WO2016197923A1 - 一种外骨骼机器人随动控制装置 - Google Patents

一种外骨骼机器人随动控制装置 Download PDF

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Publication number
WO2016197923A1
WO2016197923A1 PCT/CN2016/085159 CN2016085159W WO2016197923A1 WO 2016197923 A1 WO2016197923 A1 WO 2016197923A1 CN 2016085159 W CN2016085159 W CN 2016085159W WO 2016197923 A1 WO2016197923 A1 WO 2016197923A1
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WO
WIPO (PCT)
Prior art keywords
upper arm
arm
lower arm
control device
micro
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Application number
PCT/CN2016/085159
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English (en)
French (fr)
Inventor
夏楠
Original Assignee
夏楠
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 夏楠 filed Critical 夏楠
Priority to JP2018516615A priority Critical patent/JP6457699B2/ja
Priority to US15/579,941 priority patent/US10421185B2/en
Publication of WO2016197923A1 publication Critical patent/WO2016197923A1/zh

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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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A61H2201/5066—Limit switches

Definitions

  • the invention relates to a robot control device, in particular to an exoskeleton robot follow-up control device.
  • exoskeleton robots with good human-computer interaction have received more and more attention from researchers.
  • the exoskeleton robot is powerful, for example, it can help people with physical injuries to undergo rehabilitation.
  • the limb can be rehabilitated.
  • the exoskeleton can help people with mobility problems to regain their athletic ability.
  • the exoskeleton By assisting the disabled limb through the exoskeleton, the lower extremity can be re-walked, and the upper limb paralyzed can pick up the item again.
  • the exoskeleton can greatly enhance everyone's athletic ability, can make ordinary people lift hundreds of weights of objects without any effort, or easily complete tens of kilometers of long-distance trek.
  • the extraordinary ability of the exoskeleton makes it have great potential for development in military, scientific research, industrial production and daily life, and has great positive significance for promoting social and economic development.
  • exoskeleton robot control methods such as manual direct control, and direct control of exoskeleton robots through operation buttons.
  • Such coordination of control methods is difficult to guarantee; for example, pre-programmed control, such exoskeleton robots can only be based on Pre-set trajectory movement, the degree of freedom is small; there is also a way of using master-slave control to exoskeleton machine
  • the person is divided into the main exoskeleton and the exoskeleton.
  • the main exoskeleton is fixed with the human limb.
  • the external bone is driven by the external bone.
  • the human body drives the main exoskeleton movement, the main exoskeleton and the exoskeleton are different.
  • An angle sensor is generally used to detect the angular deviation signal between the main exoskeleton and the exoskeleton as a driving signal from the exoskeleton.
  • this method has higher degree of freedom and better coordination than the above two methods, the driving structure is relatively complicated, and the accuracy of the angle sensor is high, and the main exoskeleton and the exoskeleton are required to have a difference in angle to generate the driving force. There is a lag in the movement of the exoskeleton, and the hysteresis is especially noticeable when the accuracy of the angle sensor is low.
  • the object of the present invention is to solve the problem that the existing exoskeleton robot adopts manual control and has poor coordination, and the exo-skeletal robot adopting master-slave control has a complicated structure and a lag in motion, and provides good coordination and good synchronization.
  • Exoskeleton robot follow-up control device is to solve the problem that the existing exoskeleton robot adopts manual control and has poor coordination, and the exo-skeletal robot adopting master-slave control has a complicated structure and a lag in motion, and provides good coordination and good synchronization.
  • an exoskeleton robot follow-up control device comprising an upper arm and a lower arm, a lower end of the upper arm and an upper end of the lower arm adopting a rotatable joint connection, and the upper arm or the lower arm is provided
  • an active pressing block which can slide back and forth perpendicularly to the axial direction.
  • the active pressing block is bound to the human body, and two micro-switches are arranged corresponding to the active pressing block on the upper arm or the lower arm, and the two micro-switches are opposite in direction and active pressure At the same time, only one of the micro-switches can be triggered, and a power device for driving rotation is arranged between the upper arm and the lower arm, and the two micro-switches respectively control the forward and reverse movement of the power device.
  • the two micro-switches are respectively arranged corresponding to the two moving directions of the active pressing block, and the active pressing block is bound to the human body. When the human body generates an action, the active pressing block can be driven to move vertically and in the axial direction of the upper arm or the lower arm.
  • the upper arm is fixed to the outside of the thigh
  • the lower arm is fixed to the outside of the lower leg
  • the joint is located outside the knee joint.
  • the active clamp and the micro switch are arranged at the upper arm as an example.
  • the active clamp is tied to the thigh.
  • the other binding position of the upper arm and the thigh is offset from the position of the active clamp.
  • micro-switches One of the micro-switches is touched, and the micro-switches drive the power device to move, and the upper arm and the lower arm are driven to perform the same flexing and stretching action.
  • the human body flexes and stretches, it will drive the active pressure block to move in different directions, so that different micro switches can be touched according to the moving direction to realize the follow-up of the exoskeleton.
  • the device can accurately touch the micro-motion according to the movement trend, and achieve good synchronism and follow-up.
  • the micro switch is disposed on a side surface of the upper arm, and two limiting strips are juxtaposed in a direction perpendicular to the side of the upper arm, and the two micro switches are respectively disposed at ends between the two limiting strips and protrude from the ends
  • the active clamp is a sliding frame that is sleeved on both sides of the two limiting strips and slides along the limiting strip. The distance between the two inner ends of the sliding frame is greater than the distance between the outer ends of the two micro-switches.
  • the micro switch is disposed on a side of the lower arm, and two limiting strips are juxtaposed in a direction perpendicular to the side of the upper arm, and the two micro switches are respectively disposed at ends between the two limiting strips and protruded from
  • the active clamp is a sliding frame that is sleeved on both sides of the two limiting strips and slides along the limiting strip. The distance between the two inner ends of the sliding frame is greater than the outer ends of the two micro-switches. the distance. No matter at the upper arm and lower arm, the micro switch can sensitively detect the movement trend of the human body and realize the follow-up of the exoskeleton.
  • the active clamp is a frame structure, and the distance between the inner ends of the frame determines that only one micro switch can be touched at the same time. Pass The limit of the limit bar is to avoid damage to the micro switch caused by excessive human action or cause irreversible displacement. At the same time, the limit strip also guides the active clamp.
  • the side walls of the two limiting strips are further provided with side sealing plates for protecting the micro switch and preventing the sliding frame from falling off.
  • the frame on both ends of the sliding frame body is further provided with a connecting hole bound to the human body.
  • the power device is an electric cylinder
  • the electric cylinder includes a cylinder block, a piston rod and a motor.
  • the ends of the cylinder block and the piston rod are respectively connected to the upper arm and the lower arm, and the motor is disposed at one side of the cylinder block, and A transmission is provided between the end of the cylinder and the motor.
  • the upper arm and the lower arm are formed by alternately stacking a plurality of connecting plates and a panel layer, and the connecting plate and the panel are uniform in thickness, and one end of the connecting plate is connected to the end of the plate at the end of the panel, and the lower arm
  • the upper end of the connecting plate and the lower end of the upper arm connecting plate are inserted and engaged with each other, and the joint pin is rotatably connected at the plug fitting position.
  • the multi-layer structure can increase the thickness of the upper arm and the lower arm, reduce the possibility of twisting of the joint position, and the connecting plate and the panel are alternately layered, and the length of the overlapping portion can be adjusted according to actual conditions.
  • the upper and lower arms are adjustable in different lengths.
  • the roles of the panel and the connecting plate can be interchanged if it is required to pass through other limb members of the joint link.
  • the mounting points are selected on the upper arm connecting plate and the lower arm connecting plate to ensure stable driving force.
  • the upper arm panel end is at an upper end of the upper arm connecting plate
  • the lower arm lower end is at a lower end of the lower arm connecting plate
  • the position where the upper arm and the lower arm are bound to the human body is the wrong position of the active clamp. open.
  • the upper arm and the lower arm should have good follow-up with the human body, and also need to be bound to the human body.
  • the binding position avoids the position of the active clamp, so that the active clamp can better reflect the trend of the human body.
  • the invention acquires the micro movement trend of the human body through the slidable active pressure block arranged perpendicularly to the axis of the upper arm or the lower arm, and drives the power device through the cooperation of the active pressure block and the micro switch to realize real-time follow-up of the exoskeleton and the human body, Good coordination, synchronization, simple structure, low implementation cost and good economy.
  • Figure 1 is a schematic view of the structure of the present invention.
  • FIG. 2 is a schematic view showing the structure of an active clamp and a micro switch of the present invention.
  • Figure 3 is a side elevational view of the upper and lower arms of the present invention.
  • Embodiment An exoskeleton robot follow-up control device is shown in FIG.
  • the device comprises an upper arm 1 and a lower arm 3, and the upper arm and the lower arm are rotatably connected by a joint 2.
  • the upper arm 1 is composed of a three-layer upper arm connecting plate 13 and two upper arm panels 14 which are alternately laminated, and the lower arm 3 is alternately laminated by two lower arm connecting plates 15 and three lower arm panels 16.
  • the upper arm connecting plate and the upper arm panel are of the same length, and the lower arm connecting plate lower end extends downward, and the upper end of the upper arm panel projects upward, and the two are staggered.
  • the lower arm connecting plate and the lower arm panel are long The degree is uniform, and the upper arm connecting plate upper end projects upward, and the lower arm panel lower end extends downward, and the two are staggered.
  • the joint 2 is pivotally connected by the joint pin.
  • the lower side of the upper end of the upper arm connecting plate 13 is outwardly convex to form a power mounting portion, and the left side of the lower arm connecting plate 15 protrudes outward to form a power mounting portion, an upper arm power mounting portion and a lower arm power mounting portion.
  • An electric cylinder 4 is provided as a power source.
  • the rear end of the cylinder of the electric cylinder is connected to the upper arm power mounting portion, and the end of the piston rod protruding from the front end of the cylinder body is connected to the lower arm power mounting portion.
  • the lower side of the rear end of the cylinder is further provided with a motor 5, and a transmission device is arranged between the motor and the rear end of the cylinder to form power transmission.
  • An active pressing block 6 is disposed on the front side of the upper arm near the upper portion, and the active pressing block 6 is bound to the human body and can slide in the direction of the vertical upper arm axis.
  • Two corresponding micro-switches for detecting the sliding position of the active pressing block are disposed at the corresponding positions of the upper arm. 10.
  • the specific structure is as shown in FIG. 2, two vertical limiting bars 11 are juxtaposed in the vertical axis of the upper part of the upper arm, and a micro switch 10 is arranged at each end between the two limiting bars, and the outer end of the micro switch 10 is slightly protruded. At the end of the limit bar.
  • the active pressing block is a sliding frame body 8.
  • the sliding frame body 8 is sleeved on the outer side of the limiting strip, and is guided by the limiting strip.
  • the distance between the two inner ends of the sliding frame body 8 is slightly larger than the outer ends of the two micro-switches.
  • the distance between the slide frames ensures that only one micro switch can be touched at the same time.
  • a connecting hole 9 is formed in the frame at both ends of the sliding frame body, and can be bound to the human body at the position of the connecting hole.
  • a side sealing plate 7 is also connected to the front side of the limiting strip to protect the micro switch and prevent the sliding frame from falling off.
  • a wire hole 12 is defined in the upper arm of the position between the two limit bars and the two micro switch, so that the signal line of the micro switch can be worn outside the upper arm.
  • the upper arm of the exoskeleton binds the active clamp to the upper arm of the human body at the active clamp position, and the upper arm of the exoskeleton and the upper arm of the human body are tied by the strap 17 near the lower part of the joint.
  • the lower extremity arm itself is bound to the lower arm of the human body through the strap 17 at the upper and lower portions, respectively.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种外骨骼机器人随动控制装置，解决现有的外骨骼机器人采用手动控制的协调性不好、而采用主从控制的外骨骼机器人结构复杂、动作存在滞后的问题。该装置包括上臂（1）、下臂（3），上臂下端和下臂上端采用可转动的关节（2）连接，其特征在于：上臂（1）或下臂（3）上设有可垂直于轴线方向滑动的主动压块（6），主动压块（6）与人体绑定，上臂（1）或下臂（3）上与主动压块（6）对应设置有两个微动开关（10），上臂（1）和下臂（3）之间设有驱动转动的动力装置，两个微动开关（10）分别控制动力装置的正反向运动。该装置实现外骨骼和人体的实时随动，具有良好的协调性、同步性，而且结构简单，实现成本低，经济性好。

Description

一种外骨骼机器人随动控制装置 技术领域
本发明涉及一种机器人控制装置，特别涉及一种外骨骼机器人随动控制装置。
背景技术
社会经济的发展使得人们对机器人的需求与日俱增。但是由于人工智能尚未发展到能够使机器人独立运行的程度，目前机器人都需要人工干预或者预先编程来完成固定的任务。在这种背景下，具有良好人机交互的外骨骼机器人得到了研究人员越来越多的关注。外骨骼机器人功能强大，例如它能够帮助肢体受伤者进行康复治疗。通过将外骨骼与受伤肢体固定，控制外骨骼带动肢体运动，可以来对肢体进行康复治疗。又例如外骨骼可以帮助行动不便的残疾人恢复运动能力。通过外骨骼来辅助失能肢体，可以使得下肢瘫痪者可以重新走路，上肢瘫痪者可以重新拾取物品。而对于健康的人来说，外骨骼可以极大地增强每个人的运动能力，能够使常人举起数百斤重的物体而毫不吃力，或者轻松完成数十公里的长途跋涉。外骨骼的非凡能力使得它在军事、科研、工业生产和日常生活中有极大的发展潜力，对于促进社会经济发展有着巨大的积极意义。
现有的外骨骼机器人控制方法有很多，例如采用手动直接控制，通过操作按钮直接控制外骨骼机器人，这样的控制方式协调性难以保证；再例如采用预编程控制，这样的外骨骼机器人只能根据预先设定的轨迹运动，自由度小；还有一种采用主从控制的方式，将外骨骼机 器人分为主外骨骼和从外骨骼，主外骨骼跟人的肢体固定，从外骨骼采用外力驱动，当人体带动主外骨骼运动，使主外骨骼和从外骨骼之间存在差动，一般采用角度传感器检测主外骨骼和从外骨骼之间的角度偏差信号，作为从外骨骼的驱动信号。这种方式虽然相较上述两种方式自由度高，协调性也好，但是驱动结构相对复杂，而且对角度传感器的精度要求高，需要主外骨骼和从外骨骼存在角度差，才能产生驱动力，从外骨骼动作存在滞后，当角度传感器精度较低时，滞后尤为明显。
发明内容
本发明的目的在于解决现有的外骨骼机器人采用手动控制的协调性不好、而采用主从控制的外骨骼机器人结构复杂、动作存在滞后的问题，提供协调性好，且具有良好同步性的外骨骼机器人随动控制装置。
本发明解决其技术问题所采用的技术方案是：一种外骨骼机器人随动控制装置，包括上臂、下臂，上臂下端和下臂上端采用可转动的关节连接，所述上臂或下臂上设有可垂直于轴线方向来回滑动的主动压块，所述主动压块与人体绑定，上臂或下臂上与主动压块对应设置有两个微动开关，两微动开关方向相反，主动压块同一时间只能触发其中一个微动开关，所述上臂和下臂之间设有驱动转动的动力装置，两个微动开关分别控制动力装置的正反向运动。两个微动开关分别与主动压块两个运动方向对应设置，主动压块与人体绑定，当人体产生动作，能带动主动压块在垂直与上臂或下臂的轴线方向运动。以腿部 为例，将上臂固定与大腿外侧，下臂固定与小腿外侧，关节位于膝关节外侧，以主动压块和微动开关设置在上臂处为例，上臂与大腿固定时，主动压块与大腿绑定，而上臂与大腿另外的绑定位置与主动压块位置错开一定的距离，人体行走时，腿部会产生屈伸动作，使大腿与上臂之间产生微小差动，带动主动压块相对上臂滑动，碰触其中一个微动开关，微动开关驱动动力装置动作，带动上臂和下臂做同样的屈伸动作。人体屈伸时，会带动主动压块朝不同的方向运动，从而根据运动方向碰触不同的微动开关，实现外骨骼的随动。本装置在人体产生微小动作的时候，能准确根据运动趋势，触动微动开光，实现良好的同步性和随动性。
作为优选，所述微动开关设置在上臂的侧面，上臂的侧面垂直轴线方向并列设置两个限位条，两微动开关分别设置在两限位条之间的端部并突出于端部之外，主动压块为套设在两限位条两侧并沿限位条滑动的滑动框体，滑动框体的两内端之间的距离大于两个微动开关外端之间的距离。
作为另外的优选方案，所述微动开关设置在下臂的侧面，上臂的侧面垂直轴线方向并列设置两个限位条，两微动开关分别设置在两限位条之间的端部并突出于端部之外，主动压块为套设在两限位条两侧并沿限位条滑动的滑动框体，滑动框体的两内端之间的距离大于两个微动开关外端之间的距离。无论设置在上臂和下臂处，微动开关均能灵敏地侦测到人体的运动趋势，实现外骨骼的随动。主动压块为框体结构，框体内端的距离决定了同一时间只能碰触一个微动开关。而通 过限位条的限位，避免人体动作过猛对微动开关造成损伤、或者造成不可回位的位移。同时，限位条也对主动压块形成导向。
作为优选，所述两个限位条侧面还设有保护微动开关并防止滑动框体脱落的侧封板。
作为优选，所述滑动框体两端的框架上还设有与人体绑定的连接孔。
作为优选，所述动力装置为电缸，电缸包括缸体、活塞杆、电机，所述缸体和活塞杆的端部分别与上臂、下臂相连，电机设置在缸体的一侧，并在缸体的端部与电机之间设置传动装置。
作为优选，所述上臂和下臂采用多层连接板和嵌板层层交替叠合而成，连接板和嵌板厚度一致、且靠近关节的一端连接板端部长于嵌板端部，下臂的连接板上端和上臂连接板下端相互插接嵌合，在插接嵌合位置采用关节销转动连接。采用多层叠合结构，能增加上臂和下臂的厚度，减少关节位置产生扭动的可能性，而且连接板和嵌板为层层交替叠合，叠合部的长度可以根据实际情况调节，使上臂和下臂具有可调节的不同的长度。而在上臂的上端、下臂的下端，如果需要通过关节件链节其他肢体部件时，嵌板和连接板的角色可以互换。动力装置安装时，安装点选择在上臂连接板和下臂连接板上，保证驱动受力稳定。
作为优选，所述上臂嵌板上端部长于上臂连接板的上端部，下臂嵌板的下端部长于下臂连接板的下端部。
作为优选，上臂、下臂与人体绑定的位置均与主动压块的位置错 开。上臂与下臂要具有与人体良好的随动性，也需要与人体绑定，绑定位置避开主动压块位置，使主动压块能更好地反应人体动作趋势。
本发明通过与上臂或下臂轴线垂直设置的可滑动主动压块获取人体的微小运动趋势，在通过主动压块和微动开关的配合驱动动力装置，实现外骨骼和人体的实时随动，具有良好的协调性、同步性，而且结构简单，实现成本低，经济性好。
附图说明
图1是本发明一种结构示意图。
图2是本发明主动压块和微动开关结构示意图。
图3是本发明上臂和下臂的侧视结构示意图。
图中：1、上臂，2、关节，3、下臂，4、电缸，5、电机，6、主动压块，7、侧封板，8、滑动框体，9、连接孔，10、微动开关，11、限位条，12、过线孔，13、上臂连接板，14、上臂嵌板，15、下臂连接板，16、下臂嵌板，17，绑带。
具体实施方式
下面通过具体实施例并结合附图对本发明进一步说明。
实施例：一种外骨骼机器人随动控制装置，如图1所示。本装置包括上臂1、下臂3，上臂和下臂之间通过关节2转动连接。如图3所示，上臂1由三层上臂连接板13和两层上臂嵌板14交替层叠组成，下臂3由两层下臂连接板15和三层下臂嵌板16交替层叠而成。上臂连接板和上臂嵌板长度一致，而上臂连接板下端向下伸出，上臂嵌板的上端向上伸出，两者形成交错。对应的，下臂连接板和下臂嵌板长 度一致，而下臂连接板上端向上伸出，下臂嵌板的下端向下伸出，两者形成交错。上臂连接板13下端与下臂连接板15上端相互插接嵌合后，采用关节销枢接形成关节2。如图1所示，上臂连接板13上端的下侧向外凸起形成动力安装部，下臂连接板15的左侧向外突起形成动力安装部，上臂动力安装部和下臂动力安装部之间设有电缸4作为动力源，电缸的缸体后端与上臂动力安装部相连，缸体前端伸出的活塞杆端部与下臂动力安装部相连。缸体后端的下侧还设有电机5，电机与缸体后端之间设有传动装置，形成动力传送。
上臂靠近上部的前侧面设有主动压块6，主动压块6与人体绑定，并可在垂直上臂轴线的方向上滑动，上臂对应位置设有两个检测主动压块滑动位置的微动开关10。具体结构如图2所示，上臂上部垂直轴线并列固定有两根限位条11，两限位条之间的两端位置分别设有一个微动开关10，微动开关10的外端略突出于限位条的端部。主动压块为一个滑动框体8，滑动框体8套设在限位条外侧，通过限位条导向滑动，滑动框体8两个内端之间的距离稍大于两个微动开关外端之间的距离，保证滑动框体同一时间只能触碰一个微动开关。滑动框体两端部的框架上开设连接孔9，可以在连接孔位置与人体绑定。限位条的前侧还连接有侧封板7，对微动开关形成保护，并防止滑动框体脱落。在两限位条、两微动开关之间位置的上臂上开设有过线孔12，让微动开关的信号线能穿到上臂外部。
如图1所示，外骨骼上臂在主动压块位置将主动压块与人体上臂绑定，在靠近关节的下部将外骨骼上臂本身与人体上臂通过绑带17绑 定，外骨骼下臂本身在上部和下部分别与人体下臂通过绑带17绑定。当人体运动时，人体上臂和人体下臂之间产生屈伸，带动主动压块滑动，从而碰触其中一个微动开关，使电缸运动驱动外骨骼上臂和外骨骼下臂随人体运动，保持高度的协调和同步。

Claims (9)

  1. 一种外骨骼机器人随动控制装置，包括上臂、下臂，上臂下端和下臂上端采用可转动的关节连接，其特征在于：所述上臂或下臂上设有可垂直于轴线方向来回滑动的主动压块，所述主动压块与人体绑定，上臂或下臂上与主动压块对应设置有两个微动开关，两微动开关方向相反，主动压块同一时间只能触发其中一个微动开关，所述上臂和下臂之间设有驱动转动的动力装置，两个微动开关分别控制动力装置的正反向运动。
  2. 根据权利要求1所述的一种外骨骼机器人随动控制装置，其特征在于：所述微动开关设置在上臂的侧面，上臂的侧面垂直轴线方向并列设置两个限位条，两微动开关分别设置在两限位条之间的端部并突出于端部之外，主动压块为套设在两限位条两侧并沿限位条滑动的滑动框体，滑动框体的两内端之间的距离大于两个微动开关外端之间的距离。
  3. 根据权利要求1所述的一种外骨骼机器人随动控制装置，其特征在于：所述微动开关设置在下臂的侧面，上臂的侧面垂直轴线方向并列设置两个限位条，两微动开关分别设置在两限位条之间的端部并突出于端部之外，主动压块为套设在两限位条两侧并沿限位条滑动的滑动框体，滑动框体的两内端之间的距离大于两个微动开关外端之间的距离。
  4. 根据权利要求2或3所述的一种外骨骼机器人随动控制装置，其特征在于：所述两个限位条侧面还设有保护微动开关并防止滑动框 体脱落的侧封板。
  5. 根据权利要求2或3所述的一种外骨骼机器人随动控制装置，其特征在于：所述滑动框体两端的框架上还设有与人体绑定的连接孔。
  6. 根据权利要求1或2或3所述的一种外骨骼机器人随动控制装置，其特征在于：所述动力装置为电缸，电缸包括缸体、活塞杆、电机，所述缸体和活塞杆的端部分别与上臂、下臂相连，电机设置在缸体的一侧，并在缸体的端部与电机之间设置传动装置。
  7. 根据权利要求1或2或3所述的一种外骨骼机器人随动控制装置，其特征在于：所述上臂和下臂采用多层连接板和嵌板层层交替叠合而成，连接板和嵌板厚度一致、且靠近关节的一端连接板端部长于嵌板端部，下臂的连接板上端和上臂连接板下端相互插接嵌合，在插接嵌合位置采用关节销转动连接。
  8. 根据权利要求7所述的一种外骨骼机器人随动控制装置，其特征在于：所述上臂嵌板上端部长于上臂连接板的上端部，下臂嵌板的下端部长于下臂连接板的下端部。
  9. 根据权利要求1或2或3所述的一种外骨骼机器人随动控制装置，其特征在于：上臂、下臂与人体绑定的位置均与主动压块的位置错开。
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