CN208409865U - A kind of wearable pneumatic skiing ectoskeleton power assisting device - Google Patents
A kind of wearable pneumatic skiing ectoskeleton power assisting device Download PDFInfo
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- CN208409865U CN208409865U CN201820729131.7U CN201820729131U CN208409865U CN 208409865 U CN208409865 U CN 208409865U CN 201820729131 U CN201820729131 U CN 201820729131U CN 208409865 U CN208409865 U CN 208409865U
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- skiing
- air spring
- thigh
- power assisting
- valve
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Abstract
The utility model discloses a kind of wearable pneumatic skiing ectoskeleton power assisting devices, including big leg assembly, shank component and control device, the big leg assembly lower end is connect by runner assembly and air spring damper with shank component, and big leg assembly upper end is equipped with the fixed pad of thigh.By the stretching motion of air spring and the collective effect of variable damper, reducing in skiing influences kneed impact, provides auxiliary force for knee joint, compensates to gravity, avoids muscular fatigue in movement；Design utilizes the embedded control system based on ARM plate and PC machine, preferably realizes human-computer interaction and the real-time control to robot；In addition, the human body sport parameter obtained using gyroscope and accelerometer, detects the intention of user, and utilize the auxiliary torque of air spring and fabric adjust automatically knee site.The utility model can be good at being applied to wearable skiing exoskeleton robot, reduce energy consumption when skiing, improve comfort, have great application value.
Description
Technical field
The utility model relates to a kind of lower limb exoskeleton robots, more particularly to a kind of wearable pneumatic skiing ectoskeleton to help
Power device.
Background technique
Skiing, which is one, can be enhanced cardio-pulmonary function, improves nervous system condition, the entertaining movement that Johnson & Johnson is healthy and strong.By
It needs human knee joint to be bent and be kept at an angle for a long time during skiing, while can be consumed when skiing a large amount of
Physical strength, so the problems such as muscular fatigue is ached with knee joint will be will appear by carrying out skiing for a long time.And assisted walk dress instantly
The crowd for being chiefly used in assisting level walking difficulty is set, high speed snowfield can not be applied to and slided.Currently, can not solve rationally still
The device of these problems.
Utility model content
The purpose of the utility model is to provide a kind of wearable pneumatic skiing ectoskeleton power assisting devices.
The purpose of this utility model is achieved through the following technical solutions:
The wearable pneumatic skiing ectoskeleton power assisting device of the utility model, including big leg assembly, shank component and control
Device, the big leg assembly lower end are connect by runner assembly and air spring damper with shank component, the big leg assembly
Upper end is equipped with the fixed pad of thigh；
Air spring damper upper end is connect by mounting plate with the lower end of big leg assembly, the air spring damping
The lower end of device is fixedly connected with shank component, and the air spring damper is connected with micro air pump, the micro air pump installation
In on the disk of the shank component upper end；
The control device is fixed in human body waist knapsack.
The wearable gas provided by the embodiment of the utility model it can be seen from above-mentioned technical solution provided by the utility model
Dynamic skiing ectoskeleton power assisting device, the apparatus structure is compact, light weight, low in energy consumption, can be good at meeting skiing power assisting device
Application demand；It can be good at being applied to skiing, reduce power consumption, improve applicability, there is great application value.
Detailed description of the invention
Fig. 1 is that the overall structure of wearable pneumatic skiing ectoskeleton power assisting device provided by the embodiment of the utility model is illustrated
Figure；
Fig. 2 is the axonometric drawing of wearable pneumatic skiing ectoskeleton power assisting device provided by the embodiment of the utility model；
Fig. 3 is the air bump schematic device of the utility model embodiment；
Fig. 4 is the bypass solenoid valve structural schematic diagram of the utility model embodiment；
Fig. 5 is the host computer operating mechanism schematic diagram of the utility model embodiment；
Fig. 6 is the slave computer operating mechanism schematic diagram of the utility model embodiment；
Fig. 7 is the robot motion based on the joint angles error/Power assisted control block diagram of the utility model embodiment；
Fig. 8 be the utility model embodiment air spring damper in knee joint bending operation principle schematic diagram；
Fig. 9 be the utility model embodiment air spring damper when knee joint is upright operation principle schematic diagram；
Figure 10 is the air spring model schematic diagram of the utility model embodiment.
In figure:
1 it is the fixed pad of thigh, 2 be pressure sensor, 3 be air spring damper, 4 be shank accelerometer, 5 is shank
Component, 6 be shank gyroscope, 7 be micro air pump, 8 be absolute value encoder, 9 be runner assembly, 10 be big leg assembly, 11 be
Thigh accelerometer, 12 be thigh gyroscope, 13 be contact force sensor, 3-1 is air spring, 3-2 is piston rod, 3-3 is
Guide pipe, 3-4 are rebound valve, 3-5 is compression valve, 3-6 is oil storage cylinder, 3-7 is hanging ring, 3-8 is recuperation valve, 3-9 is bypass electricity
Magnet valve, 3-10 are flowing valve, 3-11 is inner cylinder, 3-12 is outer cylinder, 3-9-1 is main valve, 3-9-2 is constant throttle orifice, 3-9-3 is
Spring element, 3-9-4 are first guide cavity, 3-9-5 is variable orifice.
Specific embodiment
The utility model embodiment will be described in further detail below.Do not make in the utility model embodiment in detail
The content of description belongs to the prior art well known to professional and technical personnel in the field.
The wearable pneumatic skiing ectoskeleton power assisting device of the utility model, preferable specific embodiment is:
Including big leg assembly, shank component and control device, the big leg assembly lower end passes through runner assembly and air bullet
Spring damper is connect with shank component, and the big leg assembly upper end is equipped with the fixed pad of thigh；
Air spring damper upper end is connect by mounting plate with the lower end of big leg assembly, the air spring damping
The lower end of device is fixedly connected with shank component, and the air spring damper is connected with micro air pump, the micro air pump installation
In on the disk of the shank component upper end；
The control device is fixed in human body waist knapsack.
The big leg assembly is equipped with thigh accelerometer and thigh gyroscope, and the thigh gyroscope is fixed on human body knee
Between joint and hip joint, middle position on front side of human thigh.
The shank component is equipped with shank accelerometer and shank gyroscope, the shank gyroscope and shank acceleration
Meter is fixed on the disk lower part of shank component upper end.
The runner assembly includes angular contact ball bearing, bearing (ball) cover and absolute value encoder.
The air spring damper includes air spring, piston rod, guide pipe, rebound valve, compression valve, oil storage cylinder, hangs
Ring, recuperation valve, flowing valve, inner cylinder, outer cylinder；
Bypass solenoid valve is connected between the top and bottom of the oil storage cylinder.
The bypass solenoid valve uses guide electromagnetic valve, and the orifice channel of the guide electromagnetic valve is equipped with a perseverance
Determine throttle orifice, a variable orifice, first guide cavity is equipped between two throttle orifices, the main channel of the guide electromagnetic valve is equipped with master
Valve and spring element.
The rubber pneumatic bag of the air spring is formed by cord and the vulcanization of rubber, and pressure is equipped with inside the air spring
The exhaust outlet of force snesor, the micro air pump and air spring connects.
Fixation of the fixed pad of the thigh by additional woven fabric bandage and human thigh, the fixed pad inside installation of the thigh
There is contact force sensor.
The control device is a kind of embedded control system including upper computer and lower computer, the host computer and bottom
For machine by WiFI communication connection, the host computer is client, and the slave computer is server end.
The host computer includes mobile phone.
The wearable pneumatic skiing ectoskeleton power assisting device of the utility model, the apparatus structure is compact, light weight, power consumption
It is low, it can be good at the application demand for meeting skiing power assisting device；The thigh module of device is equipped with fixed device, can be good at
Fixed thigh simultaneously plays the role of safeguard protection；Device design incorporates the air spring damper of variation rigidity variable damping, passes through
The stretching motion of air spring and the collective effect of variable damper, reducing in skiing influences the impact of knee；Meanwhile
The Collaboration of multiple solenoid valves can provide auxiliary force for knee joint, avoid muscular fatigue in movement；Design is using based on ARM plate
With the embedded control system of PC machine, human-computer interaction and the real-time control to robot are preferably realized；Using accelerometer with
The human body sport parameter that gyroscope obtains detects the intention of user, and passes through air spring and fabric adjust automatically knee
The auxiliary torque at position.Through examining, wearable pneumatic skiing exoskeleton device can be good at being applied to skiing, reduce function
Consumption improves applicability, has great application value.
The advantages of the utility model and good effect are as follows:
1, the utility model has the air spring damper of variation rigidity variable damping, utilizes elasticity and the damping of air spring
The effect of resistance is generated when oil liquid flows through valve in device, is influenced, is kept away in face of kneed impact during skiing to absorb
It is impaired to exempt from knee joint.
2, the utility model measures human body and vertical direction angle by gyro module, and control device presss from both sides it with expectation
Angle calculates, and carries out torque compensation control.Human body sport parameter is obtained in real time using accelerometer and gyroscope, detects user's
It is intended to, so as to adjust auxiliary torque size.
3, the utility model is fed back by knee joint angle, is adjusted in time using micro air pump to air spring aeration quantity
It is whole, optimal auxiliary torque is provided for wearer, can keep certain knee joint corner into progress skiing for a long time.
4, the utility model is fixed thigh by the fixed pad of additional woven fabric bandage and thigh, make equipment wearing it is more docile,
Safety.The contact force feedback human body wearing feeling that design is measured by contact force sensor module is by raising equipment wearing comfort.
5, the control device of the utility model is a kind of embedded control system based on ARM plate and PC machine, and host computer is
Client, slave computer are server end.Control system energy consumption low, high reliablity, powerful, strong real-time, occupied space
It is small.
Specific embodiment, as shown in Figures 1 to 10:
As shown in Figure 1 and Figure 2, including thigh fixes pad 1, pressure sensor 2, air spring damper 3, shank acceleration
Meter 4, shank component 5, shank gyroscope 6, micro air pump 7, absolute value encoder 8, runner assembly 9, big leg assembly 10, thigh add
Speedometer 11, thigh gyroscope 12, contact force sensor 13.The fixed pad 1 of thigh is bolted to big 10 upper end of leg assembly,
Big 10 lower end of leg assembly connect with shank component 5 and can relatively rotate by installing runner assembly 9.Air spring damping
3 upper end air spring 3-1 of device is connect by mounting plate with big 10 lower end of leg assembly, and lower end is fixedly connected with shank component 5.It is micro-
Type air pump 7, which is bolted, to be installed on shank component 5.Control device is fixed in human body waist knapsack.
Such as Fig. 1, big leg assembly 10 includes thigh accelerometer 11 and thigh gyroscope 12.The thigh gyroscope 12
It is fixed between human body knee joint and hip joint, middle position on front side of human thigh.It is real using acceleration transducer and gyroscope
When obtain body motion information, consider that human motion is intended to, the compensation rate as joint angles.Wearer feels during skiing
When to fatigue, leg can be bent downwardly due to gravity, and the human-computer interaction power that contact force sensor 13 measures will increase greatly, be utilized
The displacement that impedance model obtains contact point changes, and since the structure of device designs, displacement has fixed cosine fixed with joint angles
Mapping relations are managed, compensation joint angles and the comprehensive input quantity that obtains of the resulting joint angles of impedance model it is expected into joint angles.
Error is sought with the practical joint angles that absolute value encoder 8 measures to be sent into ARM plate, judges to be needed under the present situation to air bullet
Spring 3-1 is inflated or deflates.Output low and high level signal is realized to control the Push And Release of solenoid valve to air spring 3-1
Inflation/deflation.To compensate the displacement that contact point can occur by changing the pressure feedback inside air spring 3-1, it is embodied as wearing
Wearer provides assist function.Slave computer ARM plate is connect device with holding of upper hand set moment WiFi in the process of running, and will
The parameters such as body motion information, auxiliary force are real-time transmitted on mobile phone and show.
Such as Fig. 1, shank component 5 includes shank accelerometer 4 and shank gyroscope 6.The shank gyroscope 6 with it is small
Leg accelerometer 4 is fixed on the disk of shank component 5.
Such as Fig. 1, runner assembly 9 includes angular contact ball bearing, bearing (ball) cover and absolute value encoder 8, guarantees big leg assembly
10 do not relatively move while rotating with shank rod piece 5.Using absolute value encoder 8, joint angles are measured, are used for
Feedback control.Bearing (ball) cover can not only guarantee that angular contact ball bearing did not fell off in rotation, but also can prevent dust from entering knee pass
Save revolute pair.
Such as Fig. 3, air spring damper 3 is by air spring 3-1, piston rod 3-2, guide pipe 3-3, rebound valve 3-4, compression
Valve 3-5, oil storage cylinder 3-6, hanging ring 3-7, recuperation valve 3-8, bypass solenoid valve 3-9, flowing valve 3-10, inner cylinder 3-11, outer cylinder 3-12
Composition.The effect of resistance is generated when flowing through valve with oil liquid in damper using the elasticity of air spring 3-1 come bumper and absorbing shock.When
When knee joint bending, impact energy is can be absorbed in big 10 compressed air spring 3-1 of leg assembly, while pushing internal piston rod
The oil liquid of the downward compression movement of 3-2, working cylinder bottom passes through bypass solenoid valve 3-9 and compression via the rebound valve 3-4 on piston
Valve 3-5 is flowed into oil storage cylinder 3-6, as shown in Figure 8.When knee joint is upright, air spring 3-1 restore deformation, piston rod 3-2 to
Upper movement, the oil liquid on working cylinder top passes through recuperation valve 3-8, bypass solenoid valve 3-9 and flowing valve 3-10 flows into oil storage cylinder 3-6
It is interior, as shown in Figure 9.
Such as Fig. 3, by the damping continuous variable damper of aperture adjustment, by the area of solenoid valve control throttle orifice.Electromagnetism
Valve controls damper and uses bypass valve mode, increases a bypass solenoid valve 3-9 as pilot operated pressure relief valve, by adjusting electromagnetism
Variable orifice 3-9-5 area in valve realizes the continuously adjustable of damping.
Such as Fig. 4, bypass solenoid valve 3-9 uses guide electromagnetic valve, the oil liquid of working cylinder upper end by orifice channel and
Main channel flows into oil storage cylinder 3-6, and orifice channel is by a constant throttle orifice 3-9-2, a variable orifice 3-9-5 and two holes
Between first guide cavity 3-9-4 composition, main channel is made of main valve 3-9-1 and spring element 3-9-3, when oil pressure is lower than predetermined value
When, spring element 3-9-3 can prevent main valve 3-9-1 from opening.First guide cavity 3-9-4 oil pressure is limited by variable orifice 3-9-5 size
System, as the back-pressure of main valve 3-9-1, and main valve 3-9-1 is opened under high oil pressure with the increase of first guide cavity 3-9-4 pressure.
Damper can be by the variable orifice of change bypass solenoid valve 3-9 in the damping force that extension stroke and compression travel generate
3-9-5 area is adjusted.
Such as Fig. 3, Figure 10, the rubber pneumatic bag of air spring 3-1 is the labyrinth body as made of cord and the vulcanization of rubber, tool
There is stronger nonlinear characteristic.Pressure sensor 2 is equipped with inside air spring 3-1, for obtaining internal air pressure.It the following is sky
The variable rigidity principle of gas spring 3-1:
Assuming that internal absolute pressure is P after air bag inflation by vertical load F on air spring 3-1, then have:
F=(P-Pa)Ac (1)
In formula: Pa--- external atmospheric pressure usually takes 0.1MPa；
Ac--- the effective area of air bag changes with the height change of air bag.
(the i.e. air spring 3-1 quilt when the additional vertical load of air bag changes, and the height of air bag is caused to change
Compression stretches), volume and pressure in air bag also change, and changing rule can be determined by the equation of gas state:
In formula: P, V --- when air bag is in any position, the absolute pressure and volume of internal gas；
P0、V0--- when air bag is in equipoise, the absolute pressure and volume of internal gas；
K --- polytropic exponent is decided by the flowing velocity of gas change procedure, slowly when movement, k=1；Strenuous exercise
When, k=1.4.
(2) formula is substituted into (1) formula, is obtained:
By vertical load F to vertical displacement f derivation, the vertical stiffness K of air spring 3-1 can be acquired.
Because of smaller volume when air spring 3-1 compresses, thereforeFor negative value, i.e.,At equipoise, f
=0, V=V0, P=P0, substitute into stiffness K of (3) formula to get to equipoise when0Expression formula:
In formula: Ac0--- effective area of the air spring 3-1 at equipoise.
It can be seen that effective area change rate when air bag deformsThere is decisive influence to the stiffness K of air spring 3-1,
And internal pressure will have a direct impact on effective area change rate.By being filled using micro air pump 7 to air spring 3-1 in design
It deflates to change inside air bag air pressure, to change the rigidity of air bag.
Such as Fig. 3, the discharge gas to air spring 3-1 is realized using micro air pump 7, by bypass solenoid valve 3-9, rebound valve 3-
4, the automatically controlled closing of compression valve 3-5 makes big leg assembly 10 and shank component 5 keep certain corner constant, during skiing
Human body provides auxiliary torque, reduces energy consumption.It is fed back by knee joint angle, adjusts air spring 3-1 aeration quantity in time, be
Wearer provides optimal auxiliary torque.
Such as Fig. 1, the fixation of human thigh is kept equipment more comfortable with thigh by the fixed pad 1 of thigh by additional woven fabric bandage
It is docile, also there is safeguard protection.Contact force sensor 13 is mounted on the fixed pad 1 of thigh, is electrically connected with control device,
It is located between human thigh and the fixed pad 1 of thigh when use.The contact force feedback people that design is measured by contact force sensor 13
Body wearing feeling is by raising equipment wearing comfort.
Such as Fig. 5, Fig. 6, control device is a kind of embedded control system including upper computer and lower computer, host computer (hand
Machine) it is communicated with slave computer (ARM plate) by WiFi, in communication, host computer is client, and slave computer is server end.
Operator sends target instruction target word to slave computer by host computer, and the information that slave computer is then sent according to host computer is come to machine
People carries out real-time control, and the correlated condition that robot is sent back issues host computer, finally shows operator.Meanwhile
Host computer can also show the real-time running state and every terms of information (position, speed etc.) of current robot system, wrong when occurring
It can also be sounded an alarm in real time when accidentally.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
Subject to the scope of protection of the claims.
Claims (10)
1. a kind of wearable pneumatic skiing ectoskeleton power assisting device, which is characterized in that including big leg assembly (10), shank component
(5) and control device, big leg assembly (10) lower end pass through runner assembly (9) and air spring damper (3) and shank group
Part (5) connection, big leg assembly (10) upper end are equipped with the fixed pad (1) of thigh；
Air spring damper (3) upper end is connect by mounting plate with the lower end of big leg assembly (10), the air spring
The lower end of damper (3) is fixedly connected with shank component (5), and the air spring damper (3) is connected with micro air pump (7),
The micro air pump (7) is installed on the disk of the shank component (5) upper end；
The control device is fixed in human body waist knapsack.
2. wearable pneumatic skiing ectoskeleton power assisting device according to claim 1, which is characterized in that the big leg assembly
(10) it is equipped with thigh accelerometer (11) and thigh gyroscope (12), the thigh gyroscope (12) is fixed on human body knee joint
Between hip joint, the middle position of human thigh front side.
3. wearable pneumatic skiing ectoskeleton power assisting device according to claim 2, which is characterized in that the shank component
(5) it is equipped with shank accelerometer (4) and shank gyroscope (6), the shank gyroscope (6) and shank accelerometer (4) are solid
Due to the disk lower part of shank component (5) upper end.
4. wearable pneumatic skiing ectoskeleton power assisting device according to claim 3, which is characterized in that the runner assembly
It (9) include angular contact ball bearing, bearing (ball) cover and absolute value encoder (8).
5. wearable pneumatic skiing ectoskeleton power assisting device according to claim 4, which is characterized in that the air spring
Damper (3) includes air spring (3-1), piston rod (3-2), guide pipe (3-3), rebound valve (3-4), compression valve (3-5), storage
Oil cylinder (3-6), hanging ring (3-7), recuperation valve (3-8), flowing valve (3-10), inner cylinder (3-11), outer cylinder (3-12)；
Bypass solenoid valve (3-9) is connected between the top and bottom of the oil storage cylinder (3-6).
6. wearable pneumatic skiing ectoskeleton power assisting device according to claim 5, which is characterized in that the bypass electromagnetism
Valve (3-9) uses guide electromagnetic valve, and the orifice channel of the guide electromagnetic valve is equipped with a constant throttle orifice (3-9-
2) a, variable orifice (3-9-5), first guide cavity (3-9-4) is equipped between two throttle orifices, and the master of the guide electromagnetic valve is logical
Road is equipped with main valve (3-9-1) and spring element (3-9-3).
7. wearable pneumatic skiing ectoskeleton power assisting device according to claim 6, which is characterized in that the air spring
The rubber pneumatic bag of (3-1) is formed by cord and the vulcanization of rubber, is equipped with pressure sensor inside the air spring (3-1)
(2), the micro air pump (7) connect with the exhaust outlet of air spring (3-1).
8. wearable pneumatic skiing ectoskeleton power assisting device according to claim 1, which is characterized in that the thigh is fixed
The fixation of (1) by additional woven fabric bandage and human thigh is padded, contact force sensor is installed on the inside of the fixed pad (1) of the thigh
(13)。
9. wearable pneumatic skiing ectoskeleton power assisting device according to any one of claims 1 to 8, which is characterized in that institute
Stating control device is a kind of embedded control system including upper computer and lower computer, and the host computer and slave computer pass through WiFI
Communication connection, the host computer are client, and the slave computer is server end.
10. wearable pneumatic skiing ectoskeleton power assisting device according to claim 9, which is characterized in that the host computer
Including mobile phone.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820729131.7U CN208409865U (en) | 2018-05-16 | 2018-05-16 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
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| CN201820729131.7U CN208409865U (en) | 2018-05-16 | 2018-05-16 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
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| CN208409865U true CN208409865U (en) | 2019-01-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340360A (en) * | 2018-05-16 | 2018-07-31 | 中国科学技术大学 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
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2018
- 2018-05-16 CN CN201820729131.7U patent/CN208409865U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340360A (en) * | 2018-05-16 | 2018-07-31 | 中国科学技术大学 | A kind of wearable pneumatic skiing ectoskeleton power assisting device |
| CN108340360B (en) * | 2018-05-16 | 2024-02-23 | 中国科学技术大学 | Wearable pneumatic skiing exoskeleton power assisting device |
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