CN216422551U - Test equipment suitable for passive lower limb industrial exoskeleton robot - Google Patents
Test equipment suitable for passive lower limb industrial exoskeleton robot Download PDFInfo
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- CN216422551U CN216422551U CN202122572095.2U CN202122572095U CN216422551U CN 216422551 U CN216422551 U CN 216422551U CN 202122572095 U CN202122572095 U CN 202122572095U CN 216422551 U CN216422551 U CN 216422551U
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Abstract
The utility model discloses a test equipment suitable for passive low limbs industry ectoskeleton robot relates to ectoskeleton robot test equipment field, including accurate vibration isolation platform, left low limbs test equipment, right low limbs test equipment and control system, left low limbs test equipment with right low limbs test equipment symmetrical arrangement, low limbs test equipment include frame, motion turntable mechanism, thigh fixture, centering mechanism, shank fixture, control through control system the motion turntable mechanism drives thigh fixture center on centering mechanism for shank fixture is rotatory, the utility model discloses a control system control left low limbs test equipment and right low limbs test equipment realize passive low limbs industry ectoskeleton robot's test environment simulation, wait to detect ectoskeleton robot and install behind test platform, can realize full motion angle, all, High motion speed and high detection accuracy.
Description
Technical Field
The utility model belongs to ectoskeleton robot test equipment field, especially a test equipment suitable for passive formula low limbs industry ectoskeleton robot.
Background
The passive lower limb industrial exoskeleton robot is a wearable special robot capable of assisting and enhancing human body functions, comprises a lower limb exoskeleton and a right lower limb exoskeleton, mainly faces to manual operation scenes of frequent squatting, continuous squatting and the like with continuous knee stress, can autonomously identify human body working states, provides leg supporting force, slows down joint cartilage abrasion, reduces human body fatigue damage and working strength, and improves manual operation efficiency and quality.
Because the power source of the exoskeleton robot is a passive energy storage device, the exoskeleton robot cannot move autonomously to extract test data, corresponding tests need to be carried out by wearing the exoskeleton robot on a human body, time and labor are wasted, data errors are large, certain safety risks exist, the test requirements of the passive lower limb industrial exoskeleton robot cannot be met, and no special automatic test equipment is used for carrying out performance evaluation on the motion identification capability and the assistance effect of the passive lower limb industrial exoskeleton robot at present.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a test equipment suitable for passive formula low limbs industry ectoskeleton robot for supplementary ectoskeleton simulation human low limbs motion, ability and helping hand effect are discerned in the motion of test ectoskeleton, promote passive formula low limbs industry ectoskeleton robot's efficiency of software testing and research and development progress by a wide margin.
Realize the utility model discloses the technical solution of purpose does:
a test apparatus adapted for use with a passive lower extremity industrial exoskeleton robot, comprising:
the test equipment is used for the left lower limb and/or the right lower limb, and the vibration isolation platform is used for supporting the test equipment;
the test apparatus includes:
a frame;
the shank clamping mechanism is used for clamping shank parts of the industrial exoskeleton robot;
the thigh clamping mechanism is used for clamping thigh parts of the industrial exoskeleton robot;
the motion turntable mechanism is used for driving the thigh clamping mechanism to rotate so as to enable the thigh part of the industrial exoskeleton robot to rotate around the knee joint of the industrial exoskeleton robot;
the centering mechanism penetrates through the motion turntable mechanism, can rotate relative to the motion turntable mechanism, has a rotation center coaxial with the center of the motion turntable mechanism, and is used for connecting a knee joint of the industrial exoskeleton robot;
the thigh clamping mechanism is provided with a pressure sensor module and used for collecting assistance information of the lower limb exoskeleton robot in real time.
Compared with the prior art, the utility model, it is showing the advantage and is:
the utility model discloses a control system control left low limbs test equipment and right low limbs test equipment realize passive formula low limbs industry ectoskeleton robot's test environment simulation, wait to detect ectoskeleton robot and install behind test platform, can realize full motion angle, high rate of motion and the equipment test of high detection precision, play the key role to the research and development of passive formula low limbs ectoskeleton robot.
Drawings
Fig. 1 is a schematic structural diagram of a first viewing angle of the present invention.
Fig. 2 is a schematic structural diagram of a second viewing angle of the present invention.
Fig. 3 is the schematic diagram of the internal structure of the left turntable of the present invention.
Fig. 4 is the external structure schematic diagram of the left turntable of the present invention.
Fig. 5 is a schematic view of the first viewing angle structure of the left thigh clamping mechanism of the present invention.
Fig. 6 is an exploded view of the left thigh gripping mechanism of the present invention.
Fig. 7 is a schematic structural diagram of the left centering mechanism of the present invention.
Fig. 8 is a schematic structural view of the left calf clamping mechanism of the present invention.
Fig. 9 is a schematic diagram of adjusting the zero-return point of the testing device of the present invention.
1-left limb testing device, 11-left frame, 12-left motion turret mechanism, 121-housing, 122-motion mechanism, 1221-motor, 1222-coupling, 1223-worm gear, 1224-worm, 1225-precision turntable, 1226-scale turntable, 123-limit module, 1231-first hall sensor, 1232-second hall sensor, 1233-magnetic column, 13-left thigh clamp mechanism, 131-first support plate, 132-first clamp module, 1321-first clamp base, 1322-first (centering) lead screw, 1323-first slider, 1324-second slider, 1325-first clamp jaw, 1326-second clamp jaw, 133-pressure sensor module, 1331-base, 1332-pressure sensor, 1333-positioning pin, 1334-bolt 1335-pressure stop, 14-left centering mechanism, 141-three jaw chuck, 142-center column pair, 143-first support boss, 144-first bearing, 145-second support boss, 146-second bearing, 15-left shank clamp mechanism, 151-support module, 1511-second support plate, 152-second clamp base, 153-second (centering) screw, 154-third slider, 155-fourth slider, 156-third jaw, 157-fourth jaw, 2-right limb test device, 3-control system, 4-left lower extremity industrial exoskeleton, 41-left lower extremity industrial exoskeleton thigh, 42-left lower extremity exoskeleton shank, 5-right lower extremity exoskeleton, 51-right lower extremity exoskeleton thigh, 52-right lower limb exoskeleton shank, 6-precise vibration isolation platform, 71-first marker bit, 72-second marker bit, 73-third marker bit, 74-fourth marker bit, 81-first adjustable U-shaped hole, 82-second adjustable U-shaped hole, 83-first shank positioning hole, 84-second shank positioning hole
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
With reference to fig. 1 to 9, the testing device suitable for the passive lower limb industrial exoskeleton robot of the embodiment includes a left lower limb testing device 1, a right lower limb testing device 2, a precise vibration isolation platform 6 and a control system 3, wherein the left lower limb testing device 1 and the right lower limb testing device 2 are symmetrically arranged and are both disposed on the precise vibration isolation platform 6. The lower limb test device is the same in structure and is hereinafter referred to as a lower limb test device.
The lower limb testing equipment comprises a rack 11, a motion turntable mechanism 12, a thigh clamping mechanism 13, a centering mechanism 14 and a shank clamping mechanism 15, wherein the control system 3 controls the motion turntable mechanism 12 to drive the thigh clamping mechanism 13 to rotate around the centering mechanism 14 relative to the shank clamping mechanism 15.
The moving turntable mechanism 12 comprises a housing 121, a moving mechanism 122 and a limiting module 123, wherein the housing 121 is mounted on the rack 11, the moving mechanism 122 comprises a motor 1221, a precision turntable 1225 and a scale turntable 1226, the motor 1221 is fixed on the housing 121, and a worm 1223 and a worm wheel 1223 are arranged in the housing 121; the output shaft of motor 1221 passes through shaft coupling 1222 and links to each other with worm 1223, worm 1223 and worm wheel 1224 cooperation, install on the worm wheel 1223 precision rotating disc 1225, the precision rotating disc 1225 outside is connected with scale carousel 1226, be equipped with the equipartition scale mark outside the scale carousel 1226, the 360 degrees anticlockwise arrangement of scale mark. With 0 degrees to the left of the horizontal centerline and 180 degrees to the right of the horizontal centerline.
The moving turntable mechanism 12 is provided with a first flag bit 71, a second flag bit 72, a third flag bit 73 and a fourth flag bit 74, the first flag bit 71 is located at 184 ° of the housing 121 and is used for calibrating the relative position of the scale dial 1226 and the precision dial 1225, the second flag bit 72 is located at 270 ° of the housing 121 and is used for calibrating the relative position of the housing 121 and the scale dial 1226, the third flag bit 73 is located at 180 ° of the housing 121 and is used for calibrating the position of the scale dial 1226 reaching the zero-return position, and the fourth flag bit 74 is located at 0 ° of the scale dial 1226 and is used for calibrating the position of the zero-return position of the moving mechanism 122.
Before testing exoskeletal equipment, in order to ensure the testing precision and the safety of the exoskeletal equipment, zero-returning calibration operation needs to be carried out on the testing equipment, and the shell is a fixing device and is used as a reference datum. A first marker is arranged at 180-degree scale of the scale dial, a first marker is arranged at 184-degree scale of the shell, and the scale dial 1226 is manually adjusted to align the first marker on the scale dial with the first marker on the shell (in the step, the device is roughly adjusted to the zero-return position, and then zero-return calibration is started); a second zone bit is arranged at 270 degrees of the shell, the precision rotary table is driven, the scale rotary table is driven to rotate, and the 270 degrees of the scale rotary table is overlapped with the second zone bit (the 270 degrees of the shell is a zero point of the equipment reference, the scale rotary table is aligned with the reference first, and then the zero point calibration is continued); the third marker bit is arranged at the 180-degree position of the shell, the precision turntable is driven, the 176-degree position of the scale turntable is overlapped with the third marker bit, the precise calibration process of returning to the zero point is completed at the moment, and the 0-degree position of the scale turntable is the position of the returning to the zero point, namely the fourth marker bit.
After zero point calibration is completed, the limit sensor is enabled, the exoskeleton testing equipment is installed, the accurate motion angle of the exoskeleton can be read in real time in the testing process, accurate data can be provided for subsequent information calculation such as torque curves, and after the testing is completed, the zero point of the equipment is returned, and the initial position of the next start is the zero point position.
The zero-returning calibration step of the motion turntable mechanism 12 is as follows: the scale rotary table 1226 is rotated to coincide with the precision rotary table 1225 at the first mark position 71, the precision rotary table 1225 is driven to coincide 270 scales of the scale rotary table 1226 with the second mark position 72, the precision rotary table 1225 is finely adjusted to coincide 176 scales of the scale rotary table 1226 with the third mark position 73, and at this moment, the position of the fourth mark position 74 is the zero-returning position of the moving turntable mechanism 12.
The limiting module comprises a first Hall sensor 1231, a second Hall sensor 1232 and a magnetic column 1233, the first Hall sensor 1231 is installed at 0-degree position of the shell 121, the induction interval of the first Hall sensor is +/-2.5 degrees, the second Hall sensor 1232 is installed at 135-degree position of the shell 121, the induction interval of the second Hall sensor is +/-2.5 degrees, and the magnetic column 1233 is installed at 0-degree position of the scale turntable 1226 and can move along with the scale turntable 1226. When the scale turntable 1226 drives the magnetic column 1233 to move, and when the magnetic column 1233 moves to the sensing region of the first hall sensor 1231 or the second hall sensor 1232, the sensing switch is triggered, the movement mechanism 122 stops moving, and the exoskeleton robot is prevented from being driven by the testing device to perform over-travel movement.
Wherein the thigh clamping mechanism 13 comprises a first supporting plate 131, a first clamping module 132, a pressure sensor module 133, the first clamping module 132 comprises a first clamping base 1321, a first clamping jaw 1325, a second clamping jaw 1326, the first supporting plate 131 is mounted on the precision turntable 1225, the first clamping module 132 is mounted on the first supporting plate 131 through the first clamping base 1321, the first clamping jaw 1325 and the second clamping jaw 1326 are mounted on a first slider 1323 and a second slider 1324, respectively, and the first slider 1323 and the second slider 1324 are axially moved on the first clamping base 1321 along a first centering lead screw 1322 through the first centering lead screw. The first centering lead screw 1322 is a lead screw with opposite rotation directions, and the centering or deviating movement of the first sliding block 1323 and the second sliding block 1324 can be realized on the lead screw by adjusting with a wrench, so that the clamping function of the thigh clamping jaw is realized.
The pressure sensor module 133 includes a pressure sensor 1332, a pressure baffle 1335 and a base 1331, the pressure baffle 1335 is connected to the front end of the pressure sensor 1332, the rear end of the pressure sensor 1332 is mounted on the base 1331, the base 1331 is connected to the second clamping jaw 1326 through a bolt 1334, and a positioning pin 1333 is disposed on the base 1331 and is used for restricting the relative movement between the pressure sensor 1332 and the second clamping jaw 1326. The pressure sensor 1332 is used for collecting assistance information of the lower limb exoskeleton robot in real time, and can calculate an actual output torque curve of the exoskeleton robot by combining other measurement data, and can compare the actual output torque curve with an output torque curve in a design scheme, so as to judge whether the measured exoskeleton robot meets the standard.
The centering mechanism 14 includes a three-jaw chuck 141, a centering column 142, a first supporting boss 143 and a second supporting boss 145, the first supporting boss 143 is connected to the first supporting plate 131, the second supporting boss 145 is connected to the lower extremity exoskeleton 41 and is coaxial with the rotation center of the knee joint, the first supporting boss 143 and the second supporting boss 145 can support the centering column 142 through a first bearing 144 and a second bearing 146, and the three-jaw chuck 141 is fixed outside the frame 11 and is used for aligning and clamping the position of the centering column 142. The pair of central columns 142 penetrates through the frame 11 and the moving turntable mechanism, after the three-jaw chuck 141 is screwed, the axial position of the pair of central columns 142 is the rotating shaft of the rotating platform, and the rotating center of the pair of central columns 142 is concentric with the rotating center of the moving mechanism 122 (the precision turntable 1225); the centering column 142 is connected with the lower limb exoskeleton through the second supporting boss 145, the embedded bearing in the second supporting boss 145 ensures the relative motion of the exoskeleton and the centering column 142, and in the motion process, the centering column 142 can ensure the exoskeleton rotation shaft and the rotation platform rotation shaft to be coaxial in real time, so that the safety of the test equipment and the accuracy of the test data are ensured.
The shank clamping mechanism 15 includes a support module 151, a second clamping base 152, a third clamping jaw 156, and a fourth clamping jaw 157, which are used to connect with the frame 11, the bottom of the second clamping base 152 is connected with the support module 151, the third clamping jaw 156 and the fourth clamping jaw 157 are respectively mounted on a third slider 154 and a fourth slider 155, and the third slider 154 and the fourth slider 155 axially move on the second clamping base 152 through a second centering lead screw 153. The second centering lead screw 153 is a lead screw with opposite rotation directions, and through adjustment of a wrench, centering or deviating movement of the third slider 154 and the fourth slider 155 on the second centering lead screw can be realized, so that the clamping function of the lower leg clamping jaw is realized.
The first supporting plate 131 is provided with a first adjustable U-shaped hole 81 for allowing the first clamping module 132 to move in the transverse direction, so that the installation position can be adjusted conveniently. The second supporting plate 1511 is provided with a second adjustable U-shaped hole 82 for the shank holding mechanism 15 to move in the transverse direction, so that the installation position can be adjusted conveniently. The third clamping jaw 156 and the fourth clamping jaw 157 are respectively provided with a first positioning hole 83 and a second positioning hole 84, and in the installation process, the first positioning hole 83 and the second positioning hole 84 are matched with the lower limb exoskeleton shank positioning hole, so that the installation position of the exoskeleton in the vertical direction can be preliminarily positioned.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to best understand the invention and its practical application. The present invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A test apparatus adapted for use with a passive lower extremity industrial exoskeleton robot, comprising:
the test equipment is used for the left lower limb and/or the right lower limb, and the vibration isolation platform is used for supporting the test equipment;
the test apparatus includes:
a frame;
the shank clamping mechanism is used for clamping shank parts of the industrial exoskeleton robot;
the thigh clamping mechanism is used for clamping thigh parts of the industrial exoskeleton robot;
the motion turntable mechanism is used for driving the thigh clamping mechanism to rotate so as to enable the thigh part of the industrial exoskeleton robot to rotate around the knee joint of the industrial exoskeleton robot;
the centering mechanism penetrates through the motion turntable mechanism, can rotate relative to the motion turntable mechanism, has a rotation center coaxial with the center of the motion turntable mechanism, and is used for connecting a knee joint of the industrial exoskeleton robot;
the thigh clamping mechanism is provided with a pressure sensor module and used for collecting assistance information of the lower limb exoskeleton robot in real time.
2. A test rig for a passive lower extremity industrial exoskeleton robot as claimed in claim 1 wherein the motion turret mechanism comprises:
a housing;
a driving mechanism driven by a worm gear and a worm is adopted;
the scale turntable is arranged on the turntable and can rotate relatively; the scale turntable is provided with scale lines which are arranged in the anticlockwise direction, wherein 0 degree is positioned on the left side of the horizontal center line, and 180 degrees is positioned on the right side of the horizontal center line;
the motion revolving stage mechanism is equipped with:
the first marker bit is used for calibrating the relative position of the scale turntable and the turntable;
the second marker bit is used for calibrating the relative position of the shell and the scale turntable;
the third marker bit is used for calibrating the position of the scale turntable reaching the zero point;
and the fourth marker bit is used for calibrating the position of the zero returning point of the movement mechanism.
3. The testing apparatus for the passive lower extremity industrial exoskeleton robot of claim 2, wherein a first marker is provided at 180 ° of the scale dial and at 184 ° of the housing; the 270 degrees departments of casing are equipped with the second marker position, 180 degrees departments of casing are equipped with the third marker position, and 0 scale department of scale carousel is equipped with the fourth marker position.
4. The test apparatus for a passive lower extremity industrial exoskeleton robot of claim 1, wherein said centering mechanism comprises:
a first support ledge coupled to the thigh gripping mechanism;
the second supporting boss is connected with the lower limb exoskeleton and is coaxial with the knee joint rotation center;
the middle column pair is connected with the first supporting boss and the second supporting boss through bearings and penetrates through the moving turntable mechanism and the rack;
and the three-jaw chuck is used for centering and clamping the center column pair so that the rotation center of the center column pair is coaxial with the rotation center of the movement turntable mechanism.
5. The testing apparatus for the passive lower extremity industrial exoskeleton robot of claim 2, wherein the motion turret mechanism is provided with a limit module comprising a first hall sensor, a second hall sensor and a magnetic column, the first hall sensor being mounted at 0 ° to the housing; the second Hall sensor is arranged at 135 degrees of the shell; the magnetic column is arranged at the 0-scale position of the scale turntable and can move along with the scale turntable.
6. The test apparatus for a passive lower extremity industrial exoskeleton robot of claim 1, wherein said thigh clamp mechanism comprises a first support plate, a first clamp module;
the first clamping module is connected with the moving turntable mechanism through a first supporting plate; the first clamping module is used for clamping a thigh part of the industrial exoskeleton robot in a centering mode.
7. The testing apparatus for the passive lower limb industrial exoskeleton robot of claim 6, wherein the first clamping module comprises a first clamping base, a first clamping jaw and a second clamping jaw, the first supporting plate is mounted on a motion turntable mechanism, the first clamping module is mounted on the first supporting plate through the first clamping base, the first clamping jaw and the second clamping jaw are respectively mounted on a first sliding block and a second sliding block, and the first sliding block and the second sliding block are centered or moved away through the first centering screw.
8. The testing apparatus suitable for the passive lower limb industrial exoskeleton robot of claim 7, wherein the pressure sensor module comprises a pressure sensor, a pressure baffle and a base, the pressure baffle is connected to the front end of the pressure sensor, the rear end of the pressure sensor is mounted on the base, the base is connected with the second clamping jaw, and a positioning pin is arranged on the base and used for restraining the relative motion between the pressure sensor and the second clamping jaw.
9. The testing device suitable for the passive lower limb industrial exoskeleton robot of claim 1, wherein the shank clamping mechanism comprises a supporting module for connecting the machine frame, a second clamping base, a third clamping jaw and a fourth clamping jaw, the bottom of the second clamping base is connected with the supporting module, the third clamping jaw and the fourth clamping jaw are respectively installed on a third sliding block and a fourth sliding block, and the third sliding block and the fourth sliding block are centered or moved away on the second clamping base through a second centering lead screw.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122572095.2U CN216422551U (en) | 2021-10-25 | 2021-10-25 | Test equipment suitable for passive lower limb industrial exoskeleton robot |
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| CN202122572095.2U CN216422551U (en) | 2021-10-25 | 2021-10-25 | Test equipment suitable for passive lower limb industrial exoskeleton robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115519582A (en) * | 2022-08-31 | 2022-12-27 | 北京精密机电控制设备研究所 | Leg simulation exercise table for testing knee joint exoskeleton |
| CN116117811A (en) * | 2023-02-07 | 2023-05-16 | 北京机科国创轻量化科学研究院有限公司 | Digital twinning-based industrial robot comprehensive performance analysis method and system |
| CN116175646A (en) * | 2023-03-01 | 2023-05-30 | 中国兵器装备集团自动化研究所有限公司 | Leg foot zero calibration device of biped robot |
-
2021
- 2021-10-25 CN CN202122572095.2U patent/CN216422551U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115519582A (en) * | 2022-08-31 | 2022-12-27 | 北京精密机电控制设备研究所 | Leg simulation exercise table for testing knee joint exoskeleton |
| CN116117811A (en) * | 2023-02-07 | 2023-05-16 | 北京机科国创轻量化科学研究院有限公司 | Digital twinning-based industrial robot comprehensive performance analysis method and system |
| CN116175646A (en) * | 2023-03-01 | 2023-05-30 | 中国兵器装备集团自动化研究所有限公司 | Leg foot zero calibration device of biped robot |
| CN116175646B (en) * | 2023-03-01 | 2023-09-19 | 中国兵器装备集团自动化研究所有限公司 | Leg foot zero calibration device of biped robot |
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Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. |