arrangement of an anchor point, so that a plurality of rigid supports are added on the basis of flexible force transmission of a Bowden cable, the effectiveness of force transmission is ensured, and meanwhile, the rigid supports can be tightly attached to the limbs of a astronaut without influencing the extravehicular garment worn by the astronaut. Therefore, the invention combines human gait analysis and joint resistance moment of the space suit, and designs the rigid-flexible hybrid active-passive combined power assisting device, so that the power assisting device realizes bidirectional power assisting for hip joints and knee joints of spacemen when wearing the extravehicular suit in a limited space layout.
According to the related documents, in the periodic gait of normal walking of a person, the hip joint and the ankle joint do positive work, the knee joint does negative work, but after the person wears the extravehicular suit, the movement of the ankle joint is limited, and the gas resistance of the extravehicular suit needs to be overcome during the bidirectional movement of the hip joint and the knee joint, so that the assistance to the hip joint and the knee joint of the extravehicular suit needs to adopt a bidirectional assistance mode. In addition, for the assistance form of the knee joint, the conventional literature or patent adopts an anchor point which is attached to the lower leg by pulling a bowden cable, but the process causes great change of the moment arm of the bowden cable and the rotating shaft of the knee joint, thereby causing instability of moment change of the knee joint. Therefore, the rigid turntable is added at the knee joint position, so that the arm of force can be kept unchanged when the Bowden cable is stretched, and the control is convenient. Aiming at the assistance form of the hip joint, the extension freedom degree of the hip joint can be directly pulled by a steel wire rope to be attached to an anchor point at the rear part of a thigh, and the flexion freedom degree of the hip joint is considered that the extravehicular suit space is limited, and in addition, the flexion action of the hip joint is in a lower limb swing phase, and the extravehicular suit resistance is mainly overcome. Therefore, the assistance mode of the passive elastic belt is adopted. The size of the device is strictly designed according to the space requirement of the extravehicular suit, and the composition and the principle of the rigid-flexible hybrid extravehicular suit lower limb power assisting device are as follows.
Referring to fig. 1-4, the invention provides a rigid-flexible hybrid lower limb assisting device for an extravehicular suit, which comprises: the upper body bandage 1, the hip joint elastic band 2, the thigh bandage 3, the thigh support 4, the shank support 5, the shank bandage 6, the back plate 7, the hip joint assisting unit 8 and the knee joint assisting unit 9.
Foundation structure
The upper body bandage 1 is attached to the upper body of the astronaut, and can be tightened in front of the chest and at the waist of the astronaut, and the upper body bandage 1 is fixedly connected with the back plate 7;
the hip joint elastic belt 2 is arranged below the upper body bandage 1 and is fixedly connected with the upper body bandage 1; specifically, one end of the hip joint elastic belt 2 is fixed at the waist position of the upper body bandage 1, and the other end is fixed at the front part of the thigh bandage 3, so that the hip joint elastic belt can assist the force when the hip joint starts the flexion action from the extension state.
The number of the thigh binding bands 3 is two, the thigh binding bands are arranged below the hip joint elastic band 2 in a bilateral symmetry mode, and the front portions of the thigh binding bands 3 are fixedly connected with the bottom of the hip joint elastic band 2; the thigh strap 3 tightens the thigh when in use.
The number of the shank straps 6 is two, and the shank straps are arranged below the thigh straps 3 on the corresponding sides in a bilateral symmetry manner;
a thigh bracket 4 is arranged on the outer side of the thigh strap 3 on each side; a shank bracket 5 is arranged at the outer side of the shank binding band 6 at each side; wherein, the top of the thigh bracket 4 is fixed with the outer side of the thigh bandage 3; the bottom of the shank bracket 5 is fixed with the outer side of the shank binding band 6; the bottom of the thigh support 4 is hinged with the top of the shank support 5;
in addition, the thigh link 4 is provided with a first knee joint line sheath anchor point B3.
The knee joint Bowden cable sheath A and the knee joint Bowden cable sheath B are provided with anchor points.
(II) hip joint power assisting unit
The number of the hip joint power assisting units 8 is two, and the two hip joint power assisting units are respectively used for assisting the left hip joint and the right hip joint; each hip joint assist unit 8 comprises: a hip joint Bowden wire 8.1, a hip joint motor turntable 8.2 and a hip joint motor 8.3; wherein, the hip joint motor 8.3 is fixed on the backboard 7 and mainly provides energy for the hip joint extension movement. The hip joint motor 8.3 is connected with the hip joint motor turntable 8.2 and is used for driving the hip joint motor turntable 8.2 to rotate; specifically, the end face of the hip joint motor turntable 8.2 is fixed on the output shaft of the hip joint motor 8.3, and can be driven by the hip joint motor 8.3 to rotate, so as to drive the hip joint bowden cable to transmit force.
One end of a hip joint Bowden wire 8.1 is fixed with a hip joint motor turntable 8.2; the other end of the hip joint Bowden cable 8.1 is fixed at the back of the thigh bandage 3 at the corresponding side as an anchor point;
the hip joint bowden cable 8.1 comprises a hip joint steel wire rope 8.1.1 and a hip joint wire sheath 8.1.2; a first hip joint line sheath anchor point C1 is arranged at the output end of the hip joint motor turntable 8.2, a second hip joint line sheath anchor point C2 is arranged on the backboard 7, and the hip joint line sheath 8.1.2 is positioned between the first hip joint line sheath anchor point C1 and the second hip joint line sheath anchor point C2. Therefore, the section from the hip joint motor turntable 8.2 to the back plate 7 belongs to a flexible part due to the action of the wire sheath, and the shape of the flexible part is not influenced by the force transmission of the steel wire rope.
Specifically, one end of a hip joint steel wire rope 8.1.1 is fixed at an anchor point of a thigh bandage, the other end of the hip joint steel wire rope is fixed on a hip joint motor turntable 8.2, flexible force transmission of a Bowden wire is achieved through a hip joint wire sheath in the middle, and assistance of hip joint extension freedom degree can be achieved.
(III) Knee joint assisting unit
The knee joint assisting units 9 are arranged in two numbers and are respectively used for assisting the left knee joint and the right knee joint; each knee joint assist unit 9 includes: a first knee joint Bowden cable 9.1, a second knee joint Bowden cable 9.2, a knee joint motor 9.3, a knee joint turntable 9.4 and a knee joint motor turntable 9.5; the knee joint rotary table 9.4 is arranged at the intersection point position of the thigh support 4 and the shank support 5 at the corresponding side; the knee joint rotary table 9.4 is hinged with the bottom of the thigh support 4 at the corresponding side and is fixedly connected with the top of the shank support 5 at the corresponding side; the knee joint motor 9.3 is fixed on the backboard 7 and mainly provides energy for the knee joint stretching and flexing movement. The knee joint motor 9.3 is connected with the knee joint motor turntable 9.5 and used for driving the knee joint motor turntable 9.5 to rotate; specifically, the knee joint motor turntable 9.5 is fixed on an output shaft of the knee joint motor 9.3, and can be driven by the knee joint motor 9.3 to rotate forwards and backwards, so as to drive the force transmission of the first knee joint bowden cable 9.1 and the second knee joint bowden cable 9.2.
Referring to fig. 5 and 6, one end of the first knee bowden cable 9.1 is fixed with the 1 st position point D1 of the knee motor turntable 9.5; the other end of the first knee bowden cable 9.1 is fixed with a 2 nd position point D2 of the knee turntable 9.4; one end of the second knee bowden cable 9.2 is fixed with a 3 rd position point D3 of the knee motor turntable 9.5; the other end of the second knee bowden cable 9.2 is fixed to the 4 th position point D4 of the knee turntable 9.4. When the knee joint motor turntable 9.5 rotates, the first knee joint Bowden cable 9.1 and the second knee joint Bowden cable 9.2 are pulled to move, and then the knee joint turntable 9.4 is driven to rotate in the forward direction or the reverse direction; when the knee joint turntable 9.4 rotates forwards or backwards, the lower leg support 5 is driven to swing in an extending action or a buckling action relative to the thigh support 4, and the two-way assistance to the knee joint is completed.
In addition, the first knee joint bowden cable 9.1 and the second knee joint bowden cable 9.2 have the same structure and both comprise a knee joint steel wire rope B1 and a knee joint wire sheath B2;
wherein, a first knee joint line sheath anchor point B3 is arranged on the upper surface of the thigh support 4, and a second knee joint line sheath anchor point B4 is arranged on the back plate 7; the knee joint wire sheath B2 is located between the first knee joint wire sheath anchor point B3 and the second knee joint wire sheath anchor point B4.
Therefore, one end of the knee joint steel wire rope is fixed on the knee joint rotary table 9.4, the other end of the knee joint steel wire rope is fixed on the knee joint motor rotary table 9.5, the flexible force transmission of the Bowden wire is realized by the knee joint wire sheath in the middle, and the knee joint extension freedom degree assisting force can be realized.
(IV) control box, battery and attitude detecting unit
Also comprises a control box 10 and a battery 11;
the battery 11 is fixed on the back plate 7, and mainly realizes power supply to the system. The control box 10 is fixed on the backboard 7, and the core control board of the main system and the input and output interfaces are formed, which is the core brain of the device. The control box 10 is respectively connected with a hip joint motor 8.3 and a knee joint motor 9.3.
The backboard bears hardware such as the knee joint motor and the rotary table, the hip joint motor and the rotary table, the control box and the battery, and is fixedly connected with the upper body bandage, so that the astronaut can carry on the back to enter the extravehicular suit.
The hip joint posture detection unit and the knee joint posture detection unit are also included;
the number of the hip joint posture detection units is two, and the hip joint posture detection units are respectively arranged on hip joints on the corresponding side; the knee joint posture detection units are arranged in two numbers and are respectively arranged on the knee joints on the corresponding side;
the hip joint posture detection unit and the knee joint posture detection unit are both connected to the control box 10.
The invention also provides a cabin outer clothing lower limb assisting method of the cabin outer clothing lower limb assisting device with rigid and flexible mixing, which comprises the following steps:
before wearing the extravehicular suit, the astronaut wears the lower limb power assisting device, and IMUs are arranged on the thighs and the shanks and used for detecting postures.
In a gait cycle of the astronaut walking outside the cabin, two legs mainly comprise a support phase mode and a swing phase mode;
aiming at the lower limbs of the supporting phase: when detecting that the lower limb gesture is the support phase mode through hip joint gesture detecting element and knee joint gesture detecting element, booster unit mainly carries out the helping hand to hip joint extension action, promptly: the control box 10 drives a hip joint motor 8.3, the hip joint motor 8.3 drives a hip joint motor turntable 8.2 to rotate, and then drives a hip joint Bowden wire 8.1 to pull an anchor point at the rear part of a thigh, so that assistance for hip joint extension action is realized;
the knee joint needs to complete an extension action and a flexion action in the supporting phase; specifically, according to the detected posture change, the knee joint motor 9.3 drives the knee joint turntable 9.4 to rotate in the forward direction, and further drives the first knee joint bowden cable 9.1 and the second knee joint bowden cable 9.2 to move, so that the knee joint stretching action is completed; then, the knee joint motor 9.3 drives the knee joint turntable 9.4 to rotate reversely, and further drives the first knee joint Bowden cable 9.1 and the second knee joint Bowden cable 9.2 to move, so that the knee joint buckling action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable 9.4 to rotate forwards and backwards;
aiming at the lower limbs of the swing phase: when the hip joint posture detection unit and the knee joint posture detection unit detect that the posture of the lower limb is in a swing phase mode, the control box 10 assists the flexion of the hip joint through the hip joint assisting unit 8; specifically, the hip joint elastic belt 2 is in a tight state due to the stretching action of the hip joint, and the assistance to the hip joint buckling action is realized through the pretightening force of the tight state;
the knee joint needs to complete an extension action and a flexion action in the swing phase; specifically, according to the detected posture change, the knee joint motor 9.3 drives the knee joint turntable 9.4 to rotate in the forward direction, and further drives the first knee joint bowden cable 9.1 and the second knee joint bowden cable 9.2 to move, so that the knee joint stretching action is completed; then, the knee joint motor 9.3 drives the knee joint turntable 9.4 to rotate reversely, and further drives the first knee joint Bowden cable 9.1 and the second knee joint Bowden cable 9.2 to move, so that the knee joint buckling action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable 9.4 to rotate forwards and backwards;
by the aid of the method, assistance to the hip joint of the lower limbs of the astronaut and bidirectional assistance to the knee joint of the astronaut are achieved in the walking process.
One specific embodiment is described below:
according to the rigid-flexible mixed lower limb power assisting device for the extravehicular suit, the space inside the extravehicular suit needs to be measured at the beginning of design, and all functions and interference of the extravehicular suit after a spacecraft wears the power assisting device are not affected.
When the astronaut wears the extravehicular suit to walk, the bearing moment of the hip joint is about-50 Nm to 140Nm, and the bearing moment of the knee joint is about-30 Nm to 40 Nm. Meanwhile, the angle change range of the hip joint is-25 degrees to 15 degrees, and the angle change range of the knee joint is 0 degree to 60 degrees. Based on the data, a basis can be provided for the type selection of the energy driving system of the power assisting device, and meanwhile, the power assisting of the power assisting device accounts for 50% of the bearing torque.
Based on the selection, a 100W servo motor and a 67:1 speed reducer of the hip joint motor are selected, the distance between the anchor point position of the hip joint power assistance and the joint rotating shaft is set to be 200mm, and the diameter of a rotating disc of the hip joint motor is 100 mm. For the knee joint, a 60W servo motor +67:1 reducer is selected, and the diameter of the knee joint turntable is set to be 100 mm. The thigh bandage and the shank bandage are made of inelastic and adhesive textiles, and the hip joint elastic belt is made of textiles such as rubber wires with high elasticity. The thigh support and the shank support are made of carbon fiber plates, and the back plate is made of carbon fiber plates to reduce the weight of the whole device.
In a gait cycle of the astronaut walking outside the cabin, the two legs mainly comprise a support phase mode and a swing phase mode, when the right leg of the astronaut is the lower limb of the support phase, after the IMU detects the posture of the lower limb, the power assisting device mainly assists the stretching action of the hip joint of the right leg, and the hip joint motor of the right leg drives the hip joint motor turntable of the right leg to drive the hip joint steel wire rope of the right leg to pull the anchor point at the rear part of the thigh of the right leg, so that the power assisting of the stretching action of the hip joint of the right leg is realized. The right leg and knee joint needs to complete an extension and flexion action in the process, and according to the detected posture change, the right leg and knee joint motor drives the right leg and knee joint rotary table to realize a bidirectional power-assisted mode for the right leg and knee joint through forward rotation and reverse rotation. Meanwhile, the left leg is a swing-phase lower limb, after the IMU detects the posture of the lower limb, the power assisting device mainly assists the buckling action of the hip joint of the left leg, and the elastic belt is in a tight state at the last stage of the stretching action of the hip joint of the left leg, so that the power assisting of the buckling action of the hip joint is realized through the pretightening force. And the left leg and knee joint also needs to finish an extension and flexion action in the swinging process, and according to the detected posture change, the left leg and knee joint motor drives the knee joint turntable to realize a bidirectional power-assisted mode on the left leg and knee joint through forward rotation and reverse rotation. By the method, in the walking process, the two-way power assistance to the hip and knee joint of the lower limb of the astronaut can be realized, and the gait motion of the astronaut outside the cabin is basically consistent with the motion of the astronaut on the ground.
The invention designs a hip and knee bidirectional booster aiming at the characteristics of joint resistance of an extravehicular suit and walking gait analysis of a human body, is a hip joint and knee joint bidirectional booster, is a rigid-flexible hybrid booster and adopts an active and passive combined booster, and has the following characteristics:
1) the device is placed in the cabin outer garment, the whole flexible power assisting device is adopted, and rigid elements such as a turntable, a bracket and the like are additionally arranged at the knee joint, so that the stability of the power assisting torque is realized on the premise of not occupying much space;
2) aiming at the analysis of the walking gait of the hip joint, the active power assistance is adopted in the supporting phase, and the passive power assistance mode is adopted in the swinging phase. Thus, the size requirement of the whole device is ensured, and the bidirectional assistance is realized for the hip joint and the knee joint.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (6)
1. A rigid-flexible hybrid lower limb assisting device for extravehicular clothes is characterized by comprising: an upper body bandage (1), a hip joint elastic belt (2), a thigh bandage (3), a thigh support (4), a shank support (5), a shank bandage (6), a backboard (7), a hip joint power assisting unit (8) and a knee joint power assisting unit (9);
the upper body bandage (1) is fixedly connected with the back plate (7);
the hip joint elastic belt (2) is arranged below the upper body bandage (1) and is fixedly connected with the upper body bandage (1);
the number of the thigh binding bands (3) is two, the thigh binding bands are arranged below the hip joint elastic band (2) in a bilateral symmetry mode, and the front portion of each thigh binding band (3) is fixedly connected with the bottom of the hip joint elastic band (2);
the number of the shank binding bands (6) is two, and the shank binding bands are arranged below the thigh binding bands (3) on the corresponding sides in a bilateral symmetry manner;
the thigh bracket (4) is arranged on the outer side of the thigh strap (3) on each side; the outer side of the shank binding band (6) on each side is provided with the shank bracket (5); wherein the top of the thigh bracket (4) is fixed with the outer side of the thigh strap (3); the bottom of the shank bracket (5) is fixed with the outer side of the shank binding band (6); the bottom of the thigh support (4) is hinged with the top of the shank support (5);
the number of the hip joint power-assisted units (8) is two, and the two hip joint power-assisted units are respectively used for assisting the left hip joint and the right hip joint; each hip joint assist unit (8) comprises: a hip joint Bowden wire (8.1), a hip joint motor turntable (8.2) and a hip joint motor (8.3); wherein the hip joint motor (8.3) is fixed on the backboard (7); the hip joint motor (8.3) is connected with the hip joint motor turntable (8.2) and is used for driving the hip joint motor turntable (8.2) to rotate; one end of the hip joint Bowden cable (8.1) is fixed with the hip joint motor turntable (8.2); the other end of the hip joint Bowden cable (8.1) is fixed at the back of the thigh bandage (3) at the corresponding side as an anchor point;
the knee joint power assisting units (9) are arranged in two numbers and are respectively used for assisting the left knee joint and the right knee joint; each knee joint power assisting unit (9) comprises: a first knee joint Bowden cable (9.1), a second knee joint Bowden cable (9.2), a knee joint motor (9.3), a knee joint turntable (9.4) and a knee joint motor turntable (9.5); the knee joint rotary table (9.4) is arranged at the intersection point position of the thigh support (4) and the shank support (5) on the corresponding side; the knee joint rotary table (9.4) is hinged with the bottom of the thigh support (4) at the corresponding side and is fixedly connected with the top of the shank support (5) at the corresponding side; the knee joint motor (9.3) is fixed on the back plate (7); the knee joint motor (9.3) is connected with the knee joint motor turntable (9.5) and is used for driving the knee joint motor turntable (9.5) to rotate; one end of the first knee joint Bowden cable (9.1) is fixed with a 1 st position point (D1) of the knee joint motor turntable (9.5); the other end of the first knee bowden cable (9.1) is fixed with a 2 nd position point (D2) of the knee turntable (9.4); one end of the second knee joint Bowden cable (9.2) is fixed with a 3 rd position point (D3) of the knee joint motor turntable (9.5); the other end of the second knee bowden cable (9.2) is fixed to the 4 th position point (D4) of the knee turntable (9.4).
2. Rigid-flexible hybrid hatchery jacket lower limb power assistance device according to claim 1, wherein the hip bowden cable (8.1) comprises a hip wire cable (8.1.1) and a hip wire sheath (8.1.2); -arranging a first hip-wire-sheath anchor point (C1) at the output of the hip-motor turntable (8.2), -arranging a second hip-wire-sheath anchor point (C2) on the backplate (7), the hip-wire sheath (8.1.2) being located between the first hip-wire-sheath anchor point (C1) and the second hip-wire-sheath anchor point (C2).
3. Rigid-flexible hybrid hatchback jacket lower limb assistance device according to claim 1, characterized in that the first knee bowden cable (9.1) and the second knee bowden cable (9.2) are structurally identical, each comprising a knee cable (B1) and a knee cable sheath (B2);
wherein a first knee joint line sheath anchor point (B3) is arranged on the thigh support (4), and a second knee joint line sheath anchor point (B4) is arranged on the backboard (7); the knee joint wire sheath (B2) is located between the first knee joint wire sheath anchor (B3) and the second knee joint wire sheath anchor (B4).
4. Rigid-flexible hybrid extra-vehicular leg assist device according to claim 1, further comprising a control box (10) and a battery (11);
the battery (11) is fixed on the rear back plate (7); the control box (10) is fixed on the rear back plate (7); the control box (10) is respectively connected with the hip joint motor (8.3) and the knee joint motor (9.3).
5. The rigid-flexible hybrid extravehicular lower limb power-assisting device according to claim 4, further comprising a hip joint posture detecting unit and a knee joint posture detecting unit;
the number of the hip joint posture detection units is two, and the hip joint posture detection units are respectively arranged on hip joints on the corresponding side; the knee joint posture detection units are arranged in two numbers and are respectively arranged on the knee joints on the corresponding side;
the hip joint posture detection unit and the knee joint posture detection unit are both connected to the control box (10).
6. A method for assisting a rigid-flexible hybrid hatchery lower limb power assist device according to any one of claims 1 to 5, comprising the steps of:
in a gait cycle of the astronaut walking outside the cabin, two legs mainly comprise a support phase mode and a swing phase mode;
when the posture of the lower limb is detected to be in a support phase mode through the hip joint posture detection unit and the knee joint posture detection unit, the control box (10) drives a hip joint motor (8.3), the hip joint motor (8.3) drives a hip joint motor turntable (8.2) to rotate, and then a hip joint Bowden wire (8.1) is driven to pull an anchor point at the rear part of a thigh, so that the assistance to the hip joint extension action is realized;
the knee joint needs to complete an extension action and a flexion action in the supporting phase; specifically, according to the detected posture change, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate in the forward direction, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint stretching action is completed; then, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate reversely, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint flexion action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable (9.4) to rotate forwards and backwards;
when the hip joint posture detection unit and the knee joint posture detection unit detect that the posture of the lower limb is in a swing phase mode, the control box (10) assists the flexion of the hip joint through the hip joint assisting unit (8); specifically, the hip joint elastic belt (2) is in a tight state due to the stretching action of the hip joint, and the assistance to the hip joint buckling action is realized through the pretightening force of the tight state;
the knee joint needs to complete an extension action and a flexion action in the swing phase; specifically, according to the detected posture change, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate in the forward direction, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint stretching action is completed; then, the knee joint motor (9.3) drives the knee joint turntable (9.4) to rotate reversely, and further drives the first knee joint Bowden cable (9.1) and the second knee joint Bowden cable (9.2) to move, so that the knee joint flexion action is completed; the bidirectional power-assisted mode of the knee joint is completed by driving the knee joint turntable (9.4) to rotate forwards and backwards;
by the aid of the method, assistance to the hip joint of the lower limbs of the astronaut and bidirectional assistance to the knee joint of the astronaut are achieved in the walking process.
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