WO2018133266A1 - Exosquelette d'assistance de membre inférieur parallèle sous-actionné à charge lourde comprenant un tampon élastique - Google Patents

Exosquelette d'assistance de membre inférieur parallèle sous-actionné à charge lourde comprenant un tampon élastique Download PDF

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Publication number
WO2018133266A1
WO2018133266A1 PCT/CN2017/084434 CN2017084434W WO2018133266A1 WO 2018133266 A1 WO2018133266 A1 WO 2018133266A1 CN 2017084434 W CN2017084434 W CN 2017084434W WO 2018133266 A1 WO2018133266 A1 WO 2018133266A1
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WO
WIPO (PCT)
Prior art keywords
spring
shaft
waist
extension
actuator
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Application number
PCT/CN2017/084434
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English (en)
Chinese (zh)
Inventor
朱延河
王天铄
赵杰
Original Assignee
哈尔滨工业大学
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Application filed by 哈尔滨工业大学 filed Critical 哈尔滨工业大学
Publication of WO2018133266A1 publication Critical patent/WO2018133266A1/fr

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Classifications

    • 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base

Definitions

  • the present invention relates to a lower limb assisted exoskeleton, and more particularly to a large load underactuated parallel lower limb assisted exoskeleton having an elastic cushion.
  • exoskeleton robots mostly adopt a series structure design in hip, knee and ankle joint design, and each degree of freedom has a separate power source drive.
  • Direct drive by the motor requires high output and speed of the motor, resulting in a large volumetric weight of the motor.
  • the overall volume is large, and it is also necessary to consider the hydraulic pumping station, oil source leakage, environmental pollution, inefficiency, and limited range of motion; the current lower extremity exoskeleton robots generally adopt a passive form in the design of the ankle joint.
  • the ankle joint of the human body is just a relatively weak joint in the lower limb joint of the human body, which greatly limits the carrying capacity of the lower extremity exoskeleton robot.
  • the present invention is to solve the problem of the existing lower limb assisted exoskeleton robot, which has large weight, poor load capacity and slow walking speed, and further proposes a large load underactuated parallel lower limb assisted exoskeleton with elastic buffer.
  • a large load underactuated parallel lower limb assisted exoskeleton having elastic cushioning includes a back, a waist, a left leg, a right leg, and a foot; the back is coupled to the waist; the sides of the waist are respectively associated with the left a leg connected to the right leg, the left leg and the right leg being coupled to a respective foot;
  • the waist portion is rotatably connected to the back portion;
  • the left leg and the right leg respectively comprise an ankle joint and two sets of flexing and extending swinging telescopic structures, and two sets of flexing and extending swinging telescopic structures are respectively arranged at two ends of the waist portion,
  • Each set of flexion and extension swing telescopic structure comprises a hip joint flexion and extension mechanism and a series parallel expansion mechanism; each hip joint flexion and extension mechanism is mounted on the waist and can rotate back and forth relative to the waist;
  • Each of the series-parallel expansion mechanisms includes an electric linear actuator, a gas spring, a gas spring extension shaft connection, an actuator extension shaft connection, a shaft, a sliding sleeve, an upper end thin spring, a lower end thin spring, and a lower end Thick spring And a lower end spring fixing member;
  • the electric linear actuator is mounted on each of the hip flexion and extension swinging mechanisms, and the electric linear actuator is swingable to the left and right with respect to the waist; the cylinder top end of the gas spring is mounted on the hip joint flexing and swinging mechanism, The gas spring can be rotated back and forth with respect to the waist; the gas spring extension shaft of the gas spring is arranged in parallel with the extension axis of the actuator of the electric linear actuator;
  • the actuator of the electric linear actuator extends out of the shaft into a hollow cavity, the upper portion of the shaft is inserted into the hollow cavity, and the sliding sleeve is slidably fitted on the shaft, and the performing
  • the extension shaft connector is fixed on the extension shaft of the actuator, and the gas spring extension shaft connector is fixed on the gas spring extension shaft, and the actuator protrudes from the shaft connector
  • the gas spring extends from the shaft connecting member, and the sliding sleeve is connected with the actuator protruding shaft connecting member;
  • the upper portion of the shaft is provided with an upper end thin spring, and the upper end of the upper end thin spring is respectively connected with the shaft
  • the end of the upper section is connected to the actuator extension shaft connector, and the lower section of the shaft and the sliding sleeve are fitted with the lower end fine spring and the lower end thick spring, and the lower end of the shaft is end a lower end spring fixing member is fixed, and two ends of the lower end thin spring and the lower end thick spring are respectively abutted against the sliding
  • each of the ankle joints includes an ankle joint bearing seat and an ankle joint; the lower end spring fixing member is formed with an ankle joint shaft, and an end portion of the ankle joint shaft is rotatably mounted on the ankle joint by a bearing On the bearing housing, the ankle bearing housing is mounted on the ankle connector, and the ankle connector is fixed to the foot.
  • the left leg and the right leg structure of the present invention are coupled by an electric linear actuator and a gas spring in parallel, and the movements of the hip joint, the knee joint and the ankle joint are coupled together, and the load is mainly supported by the parallel structure of the leg, the human body
  • the three joints work together to maintain the balance of the mechanism, which increases the stability of the mechanism and improves the load capacity relative to the way in which the thighs and the calves are connected in series.
  • the series elastic structure composed of the upper end fine spring, the lower end fine spring and the lower end thick spring plays a buffering and energy saving role during the walking process, and can make the human walking speed exceed the exoskeleton mechanism a little, satisfying a certain movement process The demand for a sharp increase in speed at some time.
  • the thin spring allows the load to move beyond the speed of the telescopic mechanism.
  • the thick spring makes the energy recycle, cushioning, improving the impact resistance, and The motor output is more stable. 3.
  • the present invention requires a large force when the human legs are in a supporting state while walking, and the gas spring and the electric linear actuator cooperate in parallel to support the load, thereby increasing the load capacity of the entire telescopic mechanism.
  • the linear bearing shaft has a thin spring at each end, which acts at the equilibrium position. When compressed to a certain extent, the lower end of the thick spring acts. This is in consideration of the lower limb assisted exoskeleton based on the parallel mechanism. When the human leg is in the swing phase, only two thin springs act.
  • the compression of the two thin springs allows the body to move faster than the mechanism.
  • the common compression by the thick spring and the lower end spring produces a certain cushion, and the compression and elongation of the spring when the human leg is switched between the swing phase and the support phase to save energy.
  • the invention can easily and steplessly adjust the leg height to accommodate different height users by the expansion and contraction of the actuator extension shaft of the electric linear actuator.
  • FIG. 1 is a schematic perspective view of the present invention
  • Figure 2 is a front elevational view of Figure 1;
  • FIG. 3 is a schematic perspective view showing the connection of the back and the waist
  • Figure 4 is a front elevational view of Figure 3;
  • FIG. 5 is a schematic perspective view showing the connection of the left leg and the foot
  • FIG. 6 is a schematic diagram of a series-parallel expansion mechanism
  • FIG. 7 is a schematic view showing the mutual connection relationship between the gas spring extension shaft connecting member, the actuator extension shaft connecting member, the shaft, the sliding sleeve and the actuator extension shaft;
  • FIG. 8 is a structural schematic view of the actuator extension shaft, the shaft, the upper end thin spring, the lower end thin spring, the lower end thick spring, and the ankle joint;
  • Figure 9 is a front cross-sectional view of Figure 7;
  • FIG. 10 is a perspective structural view of a hip joint flexion and extension swing mechanism
  • FIG. 11 is a top plan view of FIG. 9.
  • a large load underactuated parallel lower limb assisted exoskeleton with elastic cushioning includes a back eight, a waist B, a left leg (:, a right leg D, and a foot E; the back A and the a waist B connection; two sides of the waist B are respectively connected to the left leg C and the right leg D, and the left leg C and the right leg D are connected with the corresponding foot E;
  • the waist B is rotatably connected to the back A;
  • the left leg C and the right leg D respectively comprise an ankle joint 1 and two sets of flexing and stretching oscillating structures, both ends of the waist B
  • Two sets of flexion and extension oscillating structures are respectively arranged, and each set of flexion and extension oscillating structure comprises a hip joint bending and oscillating mechanism 2 and a series-parallel expansion mechanism 3;
  • each hip joint bending and oscillating mechanism 2 is mounted on the waist B and can be opposite to the waist B Rotate back and forth
  • Each of the series-parallel expansion mechanism 3 includes an electric linear actuator 31, a gas spring 32, a gas spring extension shaft connection 33, an actuator extension shaft connection member 34, a shaft 35, a sliding sleeve 36, and an upper end thin a spring 37, a lower end fine spring 38, a lower end thick spring 39 and a lower end spring fixing member 30;
  • the electric linear actuator 1 is mounted on each hip flexion and extension swing mechanism 2, and the electric linear actuator 1 can swing to the left and right with respect to the waist B; the cylinder top end of the gas spring 32 is mounted on the hip joint flexion and extension.
  • the swinging mechanism 2, the gas spring 32 is rotatable back and forth with respect to the waist B; the gas spring extending shaft 22-1 of the gas spring 32 is arranged in parallel with the actuator extending shaft 31-1 of the electric linear actuator 31;
  • the inside of the actuator extension shaft 31 - 1 of the electric linear actuator 31 is a hollow cavity, the upper section of the shaft 35 is inserted into the hollow cavity, and the sliding sleeve 36 is slidably fitted in the On the shaft 35, the actuator extension shaft coupling member 34 is fixed to the actuator extension shaft 31-1, and the gas spring extension shaft coupling member 33 is fixed to the gas spring extension shaft 22 -1, the actuator extension shaft connector 34 is fixed to the gas spring extension shaft connector 33, and the sliding sleeve 36 is coupled to the actuator extension shaft connector 34; the shaft 5
  • the upper section is provided with an upper end thin spring 37, and both ends of the upper end thin spring 37 are respectively connected with the end of the upper section of the shaft 35 and the actuator extension shaft connecting member 34, the lower section of the shaft 35 and the
  • the sliding sleeve 36 is provided with the lower end fine spring 38 and the lower end thick spring 39.
  • the lower end of the shaft 35 is fixed with a lower end spring fixing member 30, and the lower end thin spring 3S has two ends
  • Each of the ankle joints 1 includes an ankle joint bearing block 11 and an ankle joint 12; the lower end spring fixture 30 is machined with an ankle joint shaft 30-1, and the ankle joint shaft 30-1 The end is mounted on the raft by a bearing rotation On the joint bearing housing 11, the ankle bearing housing 11 is mounted on the ankle joint 12, and the ankle link 12 is fixed to the foot E.
  • the overall weight of the large load underactuated parallel lower limb assisted exoskeleton designed by the embodiment includes the electrical system not exceeding 22 kg, the maximum load 100 kg, and the requirement of large load.
  • the waist B of the present embodiment is designed as a lateral swinging degree of freedom, which is used to satisfy the requirement that the person walking on the upper body of the upper body to swing and move the center of gravity of the body; and the flexibility of flexing and stretching of the hip, knee and ankle joints coupled with the micro-integration
  • the degree is achieved by connecting two telescopic linear actuators in parallel; the freedom of the adduction/external pendulum of the hip joint is realized by two hip joint flexion and extension mechanisms 2; the adduction/outer pendulum freedom of the ankle joint is two by the bottom of the foot
  • the joint bearing is realized; the inner/outer rotation degree of the leg is realized by the joint coupling of the two hip joint flexion and extension mechanisms 2 .
  • the back A includes a back binding connector A1, an electrical control system A2, and a waist back integral support A3;
  • the waist B includes a waist binding connector B1, a waist fixing member B2, and a waist pivot B3;
  • the back A and the waist B are integrally configured. It fits perfectly with the human body and is comfortable to wear.
  • the back binding connector A1 and the waist binding connector B1 are connected by the waist back integral support A3, and the positions of the back binding connector A1 and the waist binding connector B1 on the waist back integral support A3 are adjusted by bolts, and the back A can be adjusted as a whole.
  • the height of the waist shaft B 3 is designed to rotate the waist binding connector B1 relative to the waist back integral support A3.
  • the width of the lumbar joint can be adjusted by adjusting the position of the hip joint flexion and extension mechanism 2 on the lumbar support B2. Through the two-size adjustment, the back A can be adapted to users of different sizes.
  • the electronic control system A2 is used to control the start and stop of the motor 300-3 of the electric linear actuator 31.
  • the leg design of the present invention does not take the form of being completely tied to the user's leg, but is only tied to the user at the foot, and the actuator 31 extends out of the shaft through the parallel linear mechanism actuator 31- 1 contraction to assist the user to step on the leg.
  • the parallel mechanism is used to couple the forces in the flexion and extension directions of the hip joint, the knee joint and the ankle joint to maintain the balance between the leg and the upper body in the front-rear direction.
  • the self-weight of the exoskeleton and the load on the shoulder are mainly on two straight lines.
  • the actuator 31 supports, and the user only needs to maintain the balance of the entire exoskeleton, which greatly increases the load capacity of the exoskeleton.
  • the parallel mechanism adopts the electric linear actuator 31 and the gas spring 32 to install the active-passive combination in parallel.
  • the gas spring 32 can share the weight of a part of the load, reduce the load of the motor, and enhance the overall load capacity.
  • the gas spring 32 and the end of the electric linear actuator 31 are rotatably connected by a sleeve and a shaft, instead of Connected in a completely fixed manner, the axial direction of the shaft is perpendicular to the longitudinal direction of the gas spring 32, and the gas spring 32 can be rotated in a vertical plane around the shaft to prevent the actuator of the electric linear actuator 31 from extending out of the shaft 31-1 and the gas spring
  • the gas spring extension shaft 32-1 of 32 is not parallel to cause clogging during the telescoping process, reducing unnecessary friction.
  • the motor 31-3 and the linear actuator body are connected by a flange member to realize a linear expansion and contraction of the rotary motion of the motor 31-3 to the actuator extension shaft 31-1.
  • the motor 31-3 is connected to the linear actuator body by a timing belt to save space in the length direction, and also facilitates the mounting of the actuator extension shaft 31-1.
  • Each hip joint flexion and extension mechanism 2 is mounted on the waist portion B and is rotatable relative to the waist portion B; the electric linear actuator 1 can swing left and right with respect to the waist portion B, and the gas spring 32 can be opposite to the waist portion B Rotation; The hip joint flexion and extension mechanism 2 can rotate forward and backward to ensure that the electric linear actuator 31 can adapt to the need of flexion and extension.
  • the electric linear actuator 1 can swing to the left and right relative to the waist B to adapt to the swinging requirement.
  • the coupling mechanism can obtain the parallel mechanism.
  • the series structure consisting of the lower end fine spring and the lower end thick spring has only two upper and lower stiffness springs in the vicinity of the equilibrium displacement, so that in the relatively intense movement, the leg is swinging too fast, the electric linear actuator 31 speed can not keep up with the speed of the human leg. With the compression of two thin springs, people still have a certain margin that can exceed the speed of the electric linear actuator 31, which improves the limit speed of exoskeleton movement.
  • the leg is subjected to a relatively large pressure in the support phase, and the crucible is mainly acted upon by a spring having a relatively high rigidity at the lower end.
  • the addition of the series structure of the lower end fine spring and the lower end thick spring not only makes the human leg have a certain margin in the swing phase, can exceed the mechanism speed, increases the limit speed when the exoskeleton is used, and also makes the person walking There is a certain cushion in the sole of the foot. Moreover, the spring compresses and stores energy during the landing of the leg, and the spring releases the stored energy during the leg lifting process. During the continuous walking process, the alternating energy storage of the spring increases the energy utilization rate.
  • the upper end fine spring 7 , the lower end thin spring s and the lower end thick spring 9 are preferably coil springs.
  • the end of the ankle joint shaft 30-1 is rotatably mounted on the ankle joint bearing seat 11 by a joint bearing 13, and the joint bearing 13 disposed in the ankle joint bearing seat 11 is placed at a certain angle, considering the person
  • the flexion and extension range of the ankle joint is not symmetrical with respect to the plane perpendicular to the calf.
  • the range of the foot surface is very small, while the range of the downward direction is relatively large.
  • the joint bearing 13 has a certain range of rotation in this direction. The range of rotation of the joint bearing 13 in this direction is fully utilized. 1, FIG. 10 and FIG.
  • each of the hip flexion and extension mechanisms 2 includes a lumbar support member 21, a flexion and extension angle sensor 22, a flexion and extension shaft 23, a flexion and extension swing bearing housing 24, and an outer swing angle sensor. 25 and a series-parallel telescopic mechanism connecting member 26; two sides of the waist B are respectively connected with two of the waist leg connecting members 21;
  • One end of the flexion and extension shaft 23 is fixed on the flexion and extension rocking bearing seat 24, and the flexion and extension shaft 23 is rotatably mounted on the waist and leg joint member 21, and the other end of the flexion and extension shaft 23 is disposed at The bending leg angle sensor 22 is mounted in the waist leg connecting member 21;
  • the series-parallel expansion and contraction mechanism connecting member 26 is processed with a shaft head 26-1.
  • the shaft head 26-1 is rotatably mounted on the flexion and extension rocking bearing housing 24, and the end of the shaft head 26-1 Arranging in the flexion and extension bearing housing 24 and mounting the outer swing angle sensor 25, the flexion and extension shaft 23 is perpendicular to the axial direction of the shaft head 26-1;
  • the cylinder end of the electric linear actuator 1 is connected to the serial-parallel expansion and contraction mechanism connecting member 26, and the cylinder top end of the gas spring 32 is rotatably mounted on the series-parallel expansion and contraction mechanism connecting member 26,
  • the gas spring extension shaft 32-1 of the gas spring 32 is arranged in parallel with the actuator extension shaft 31-1 of the electric linear actuator 31, and the actuator extends the shaft 31-1, the flexion shaft 33 And the shaft heads 26-1 are respectively disposed perpendicular to the axial direction of the actuator extension shaft 31-1.
  • the flexion and extension shaft 23 is rotatably mounted on the waist and leg joint member 21, and the other end of the flexion and extension shaft 23 is disposed in the waist and leg joint member 21 and is mounted with the flexion and extension angle sensor 22, So designed, the left leg and the right leg can be rotated relative to the waist B in the front-rear direction, and the electric linear actuator 31 and the gas spring 32 are used to realize the flexion and extension in the front-rear direction.
  • the shaft head 26-1 is rotatably mounted on the flexion and extension rocking bearing housing 24, and the end of the shaft head 26-1 is disposed in the flexion and extension rocking bearing housing 24 and the outer swing angle is mounted
  • the sensor 25, the flexion and extension shaft 23 is disposed perpendicular to the axial direction of the shaft head 26-1, and is designed such that the left and right legs can swing to the left and right with respect to the waist, and the electric linear actuator 31 and the gas spring 32 are used to achieve the lateral direction.
  • the adduction/external pendulum through the coupling of this structure, can obtain the overall forward and backward oscillation of the flexion and extension swing telescopic structure, the degree of freedom of lateral adduction/external pendulum and internal rotation/external rotation, and the flexion and extension of the foot, the adduction/outside pendulum and Internal rotation / external rotation degrees of freedom, these degrees of freedom can meet the normal basic movement of the human body.
  • the series-parallel expansion and contraction mechanism further includes a lower spring fixing sleeve 300 and a lower spring stiffness adjusting washer 301;
  • the lower spring stiffness adjusting washer 301 is disposed in the lower spring fixing sleeve 300, the lower spring just The adjustment washer 301 is sleeved on the sliding sleeve 36.
  • the lower spring fixing sleeve 300 is fitted on the sliding sleeve 36 and connected to the actuator extension shaft connecting member 34.
  • the lower spring fixing sleeve 300 facilitates the limit fixing of the lower spring stiffness adjusting washer 301, and the adjustment from the equilibrium position to the large spring by increasing and decreasing the number of the lower spring stiffness adjusting washers 301 disposed in the lower spring fixing sleeve 300 The distance of action to meet the requirements of different loads.
  • the waist leg connecting member 21 is a plate-like structure, and two hip joint flexing and stretching mechanisms are arranged on the outer side of the plate surface of each of the lumbar leg connecting members 21. 2.
  • the flexion and extension shaft 23 is vertically mounted on the plate surface of the waist leg connecting member 21 and is rotatable relative to the waist leg connecting member 21. So designed, the waist-leg joint member 21 of the plate-like structure is simple in structure and convenient to use.
  • the sliding sleeve 36 is a linear bearing.
  • the actuator extension shaft connecting member 34 is connected to the actuator extension shaft 31-1 through a bolt, and then connected to the linear bearing, and the linear bearing is coaxially disposed with the linear actuator extension shaft 31-1, so that the shaft 35 is A portion of the linear actuator extends out of the hollow cavity of the shaft 31-1, and a hollow structure that extends from the shaft 311-1 by the actuator saves a part of the space.
  • the boss 35-1 at the end of the shaft 35 serves as a limit.
  • the gas spring 32 is a free type gas spring.
  • the free-form gas spring has the characteristics of light weight, stable operation, convenient operation, and favorable price, and can adapt to the cold environment.
  • the electric linear actuator 31 further includes an encoder 302 mounted on the motor 31 of the electric linear actuator 31. -3 on the shaft. With this arrangement, the output position of the motor of the electric linear actuator 31 can be read to accurately judge the moving position of the actuator extension shaft 31-1.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un exosquelette d'assistance de membre inférieur parallèle sous-actionné à charge lourde comprenant un tampon élastique, comprenant une partie dos (A), une partie taille (B), une jambe gauche (C), une jambe droite (D) et des parties pied (E) ; la partie dos (A) est raccordée à la partie taille (B) ; deux côtés de la partie taille (B) sont respectivement raccordés à la jambe gauche (C) et à la jambe droite (D) ; la jambe gauche (C) et la jambe droite (D) sont raccordées à des parties pied correspondantes (E) ; la partie taille (B) est raccordée en rotation à la partie dos (A) ; la jambe gauche (C) et la jambe droite (D) comprennent respectivement une articulation de cheville (1) et deux structures télescopiques de flexion et d'étirement et de balancement ; les deux structures télescopiques de flexion et d'étirement et de balancement sont agencées au niveau de chaque extrémité de la partie taille (B), chacune des structures télescopiques de flexion et d'étirement et de balancement comprenant un mécanisme de flexion et d'étirement et de balancement de l'articulation de hanche (2) et un mécanisme télescopique de liaison série-parallèle (3) ; et chaque mécanisme de flexion et d'étirement et de balancement de l'articulation de hanche (2) est monté sur la partie taille (B) et peut tourner selon un mouvement de va-et-vient par rapport à la partie taille (B). Ledit exosquelette d'assistance de membre inférieur est utilisé pour un robot d'exosquelette en vue de résoudre les problèmes de robot d'exosquelette d'assistance de membre inférieur existants selon lesquels le robot est lourd, présente une faible capacité de charge et la vitesse de déplacement est faible.
PCT/CN2017/084434 2017-01-23 2017-05-16 Exosquelette d'assistance de membre inférieur parallèle sous-actionné à charge lourde comprenant un tampon élastique WO2018133266A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710051139.2 2017-01-23
CN201710051139.2A CN106541393B (zh) 2017-01-23 2017-01-23 具有弹性缓冲的大负载欠驱动并联下肢助力外骨骼

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CN109806549B (zh) * 2019-03-20 2020-07-03 北京交通大学 一种串并混联的下肢助力外骨骼
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