CN114211523A - Exoskeleton joint with variable damping flexible driving - Google Patents
Exoskeleton joint with variable damping flexible driving Download PDFInfo
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- CN114211523A CN114211523A CN202111349905.6A CN202111349905A CN114211523A CN 114211523 A CN114211523 A CN 114211523A CN 202111349905 A CN202111349905 A CN 202111349905A CN 114211523 A CN114211523 A CN 114211523A
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- joint
- magnetorheological damper
- exoskeleton
- connecting block
- shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/006—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeleton joint driven by variable damping in a flexible manner, which comprises a crank-slider series elastic driver, an exoskeleton joint shell and a magnetorheological damper; two joint rolling bearings are arranged in the exoskeleton joint shell and used for supporting a joint center rotating body in a crank-slider series elastic driver, other rod pieces or joints are connected through a joint connecting piece, an elastic element is connected with the exoskeleton joint shell and the joint center rotating body respectively, a first magnetorheological damper connecting block in a magnetorheological damper is connected with the exoskeleton joint shell, a second magnetorheological damper connecting block in the magnetorheological damper is connected with the joint center rotating body, and the crank-slider series elastic driver, the magnetorheological damper and the elastic element are connected in parallel. The mechanism can realize flexible driving and resist external impact, so that the wearing comfort of the exoskeleton is improved.
Description
Technical Field
The invention belongs to the technical field of mechanical joint units, and particularly relates to an exoskeleton joint driven by variable damping in a flexible manner.
Background
The joint of the exoskeleton mainly provides power for joint movement of a wearer, and the traditional exoskeleton joint mostly adopts a scheme that a motor and a speed reducer are connected in series and then are directly connected with an execution part, so that the exoskeleton joint has high rigidity, and the flexibility and the comfort degree of the wearer are limited; the scheme that the serial elastic driver is adopted for driving is adopted, the impact influence generated when the robot collides can be well reduced, but the rigidity of the serial elastic driver is fixed and cannot adapt to different working conditions, and the added elastic element inevitably brings vibration and has low control precision. The existing scheme for reducing the defects of the series elastic driver by adding the damping cannot rapidly change the damping, has high energy consumption, cannot realize continuous adjustment, and has low control precision of the damping; in addition, the average power of the conventional exoskeleton joint is overlarge, and the overall energy consumption is large.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide an exoskeleton joint with variable damping and flexible driving, so that the mechanism can realize flexible driving and can resist external impact, and the wearing comfort of the exoskeleton is improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
an exoskeleton joint driven by variable damping in a flexible manner comprises a crank slider, an elastic driver 1, an exoskeleton joint shell 2 and a magnetorheological damper 3, wherein the crank slider is connected with the elastic driver in series;
two joint rolling bearings 8 are arranged in the exoskeleton joint shell 2 and are used for supporting a joint center rotating body 22 in an elastic driver 1 with a crank slider connected in series, other rod pieces or joints are connected through a joint connecting piece 9, an elastic element 10 is respectively connected with the exoskeleton joint shell 2 and the joint center rotating body 22, a magnetorheological damper connecting block I42 in a magnetorheological damper 3 is connected with the exoskeleton joint shell 2, a magnetorheological damper connecting block II 51 in the magnetorheological damper 3 is connected with the joint center rotating body 22, and the crank slider is connected in parallel among the elastic driver 1, the magnetorheological damper 3 and the elastic element 10 in series.
The center of the joint center rotating body 22 is of a hollow structure and used for placing the magnetorheological damper 3, 4 arc-shaped bosses are arranged on the end face of the joint center rotating body, when a bearing is loaded, axial and circumferential limiting and connecting holes are provided for the second connecting block 51 of the magnetorheological damper, in addition, holes in an array are formed in the end face of the joint center rotating body and are used for connecting the connecting piece 9 and the crank 23 between joints, and the holes in the circumferential array are used for adjusting the relative positions of the crank 23 and the joint center rotating body 22, so that the range of joint output angles is adjusted.
The first magnetorheological damper connecting block 42 is connected with the exoskeleton joint shell 2, adopts a flower-shaped structure, can also adopt other shapes in order to reduce the overall weight, and in addition, the first magnetorheological damper connecting block 42 plays a role of an end cover to limit the mandrel 39.
The end face of the second magnetorheological damper connecting block 51 is provided with 4 bosses which are used for corresponding to the 4 arc-shaped bosses of the joint center rotating body 22, so that circumferential and axial limiting is realized, the whole flower type structure is only used for reducing weight, other shapes can be adopted, 4 circumferential holes are formed in the center of the structure and are used for being connected with the core shaft 39, and the holes in the center are used for leading out coils better.
The exoskeleton joint shell 2 is divided into an upper part and a lower part, and the upper exoskeleton joint shell 2 and the lower exoskeleton joint shell are connected through a copper column 4, a shell supporting plate I5, a shell supporting plate II 6 and a shell supporting plate III 7.
The crank-slider series elastic driver 1 comprises an encoder 11, the encoder 11 is connected with a motor 13, the motor 13 is placed on a motor base 12 and is connected with a guide rail base 30 through a motor fixing base 14, a motor shaft of the motor 13 is connected with a small synchronous belt pulley 15, the small synchronous belt pulley 15 and a large synchronous belt pulley 17 are driven through a synchronous belt 16, the large synchronous belt pulley 17 is connected with a lead screw 24, an elastic slider 26 is connected onto the lead screw 24, lead screw end flange bearings 25 are arranged at two ends of the lead screw 24 to support, the lead screw end flange bearings 25 are embedded into lead screw end stop blocks 18, the lead screw end stop blocks 18 are connected with an exoskeleton joint shell 2, and the lead screw 24 is fixedly connected with the exoskeleton joint shell 2.
The elastic slide block 26 is connected with an elastic slide block base 27, and further connected with an elastic slide block connecting piece 28, the elastic slide block connecting piece 28 can slide on a guide rail 29, the guide rail 29 is connected with a guide rail base 30, the guide rail base 30 is connected with the exoskeleton joint shell 2, and the top of the guide rail base 30 is provided with a motor base 12 and a motor fixing base 14.
The elastic sliding block 26 comprises a sliding block 36, the sliding block 36 is connected with the lead screw 24, optical axes 35 at the four sliding blocks penetrate through the sliding block 36 and are connected to connecting blocks 38 at the front end and the rear end of the sliding block, the optical axes 35 at the sliding block are connected with elastic elements 34 at the sliding block, connecting blocks 37 at the left end and the right end of the sliding block are connected with the connecting blocks 38 at the front end and the rear end of the sliding block, a crank 23 is installed on the connecting blocks 37 at the left end and the right end of the sliding block, a flange edge bearing 33 at the sliding block end is installed in the crank 23, and the fixing is carried out through bolts 31 and gaskets 32.
The elastic sliding block 26 is connected with the crank 23 and fixed with the crank through the bolt 31, the sliding block end flange bearing 33 supports the elastic sliding block 26, the crank 23 is connected with the joint center rotating body 22, the joint center rotating body 22 is meshed with the encoder output end gear 20, and the encoder output end gear 20 is connected with the encoder 21 and is connected with the exoskeleton joint shell 2 through the encoder connecting piece 19.
The magnetorheological damper 3 comprises a core shaft 39, the core shaft 39 and a central hole of a first connecting block 42 of the magnetorheological damper are coaxial and supported through a bearing 61 at an input end, a first sealing ring 41 is arranged between the core shaft 39 and the first connecting block 42 of the magnetorheological damper for sealing, a sealing gasket 60 is arranged between the first connecting block 42 of the magnetorheological damper and a shell 45 of the magnetorheological damper for sealing, a coil 57 is wound on the core shaft 39, magnetorheological fluid 48 is separated from the coil 57 through a spacer 58 and is sealed through a second sealing ring 56, and then the spacer 58 is axially positioned through a side plate 43. The magneto-rheological damper shell 45 and the spacer 58 are respectively provided with 4 grooves for circumferentially fixing the input end disc 46 and the output end disc 47, and then axially fixing the input end disc 46 and the output end disc 47 through the outer end gasket 44 and the inner end gasket 49, so that the input end disc 46 and the output end disc 47 alternately appear to form a snake-shaped loop.
The lengths of the outer end gasket 44 and the inner end gasket 49 can be adjusted so as to adapt to different working conditions, the output end of the mandrel 39 and the outer end flange 50 of the magneto-rheological damper are coaxial, the support is carried out through the output end bearing 53 of the magneto-rheological damper, the sealing is carried out through the sealing gasket 60 and the sealing ring I41, the connection of the mandrel 39 and the connecting block II 51 of the magneto-rheological damper is realized, the connecting block II 51 of the magneto-rheological damper is connected with the joint center rotating body 22, and the input end disc 46 is connected with the connecting block I42 of the magneto-rheological damper and further connected with the exoskeleton joint shell 2.
The inner wall of the magneto-rheological damper shell 45 is provided with 4 flow guide grooves and 4 spline grooves, the four spline grooves are arranged at equal intervals, the flow guide grooves are arranged on two sides of a group of oppositely arranged spline grooves, the flow guide grooves are used for enabling magneto-rheological fluid to be better injected, and the spline grooves are used for achieving circumferential fixation of the input end disc 46.
Dabber 39 adopts hollow structure for the derivation of coil is more convenient, and coil department adopts the circular arc structure to make magnetic field distribution more even, and then makes the magnetic field intensity of snakelike return circuit department higher.
The input end disc 46 is of an annular structure, four bulges are arranged on the outer side of the annular structure and are arranged at equal intervals, the outer side edge of each bulge is larger than a contact end with the annular structure, the output end disc 47 is of an annular structure, four bulges are arranged on the inner side of the annular structure and are arranged at equal intervals, and the inner side edge of each bulge is larger than a contact end with the annular structure.
The invention has the beneficial effects that:
the invention designs a compact and exquisite variable damping flexible driving exoskeleton joint. The serial elastic driver driven by the crank block has an elastic element in a transmission chain, so that the mechanism can realize flexible driving and can resist external impact, and the wearing comfort of the exoskeleton is improved. Moreover, by adding the elastic element into the transmission chain, the elastic element is compressed to store energy when being impacted, and the stored energy is released after the impact force is dissipated, so that the energy consumption of the system is reduced. In addition, a tooth-shaped structure is arranged at the joint rotating body and meshed with the encoder, so that the change of the joint angle is measured, the rotating angle of the motor is measured by the encoder at the motor, and finally the output force can be accurately calculated through the difference value of the two encoders, so that the force control of the exoskeleton is convenient to realize, and a foundation is laid for the flexible control and the man-machine follow-up control of the exoskeleton.
The parallel connection of the magnetorheological dampers is adopted to provide damping, vibration is reduced, the damping range is larger, the damping generation and interruption speed is higher, and the energy consumption is less compared with the traditional damping generation mode, which is related to the high responsiveness and low energy consumption of the magnetorheological fluid. The designed magnetorheological damper adopts a snake-shaped loop, so that the effective contact area of the magnetorheological fluid is enlarged, and larger resisting moment can be generated. In addition, a diversion trench is designed at the shell, so that the magnetorheological fluid is easier to inject. The designed mode of isolating the input plate and the output plate by the spacer enables the gap between the input plate and the output plate to be adjustable, and the size of the gap can be further adjusted by adjusting the thickness of the spacer, so that the maximum value of the resisting moment can be changed as required. The designed unique coil leading-out mode enables the whole sealing performance of the magnetorheological damper to be better.
The magnetorheological dampers connected in parallel are adopted to provide resisting moment, so that the joint can be locked at any angle, and the load can be better transferred.
The torsion spring connected with the transmission chain in parallel is adopted to realize gravity compensation, reduce average power, reduce energy consumption, reduce vibration, enable output force to be more gentle and resist external impact. Taking it as an example of a hip joint, the torsion spring provides an upward lifting moment to the thigh when the thigh is in an upright position, and provides a reverse torque to the thigh when the thigh has been lifted. The torsion spring plays a role in balancing the gravity of the thighs in the whole process, so that the average power of the exoskeleton joints during movement can be reduced, and the energy consumption is reduced in the whole process. In addition, the magneto-rheological damper is connected with the torsion spring in parallel, which is equivalent to forming a dynamic vibration absorber, thereby playing a good vibration damping effect, ensuring that the output force is more gentle and improving the wearing comfort.
Drawings
FIG. 1 is the overall structure of the variable damping compliant drive joint of the present invention.
Fig. 2 is an exploded view of the overall structure of a variable damping compliant drive joint.
Fig. 3 is a structural view of a crank block tandem elastic driving member.
FIG. 4 is a cross-sectional view of a magnetorheological damper.
FIG. 5 is an exploded view of a magnetorheological damper.
Fig. 6 is an exploded view of the resilient slider.
FIG. 7 is a magnetorheological damper housing.
Fig. 8 is a schematic view of the mandrel structure.
Fig. 9 is a schematic structural diagram of an input end disc and an output end disc.
Reference numerals: 1 crank block, elastic driver, 2 exoskeleton joint shell, 3 magnetorheological damper, 4 copper column, 5 shell body support plate I, 6 shell body support plate II, 7 shell body support plate III, 8 joint rolling bearing, 9 joint connecting piece, 10 elastic element, 11 encoder, 12 motor base, 13 motor, 14 motor fixing base, 15 small synchronous belt wheel, 16 synchronous belt, 17 large synchronous belt wheel, 18 lead screw two-end block, 19 encoder connecting piece, 20 encoder output end gear, 21 encoder, 22 joint center rotating body, 23 crank, 24 lead screw, 25 lead screw end flange bearing, 26 elastic slide block, 27 elastic slide block base, 28 elastic slide block connecting piece, 29 guide rail, 30 guide rail base, 31 bolt, 32 gasket, 33 slide block end flange bearing, 34 slide block elastic element, 35 slide block optical axis, 36 slide block, 37 slide block left and right end connecting block, the magnetorheological damper comprises a 38 slider front-end and rear-end connecting block, a 39 mandrel, a 40 check ring I, a 41 seal ring I, a 42 magnetorheological damper connecting block I, a 43 side plate, a 44 outer end gasket, a 45 magnetorheological damper shell, a 46 input end disc, a 47 output end disc, 48 magnetorheological fluid, a 49 inner end gasket, a 50 magnetorheological damper outer end flange, a 51 magnetorheological damper connecting block II, a 52 check ring II, a 53 magnetorheological damper output end bearing, a 54 check ring III, a 55 check ring IV, a 56 seal ring II, a 57 coil, a 58 spacer bush, a 59 check ring V, a 60 seal gasket and a 61 input end bearing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1: the invention relates to a design for a variable damping flexible driving exoskeleton joint, which is the most important part of an exoskeleton. The whole structure of the variable damping compliant driving joint unit is shown in figure 1. The device mainly comprises three parts, namely a crank slider series elastic driver 1, an exoskeleton joint shell 2 and a magneto-rheological damper 3. In the overall structural exploded view of the variable damping compliant drive joint of fig. 2, the interrelationship between the various parts is seen: the whole joint unit is based on an exoskeleton joint shell 2, an upper exoskeleton joint shell 2 and a lower exoskeleton joint shell 2 are connected by a copper column 4, a shell supporting plate I5, a shell supporting plate II 6 and a shell supporting plate III 7, two joint rolling bearings 8 are placed in the exoskeleton joint shell 2 and are used for supporting a joint center rotating body 22 in a crank slider series elastic driver 1, other rod pieces or joints are connected through an inter-joint connecting piece 9, an elastic element 10 is respectively connected with the exoskeleton joint shell 2 and the joint center rotating body 22, a magnetorheological damper connecting block I42 in a magnetorheological damper 3 is connected with the exoskeleton joint shell 2, and a magnetorheological damper connecting block II in the magnetorheological damper 3 is connected with the joint center rotating body 22. Finally, the parallel connection of the crank sliding block, the elastic driver 1, the magnetorheological damper 3 and the elastic element 10 is realized.
The connection relationship between the various parts can be seen in the structure diagram of the crank block tandem elastic driver 1 in fig. 3: the encoder 11 is connected with a motor 13, the motor 13 is placed on a motor base 12 and is connected with a guide rail base 30 through a motor fixing base 14, a motor shaft of the motor 13 is connected with a small synchronous belt wheel 15, the small synchronous belt wheel 15 and a large synchronous belt wheel 17 are driven through a synchronous belt 16, the large synchronous belt wheel 17 is connected with a lead screw 24, an elastic slide block 26 is connected on the lead screw 24, lead screw end flange bearings 25 are arranged at two ends of the lead screw 24 for supporting, the lead screw end flange bearings 25 are embedded into lead screw end stop blocks 18, the lead screw end stop blocks 18 are connected with the exoskeleton joint shell 2, finally, the lead screw is fixedly connected with the exoskeleton joint shell 2, the elastic slide block 26 is connected with an elastic slide block base 27 and further connected with an elastic slide block connecting piece 28, the elastic slide block connecting piece 28 can slide on a guide rail 29, the guide rail 29 is connected with the guide rail base 30, the guide rail base is connected with the exoskeleton joint shell 2. The elastic sliding block 26 is connected with the crank 23 and fixed with the crank through the bolt 31, the sliding block end flange bearing 33 supports the elastic sliding block 26, the crank 23 is connected with the joint center rotating body 22, the joint center rotating body 22 is meshed with the encoder output end gear 20, and the encoder output end gear 20 is connected with the encoder 21 and is connected with the exoskeleton joint shell 2 through the encoder connecting piece 19. Whole transmission process is that motor 13 drives little synchronous pulley 15 rotatory, it is rotatory to further drive big synchronous pulley 17 through hold-in range 16, thereby drive the lead screw 24 that is connected with big synchronous pulley 17, when lead screw 24 is rotatory, can order about slider 36 among the elastic sliding block 26 and remove, slider 36 promotes slider front and back end connecting block 38 through the slider department elastic element 34 of cover on slider department optical axis 35, further drive the motion of slider left and right ends connecting block 37, further drive crank 23 and remove again, finally, make joint center rotor 22 rotate.
As shown in fig. 4, which is a cross-sectional view of the magnetorheological damper 3, the central holes of the core shaft 39 and the first connecting block 42 of the magnetorheological damper are coaxial and supported by the input end bearing 61, a first sealing ring 41 is arranged between the core shaft 39 and the first connecting block 42 of the magnetorheological damper for sealing, and a sealing gasket 60 is arranged between the first connecting block 42 of the magnetorheological damper and the outer shell 45 of the magnetorheological damper for sealing. The core shaft 39 is wound with the coil 57, the magnetorheological fluid 48 is separated from the coil 57 by the spacer 58, the magnetorheological fluid is sealed by the second sealing ring 56, and then the spacer 58 is axially positioned by the side plate 43. The magneto-rheological damper shell 45 and the spacer 58 are respectively provided with 4 grooves, the input end disc 46 and the output end disc 47 can be circumferentially fixed respectively, then the axial fixation is carried out through the outer end gasket 44 and the inner end gasket 49 respectively, and finally the input end disc 46 and the output end disc 47 are alternately arranged to form a snake-shaped loop and increase the action area. The lengths of the outer end pad 44 and the inner end pad 49 may be adjusted to accommodate different operating conditions. Then, the output end of the mandrel 39 and the outer end flange 50 of the magnetorheological damper are coaxial, supported by the output end bearing 53 of the magnetorheological damper, and sealed by the sealing gasket 60 and the first sealing ring 41. Finally, the spindle 39 is connected with the second magnetorheological damper connecting block 51, the second magnetorheological damper connecting block 51 is connected with the joint center rotating body 22, the first input end disc 46 is connected with the first magnetorheological damper connecting block 42 and further connected with the exoskeleton joint shell 2, therefore, when the coil 57 is electrified, a magnetic field loop is formed, the magnetorheological fluid 48 between the first input end disc 46 and the second output end disc 47 is changed from Newton fluid to Bingham fluid under the action of a magnetic field, and finally damping is generated on the exoskeleton joint.
As shown in fig. 6, which is an exploded view of the elastic slide block 26, the slide block 36 is connected with the lead screw 24, the optical axes 35 at the four slide blocks pass through the slide block 36 and are connected to the front and rear end connecting blocks 38 of the slide block, the optical axes 35 at the slide block are connected with the elastic element 34 at the slide block, the left and right end connecting blocks 37 of the slide block are connected with the front and rear end connecting blocks 38 of the slide block, the crank 23 is installed on the left and right end connecting blocks 37 of the slide block, and the flange bearing 33 of the slide block is installed in the crank 23 and is fixed through the bolt 31 and the gasket 32.
Fig. 7 shows a magnetorheological damper housing 45, which has 4 guiding grooves and 4 spline grooves inside, wherein the guiding grooves are arranged for better injecting magnetorheological fluid, and the spline grooves are used for circumferentially fixing an input end disc 46.
As shown in fig. 8, the core shaft 39 is used, in order to avoid the magnetic field concentration at the corner, the coil adopts an arc structure to make the magnetic field distribution more uniform, so that the magnetic field intensity at the snake-shaped loop is higher, and the resisting moment generated by the magnetorheological damper is increased. In addition, the mandrel adopts a hollow structure, so that the coil is more conveniently led out, and the sealing performance is better.
Fig. 9 shows an input disc 46 and an output disc 47. They all take a special shape and the input end disc 46, outer end spacer 44 can be circumferentially positioned in the magnetorheological damper housing 45. The outer end pad 44, the inner end pad 49 enable circumferential positioning in the spacer 58.
The invention designs a damping-variable compliant driving exoskeleton joint, so that the exoskeleton can move flexibly; the variable damping can be provided, the vibration is reduced, and the comfort of a wearer is improved; the joint can be locked at any angle, so that the joint can better conduct load; the elastic elements are connected in parallel in the transmission chain, so that gravity compensation is performed, the average power consumption of the motor is reduced, and the cruising ability is enhanced.
The working principle of the invention is as follows:
the series elastic driver is a flexible driver, and can alleviate the impact of ground contact on a machine body when the machine body is grounded by adding an elastic element in a transmission chain, and reduce the energy loss of a system by storing and releasing energy. According to the invention, the elastic element 34 at the slide block is added in the transmission chain, when the transmission chain is impacted by the outside, the elastic element 34 at the slide block is compressed, energy is stored and the impact of the outside is buffered, and after the impact force is eliminated, the elastic element 34 at the slide block is restored through elastic force and releases energy, so that the energy loss of the system is reduced. In addition, the invention can detect the rotation angle of the joint center rotating body 22 by arranging the encoder 21, then detect the rotation angle change of the motor by the encoder 11 behind the motor to obtain the difference value of the two, finally obtain the size of the human-computer interaction force, feed the human-computer interaction force back to the motor, control the size of the output torque, reduce the human-computer interaction force and finally realize flexible driving.
The magnetorheological fluid is a novel intelligent material, has good fluidity under the action of no magnetic field, and can be continuously and reversibly converted into Bingham fluid with high viscosity and low fluidity within millisecond time under the action of a strong magnetic field, so that the surface viscosity of the magnetorheological fluid is increased by more than two orders of magnitude, and the magnetorheological fluid has the mechanical property similar to a solid. The magneto-rheological damper is a damper taking magneto-rheological fluid as a working medium, in the patent, a magnetic field is generated by electrifying a coil 57, a mandrel 39, a side plate 43, an input end disc 46 and an output end disc 47 are made of magnetic conductive materials to form a magnetic field loop, magnetic force lines vertically penetrate through the input end disc 46 and the output end disc 47, the magneto-rheological fluid 48 between the input end disc 46 and the output end disc 47 is distributed in the direction of the magnetic field under the action of the magnetic field and is converted into Bingham fluid with high viscosity and low fluidity from fluid with low viscosity and high fluidity, so that damping is generated between the input end disc 46 and the output end disc 47, the input end disc 46 and the output end disc 47 are respectively connected with a magneto-rheological damper shell 45 and the mandrel 39, the magneto-rheological damper shell 45 and the mandrel 39 are respectively connected with a joint center rotating body 22 and an exoskeleton joint shell 2, damping is generated between the joint center rotating body 22 and the exoskeleton joint shell 2 finally, the size of the magnetic field generated by the coil 57 can be changed by controlling the size of the current input into the coil 57, the size of the joint damping is further changed, a damping-variable joint is formed, and after the damping is variable, the variable damping can cope with a more complex environment and reduce vibration. In addition, when the joint needs to transmit load, the damping of the magneto-rheological damper can be maximized, so that the aim of locking the joint is fulfilled, and the load is transmitted better.
The gravity compensation is to keep the sum of the gravitational potential energy and the elastic potential energy of the system constant through an elastic element. In the patent, taking the hip joint as an example, when the thigh is in a vertical state, the torsion spring provides upward lifting torque for the thigh, when the thigh is lifted, the torsion spring provides reverse torque for the thigh, which accords with the motion law of a human body in the walking process, namely, in the early stage of a swing phase, the upward lifting torque needs to be provided for the thigh, in the end stage of the swing phase, backward resisting torque needs to be provided for the thigh, the motion speed of the thigh is slowed down, so that the average power of the exoskeleton joint during motion can be reduced, and the energy consumption is reduced in the whole process.
The dynamic vibration absorber refers to an apparatus for absorbing vibration energy of an object using a resonance system to reduce the vibration of the object. The principle is that a mass spring resonance system is added on a vibrating object, and the reaction force generated by the additional system during resonance can reduce the vibration of the vibrating object. In the application, the series elastic driver, the magnetorheological damper and the torsion spring are connected in parallel to form the dynamic vibration absorber, so that the dynamic vibration absorber can cope with a more complex environment, reduce vibration and improve the comfort of the exoskeleton.
Claims (10)
1. An exoskeleton joint driven by variable damping in a flexible way is characterized by comprising a crank-slider series elastic driver (1), an exoskeleton joint shell (2) and a magneto-rheological damper (3);
two joint rolling bearings (8) are arranged in the exoskeleton joint shell (2) and are used for supporting a joint center rotating body (22) of a crank slider in series connection with the elastic driver (1), other rod pieces or joints are connected through a joint connecting piece (9), the elastic element (10) is connected with the exoskeleton joint shell (2) and the joint center rotating body (22) respectively, a first magnetorheological damper connecting block (42) in the magnetorheological damper (3) is connected with the exoskeleton joint shell (2), a second magnetorheological damper connecting block (51) in the magnetorheological damper (3) is connected with the joint center rotating body (22), and the crank slider is in series connection with the elastic driver (1), the magnetorheological damper (3) and the elastic element (10) in parallel.
2. The exoskeleton joint driven by variable damping and compliance as claimed in claim 1, wherein the center of the joint center rotating body (22) is of a hollow structure and used for placing the magnetorheological damper (3), 4 arc-shaped bosses are arranged on the end face of the joint center rotating body, an axial circumferential limiting and connecting hole is provided for the second connecting block (51) of the magnetorheological damper while bearing is carried, in addition, an array of holes are formed in the end face of the joint center rotating body and used for connecting the inter-joint connecting piece (9) and the crank (23), and the holes in the circumferential array are used for adjusting the relative positions of the crank (23) and the joint center rotating body (22), so that the range of the joint output angle is adjusted;
the magnetorheological damper connecting block I (42) is connected with the exoskeleton joint shell (2), a flower-shaped structure is adopted, and the magnetorheological damper connecting block I (42) plays a role of an end cover and limits the mandrel (39);
the end face of the second connecting block (51) of the magnetorheological damper is provided with 4 bosses which correspond to the 4 arc-shaped bosses of the joint center rotating body (22) so as to realize circumferential and axial limiting, and the center of the second connecting block is provided with 4 circumferential holes which are used for being connected with the core shaft (39); the exoskeleton joint shell (2) is divided into an upper part and a lower part, and the upper exoskeleton joint shell and the lower exoskeleton joint shell (2) are connected through a copper column (4), a shell supporting plate I (5), a shell supporting plate II (6) and a shell supporting plate III (7).
3. The exoskeleton joint driven by variable damping and compliance as claimed in claim 1, wherein the elastic actuator (1) with crank block connected in series comprises an encoder (11), the encoder (11) is connected with a motor (13), the motor (13) is placed on a motor base (12) and connected with a guide rail base (30) through a motor fixing base (14), a motor shaft of the motor (13) is connected with a small synchronous pulley (15), the small synchronous pulley (15) and a large synchronous pulley (17) are driven through a synchronous belt (16), the large synchronous pulley (17) is connected with a lead screw (24), the lead screw (24) is connected with an elastic slider (26), both ends of the lead screw (24) are supported by lead screw end flange bearings (25), the lead screw end flange bearings (25) are embedded into stoppers (18) at both ends of the lead screw, the stoppers (18) at both ends of the lead screw are connected with the exoskeleton joint housing (2), the screw rod (24) is fixedly connected with the exoskeleton joint shell (2).
4. A variable damping compliant driven exoskeleton joint as claimed in claim 3 wherein the elastic slider (26) is connected to an elastic slider base (27), the elastic slider base (27) is connected to an elastic slider link (28), the elastic slider link (28) can slide on a guide rail (29), the guide rail (29) is connected to a guide rail base (30), the guide rail base (30) is connected to the exoskeleton joint housing (2), and the top of the guide rail base (30) is provided with a motor base (12) and a motor fixing base (14);
the elastic sliding block (26) comprises a sliding block (36), the sliding block (36) is connected with a lead screw (24), optical axes (35) at the four sliding blocks penetrate through the sliding block (36) and are connected to a sliding block front-rear end connecting block (38), the optical axes (35) at the sliding blocks are connected with an elastic element (34) at the sliding block, a sliding block left-right end connecting block (37) is connected with the sliding block front-rear end connecting block (38), a crank (23) is installed on the sliding block left-right end connecting block (37), a sliding block end flange bearing (33) is installed in the crank (23), and the sliding block left-right end connecting block is fixed through a bolt (31) and a gasket (32).
5. A variable damping compliant driven exoskeleton joint as claimed in claim 3 where the elastic slider (26) is connected to a crank (23) and fixed to it by a bolt (31), the slider end flange bearing (33) supports the elastic slider (26), the crank (23) is connected to a joint center rotor (22), the joint center rotor (22) is engaged with the encoder output gear (20), the encoder output gear (20) is connected to the encoder (21) and connected to the exoskeleton joint housing (2) by the encoder connector (19).
6. The exoskeleton joint with variable damping and flexible driving as claimed in claim 1, wherein the magnetorheological damper (3) comprises a mandrel (39), the mandrel (39) is coaxial with a central hole of the first connecting block (42) of the magnetorheological damper and is supported by an input end bearing (61), a first sealing ring (41) is arranged between the mandrel (39) and the first connecting block (42) of the magnetorheological damper for sealing, a sealing gasket (60) is arranged between the first connecting block (42) of the magnetorheological damper and the shell (45) of the magnetorheological damper for sealing, a coil (57) is wound on the mandrel (39), the magnetorheological fluid (48) is separated from the coil (57) by a spacer (58) and is sealed by a second sealing ring (56), then the spacer (58) is axially positioned by a side plate (43), and 4 grooves are respectively arranged on the shell (45) of the magnetorheological damper and the spacer (58), the input end disc (46) and the output end disc (47) are fixed in the circumferential direction respectively, then are fixed in the axial direction respectively through the outer end gasket (44) and the inner end gasket (49), and finally the input end disc (46) and the output end disc (47) are alternately arranged to form a snake-shaped loop.
7. The variable damping compliant driving exoskeleton joint as claimed in claim 6, wherein the lengths of the outer end gasket (44) and the inner end gasket (49) can be adjusted to adapt to different working conditions, the output end of the core shaft (39) is coaxial with the outer end flange (50) of the magnetorheological damper, is supported by the output end bearing (53) of the magnetorheological damper and is sealed by the sealing gasket (60) and the sealing ring I (41), so that the core shaft (39) is connected with the connecting block II (51) of the magnetorheological damper, the connecting block II (51) of the magnetorheological damper is connected with the joint center rotating body (22), and the input end disc (46) is connected with the connecting block I (42) of the magnetorheological damper and is further connected with the exoskeleton joint housing (2).
8. The exoskeleton joint with variable damping and flexible driving as claimed in claim 6, wherein the inner wall of the magnetorheological damper housing (45) is provided with 4 flow guide grooves and 4 spline grooves, the four spline grooves are arranged at equal intervals, the flow guide grooves are arranged on two sides of one group of oppositely arranged spline grooves, the flow guide grooves are used for better injecting magnetorheological fluid, and the spline grooves are used for circumferentially fixing the input end disc (46).
9. The exoskeleton joint driven by variable damping and compliance as claimed in claim 6, wherein the mandrel (39) is hollow, so that the coil is led out more conveniently, and the circular arc structure is adopted at the coil so that the magnetic field distribution is more uniform, and further the magnetic field intensity at the snake-shaped loop is higher.
10. The exoskeleton joint driven by variable damping and compliance as claimed in claim 6, wherein the input end disc (46) is of a ring structure, four protrusions are arranged on the outer side of the ring structure at equal intervals, the outer side edge of each protrusion is larger than the contact end of the ring structure, the output end disc (47) is of a ring structure, four protrusions are arranged on the inner side of the ring structure at equal intervals, and the inner side edge of each protrusion is larger than the contact end of the ring structure.
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