WO2018232691A1 - Appareil d'articulation électrique portable, dispositif d'exosquelette d'assistance d'extrémité inférieure et procédé de commande associé - Google Patents

Appareil d'articulation électrique portable, dispositif d'exosquelette d'assistance d'extrémité inférieure et procédé de commande associé Download PDF

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Publication number
WO2018232691A1
WO2018232691A1 PCT/CN2017/089544 CN2017089544W WO2018232691A1 WO 2018232691 A1 WO2018232691 A1 WO 2018232691A1 CN 2017089544 W CN2017089544 W CN 2017089544W WO 2018232691 A1 WO2018232691 A1 WO 2018232691A1
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WO
WIPO (PCT)
Prior art keywords
lower arm
upper arm
rod
torque
thigh
Prior art date
Application number
PCT/CN2017/089544
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English (en)
Chinese (zh)
Inventor
余运波
Original Assignee
深圳市肯綮科技有限公司
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 深圳市肯綮科技有限公司 filed Critical 深圳市肯綮科技有限公司
Priority to CN201780001147.4A priority Critical patent/CN107690375B/zh
Priority to PCT/CN2017/089544 priority patent/WO2018232691A1/fr
Publication of WO2018232691A1 publication Critical patent/WO2018232691A1/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
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

Definitions

  • the present invention relates to the field of wearable device technology, and more particularly to a portable power joint device and a lower limb assisted exoskeleton device and a control method thereof.
  • Exoskeleton robots for human body wear generally have a plurality of dynamic joints.
  • these dynamic joints need to carry pressure and torque in multiple directions applied by the human body when worn.
  • integrated force sensors, angle sensors, and motor rotary encoders at the same time, power joints are required to be small, lightweight, and low cost.
  • a general flat motor is used for the motor
  • a harmonic reducer is used for the reducer, so that the axial dimension of the power joint can be made small.
  • some schemes are used to simplify the design, and the upper arm and the lower arm are respectively fixed together with the flexible wheel and the steel wheel of the harmonic reducer, such as the 2011 Master's thesis of the exoskeleton lower limb assisting robot of Harbin Institute of Technology. This technique is disclosed in the Technical Study, which results in the upper and lower arms not being in a plane.
  • the power joint does not include a special measure for measuring the relative angles of the upper arm and the lower arm.
  • the motor encoder is used to estimate the relative angle of the upper and lower arms.
  • the problem of this solution is that calibration is required every time the power is turned on, and the accuracy is difficult to ensure; Paper “Mechanical Design of the Hanyang Exoskeleton Assistive Robot (HEXAR) ICCAS2014 and the paper “Design” Of an electrically actuated lower extremity exoskeleton” (Advanced Robotics, Vol. 20, No. 9, pp. 967–988 (2006)) did not disclose a scheme for measuring the relative angles of the upper and lower arms.
  • the patent 201611189733.X refers to a dynamic joint device for an exoskeleton with a torque sensor, a motor encoder and an angle sensor, but which uses a harmonic reducer to achieve deceleration, which is costly. And the torque sensor related structure is large in size and unsightly.
  • the object of the present invention is to overcome the deficiencies of the prior art and to provide a portable power joint device and a lower limb assisted exoskeleton device and a control method thereof.
  • the present invention adopts the following technical solutions:
  • a portable dynamic joint device comprising a joint body and a power device disposed on the joint body, the joint body comprising an upper arm and a lower arm rotatably coupled to the upper arm; the upper arm or the lower arm is provided with a mounting cavity; The device is provided with a transmission mechanism and is disposed inside the installation cavity; the power device is fixed to the lower arm or the upper arm, and drives the upper arm or the lower arm to rotate by the transmission mechanism.
  • the lower arm includes a first lower arm plate and a second lower arm plate, and the mounting cavity is formed between the first lower arm plate and the second lower arm plate;
  • the lower arm is provided a first through hole penetrating through the first lower arm plate and the second lower arm plate;
  • the first lower arm plate is provided with a boss on the outer side of the first through hole, and the outer wall of the boss and the first bearing bearing are disposed
  • An inner wall is connected;
  • a second bearing bearing is embedded in the first through hole of the second lower arm plate;
  • the upper arm includes a first upper arm plate and a second upper arm plate, and the first upper arm plate is adjacent to the first lower arm plate
  • a second through hole is disposed on the outer side of the first bearing;
  • the second upper arm plate and the second lower arm plate are rotatably coupled by the second bearing.
  • the power device includes a motor and a transmission mechanism coupled to the motor drive; the motor is fixed to the outside of the lower arm and is close to the first through hole, and is coupled to the transmission mechanism through the first through hole;
  • the transmission mechanism includes a first-stage small pulley that is coupled with the power output end of the motor, a first-stage large pulley that is coupled with the primary small pulley, and a secondary small pulley that is coaxial with the primary large pulley, and a two-stage large pulley with a two-stage small pulley transmission; the first-stage large pulley and the first-stage small pulley, the second-large pulley and the second small pulley are all connected by a synchronous belt drive;
  • the secondary large pulley is fixed to the power output shaft provided on the upper arm; the secondary large pulley is rotatably coupled to the upper arm through the second bearing, and the secondary pulley is fixed to the second bearing
  • the coupled shaft end is a hollow structure; the power output shaft is
  • a further technical solution is: further comprising a torque measuring mechanism, wherein the torque measuring mechanism is a torque sensor; the secondary large pulley is a hollow structure, so that the torque sensor is disposed in the hollow structure of the secondary large pulley;
  • the torque sensor includes a torque input end and a torque output end, the torque input end is fixedly coupled to the secondary large pulley, and the torque output end is fixedly coupled to the power output shaft;
  • the torque sensor comprises an outer ring And an inner ring and a plurality of bridge beams connected between the outer ring and the inner ring; the outer ring is a torque input end, and the inner ring is a torque output end; the bridge beam is evenly distributed with a plurality of stress pieces;
  • the measuring mechanism is arranged between the secondary large pulley and the power output shaft, and the small deformation caused by the rotation of the power output shaft is driven by the secondary large pulley to measure the mutual moment between the upper arm and the lower arm.
  • a further technical solution is: including a first angle measuring mechanism; the first angle measuring mechanism includes a first magnet and a first magnetic field sensing circuit; the first magnet is fixedly coupled to the motor power output end or the first stage small pulley; The first magnetic field sensing circuit is fixedly coupled to the sensor plate provided in the mounting cavity, and the first magnetic field sensing circuit is close to the first magnet; the motor rotates to rotate the motor shaft, thereby driving the first magnet to rotate, the first The magnetic field sensing circuit measures the angle of rotation of the motor relative to the lower arm by sensing the angle of rotation of the first magnet.
  • a further technical solution is: further comprising: a second angle measuring mechanism, wherein the second angle measuring mechanism comprises a second magnet and a second magnetic field sensing circuit; the second magnet is fixedly coupled to the power output shaft and the second large pulley; The second magnetic field sensing circuit is disposed on the sensor plate provided in the mounting cavity and adjacent to the second magnet; the power output shaft and the second large pulley rotate, thereby driving the second magnet to rotate, and the second magnetic field sensing The circuit measures the angle of rotation of the upper arm relative to the lower arm by sensing the angle of rotation of the second magnet.
  • a further technical solution is: further comprising a timing belt tensioning mechanism disposed outside the lower arm; the two ends of the common shaft of the primary large pulley and the secondary small pulley are fixedly coupled with the timing belt tensioning mechanism;
  • the timing belt tensioning mechanism includes a tensioning slider slidably coupled to the lower arm, a fixing protrusion fixed to the outside of the lower arm, and a tensioning rod movably coupled to the fixing protrusion; the tensioning rod end and the tensioning slider Fixedly coupled, and the other end is provided with a thread extending portion outside the fixing protrusion, and the thread extending portion is screwed with the tension nut provided;
  • a further technical solution is that the power output shaft is provided with a plurality of radial slits to absorb minute deformations generated during the installation or operation of the power output shaft.
  • a further technical solution is: a mounting surface for mounting a torque sensor on two sides or one side of the two-stage large pulley; the mounting surface is radially evenly distributed with a plurality of tongue-like cantilever structures; To absorb the slight deformation caused by the axial direction of the torque sensor during installation or operation.
  • the power output shaft is a hollow structure, and is connected to the outlet hole provided on the side of the lower arm; the hollow structure and the outlet hole of the power output shaft are used for the cable provided through.
  • the upper arm or the lower arm is provided with a limiting block at opposite ends of the relative movement; the angle between the two limiting blocks is 70-150°; the limiting block is close to the motion one
  • a buffer block is provided on the side.
  • a lower limb assisted exoskeleton device comprising a booster bracket, the booster bracket comprising the above-described dynamic joint device, further comprising a waist structure, a thigh rod, a calf rod and a foot structure; between the waist structure and the thigh rod, The thigh rod and the calf rod are connected by a dynamic joint device; the relative extension or bending between the lumbar structure and the thigh rod, between the thigh rod and the lower leg rod is controlled by the motor of the dynamic joint device.
  • a further technical solution is that: between the lower arm and the thigh rod of the dynamic joint device, and between the lower arm and the lower leg of the dynamic joint device, a length adjusting locking structure for adapting to different human bodies is provided; the calf rod is The lower end and the foot structure are coupled by the ankle joint shaft; the upper end of the dynamic joint device is coupled with the waist structure through the hip joint abduction shaft; the lower ends of the thigh rod and the lower leg rod are bent toward the human body to be close to the human body.
  • a further technical solution is: further comprising a power assisting bracket, a power supply system, a control system, and a human-machine connection structure, wherein the power supply system is electrically connected to the motor and the control system of the power joint device to provide energy for the two; the control system Electrically connected to the motor to control the rotation of the motor; the torque measuring mechanism, the first angle measuring mechanism and the second angle measuring mechanism are electrically connected to the control system; the human-machine connection structure includes a waist guard and a waist strap The thigh and/or the shank strap and the foot strap; the human-machine connection structure is fixedly coupled with the corresponding part of the human body; the human-machine connection and the power-assisting bracket further comprise a force sensor, and the force sensor comprises the following Or a variety: a back force sensor between the waist and the waist structure, a hip force sensor between the waist strap and the waist structure, a thigh force sensor between the thigh strap and the thigh rod; the force sensor is controlled The system is electrically connected.
  • a control method for a lower limb assisted exoskeleton device wherein a transmission mechanism of the power device is disposed in a mounting cavity of the joint body, and a first angle measuring mechanism disposed on the transmission mechanism measures a rotation angle of the lower arm of the motor and the joint body, and second The angle measuring mechanism measures the rotation angle between the upper arm and the lower arm of the joint body, and the torque measuring mechanism calculates the torque of the transmission mechanism and the upper arm, and then transmits the measured data to the control system, and after the data comparison operation is performed by the control system, the corresponding output is output.
  • the signal controls the rotational speed of the motor to control the relative rotational movement between the upper arm and the lower arm; and the upper arm of the lumbar dynamic joint device is fixedly coupled with the lumbar structure, the lower arm is fixedly coupled with the thigh rod, and the dynamic joint of the knee is coupled
  • the upper arm of the device is fixedly coupled with the thigh rod, and the lower arm is fixedly coupled with the lower leg rod, so that the dynamic joint device controls the extension and bending between the lumbar structure and the thigh rod, the thigh rod and the calf rod; further, between the waist guard and the waist structure a back force sensor, a hip force sensor disposed between the waist strap and the waist structure,
  • the thigh force sensor between the thigh strap and the thigh rod is electrically connected to the control system, and the data detected by each force sensor is controlled by the control system to control the lumbar dynamic joint device and the knee joint dynamic joint device.
  • the rotation between them to control the coordinated movement between the lumbar structure, the
  • the beneficial effects of the present invention over the prior art are: a portable power joint device that drives the upper arm or the lower arm to move by a transmission mechanism disposed in the mounting cavity such that the upper arm and the lower arm have relative rotation. And the data is controlled by the torque measuring mechanism, the first angle measuring mechanism, the first angle measuring mechanism and the control system to control the rotation of the motor, thereby realizing the control of the motor rotating the upper arm and the lower arm.
  • the utility model has the advantages of small volume, simple structure and low production cost.
  • the first angle measuring mechanism, the force sensor and the second angle measuring mechanism can simultaneously measure the rotation angle of the motor, the relative rotation angle of the upper and lower arms and the force of the upper arm, and contribute to the improvement of the shape performance of the exoskeleton control, and the cost is low. High reliability.
  • the first bearing bearing and the second bearing bearing are respectively located on both sides of the cavity of the lower arm, and can carry large lateral torque and high structural strength.
  • the transmission mechanism is located outside the closed cavity of the lower arm, and the selection adaptability range is wide.
  • the first magnet and the first magnetic field sensing circuit, the second magnet and the second magnetic field sensing circuit all adopt non-contact coupling to realize the measurement of the rotation angle of the motor, which is simple, light, and low in cost, and is larger than the existing integrated encoder solution. It simplifies the complexity of mechanical structure design; there is no contact between the magnet and the magnetic field induction circuit, there is no friction, no mechanical damage, and good durability; the magnetic field generated by the magnet is a static magnetic field, which is not easily affected by environmental interference, reliability high.
  • the invention also can measure the interaction force of the two by installing a force sensor between the power output shaft and the secondary large pulley, and then the interaction torque can be calculated; the joint mechanism of the invention is less demanding on the force sensor and increases
  • the error compensation mechanism does not need to use an expensive and large-quality torque sensor, and the ordinary lightweight strain beam sensor can be used, and the cost and weight are low; the installation method is more flexible and convenient.
  • the upper arm and the lower arm are distributed on a plane, and the joint device does not generate lateral torque and shear force when subjected to load, and has higher bearing strength under the same weight; the wear arm can buffer the upper arm and the lower arm The impact force when the arm touches, prevents the upper arm and lower arm from being worn when touched, and also protects the force sensor from damage due to over-range impact.
  • a lower limb assisted exoskeleton device of the present invention is provided between a lumbar structure and a thigh rod, between a thigh rod and a calf rod
  • the relative extension or bending is achieved by a dynamic joint device.
  • the invention has simple structure and high integration.
  • the lower limb assisted exoskeleton of the dynamic joint device of the invention can increase the information that can be measured, including the joint torque, the angle between the waist structure and the thigh rod, and the angle between the thigh rod and the lower leg rod. And the rotation angle of the motor in the power unit, the control system can implement more precise and flexible control.
  • Figure 1 is a cross-sectional view showing an embodiment of a portable power joint device of the present invention
  • Figure 2 is a partial enlarged view of A of Figure 1;
  • Figure 3 is a front elevational view showing an embodiment of a portable power joint device of the present invention.
  • FIG. 4 is a schematic structural view of a torque sensor of a portable power joint device according to the present invention.
  • FIG. 5 is a schematic cross-sectional view showing a power output shaft of a portable power joint device according to the present invention.
  • FIG. 6 is a schematic view showing a fixing surface of a secondary large pulley torque sensor of a portable power joint device according to the present invention.
  • FIG. 7 is a schematic structural view of a lower limb assisted exoskeleton apparatus according to the present invention.
  • Figure 8 is a circuit block diagram of a lower limb assisted exoskeleton apparatus of the present invention.
  • 1 joint body; 1A—hip joint body; 1B—knee joint body; 11—upper arm; 111—first upper arm plate; 112—second upper arm plate; 113—second through hole; 12—lower arm; Lower arm plate; 122 - second lower arm plate; 123 - boss; 124 - first through hole; 13 - first bearing; 14 - second bearing; 15 - third bearing; - limit block; 17 - length adjustment locking structure; 18 - mounting cavity; 2 - power device; 20 - transmission mechanism; 21 - motor; 211 - motor stator; 212 - motor rotor; 213 - motor shaft; Rotary shaft bearing; 22 - motor connecting plate; 23 - primary small pulley; 24 - primary large pulley; 25 - secondary small pulley; 26 - secondary large pulley; 261 - tongue-like cantilever structure; - power output shaft; 271 - slit; 28 - tensioning mechanism; 281 - tensioning rod; 282 -
  • FIG. 6 are a detailed structural view of an embodiment of a portable power joint device according to the present invention.
  • a portable power joint device as shown in FIGS. 1 to 3, includes a joint main body 1 and a power unit 2 provided outside the joint main body 1.
  • the joint body 1 includes an upper arm 11 and a lower arm 12 that is rotationally coupled to the upper arm 11.
  • the upper arm 11 or the lower arm 12 is provided with a mounting cavity 18.
  • the power unit 2 is provided with a transmission mechanism 20 and is disposed inside the installation cavity 18 .
  • the power unit 2 is fixed to the lower arm 11 or the upper arm 12, and drives the upper arm 11 or the lower arm 12 to rotate by the transmission mechanism 20.
  • the transmission mechanism 20 has a function of deceleration.
  • the lower arm 12 is composed of a first lower arm plate 121 and a second lower arm plate 122 respectively having a through hole and a cavity of the lower arm 11.
  • the first lower arm 121 has a boss 123 on the outer side of the through hole, and the outer wall of the boss 123 is connected to the inner wall of the first bearing 13 .
  • the inner side of the first through hole 124 of the second lower arm 122 is connected to the outer wall of the second bearing 14 , and the first lower arm 121 and the second lower arm 122 are connected together to form a box-like structure.
  • the upper arm 11 is composed of a first upper arm plate 111 and a second upper arm plate 112 respectively having a through hole and a cavity, and the second through hole 113 of the first upper arm plate 111 is sleeved on the outer wall of the first bearing 13
  • the second upper arm plate 112 is sleeved on the inner wall of the third bearing tube 15, and the upper ends of the first upper arm plate 111 and the second upper arm plate 112 are joined together to form a fork structure.
  • the first through hole 124 of the first lower arm plate 121 and the first through hole 124 of the second lower arm plate 122 are coaxial, and the upper arm 11 is freely rotatable around the lower arm 12.
  • the bearing center of the joint body 1 is biased to the right side, which is beneficial to the other structures of the mechanical exoskeleton, and is more comfortable to wear.
  • the mounting cavity can be placed on the lower arm or on the upper arm for added design flexibility for processing and installation.
  • the power device 2 adopts two-stage synchronous transmission, and the first-stage synchronous transmission includes a primary large pulley 24, a primary small pulley 23 and a primary timing belt 29, and the second-stage synchronous transmission includes a secondary large pulley 26, The secondary small pulley 25 and the secondary timing belt 29.
  • the primary small pulley 23 is coaxially coupled to the motor shaft 213
  • the secondary pulley 26 is coaxially coupled to the power output shaft 27, and the primary pulley 24 is coaxial with the secondary pulley 25 Connected (wherein the secondary small pulley 25 is a coaxial wheel, and the wheel type is directly turned on the rotating shaft).
  • the primary small pulley 23 and the primary large pulley 24 are drivingly coupled via a primary timing belt 29; the secondary small pulley 25 and the secondary large pulley 26 are drivingly coupled via a secondary timing belt 29.
  • a motor shaft bearing 214 is disposed in the first through hole 124 of the first lower arm plate 121.
  • the motor shaft 213 is connected to the inner wall of the motor shaft bearing 214, and passes through the first lower arm plate 121.
  • a through hole 124 is coaxially connected to the primary small pulley 23.
  • a first bearing 14 is disposed in the first through hole 124 of the second lower arm plate 122, and the rotating shaft of the secondary large pulley 26 is fixedly coupled to the inner wall of the second bearing 14 .
  • the rotating shaft portion of the end of the second large pulley 26 and the second bearing 14 is hollow, and the third bearing 15 is disposed in the hollow structure.
  • the second upper arm plate 112 is provided with a convex shaft (not shown) facing the inner mounting cavity 18, and the convex shaft is connected to the inner wall of the third bearing bearing 15.
  • the raised shaft is fixedly coupled to one end of the power output shaft 27 (ie, the power output shaft 27 is fixedly coupled to the second upper arm plate 112) such that the rotation of the power output shaft 27 can drive the upper arm 11 to rotate together.
  • the power output shaft 27 is relatively rotated by the third bearing 15 and the second large pulley 26, and the second large pulley 26 is relatively rotated with the upper arm 11 by the second bearing 14 so that the power output shaft 27 is driven
  • the fixedly coupled upper arm 11 moves.
  • the power unit 2 includes a motor 21 and a transmission mechanism 20 coupled to the motor 21.
  • the transmission mechanism 20 includes a timing pulley, a timing belt 29, and a power output shaft 27.
  • the motor 21 is provided with a motor rotor 212 and a motor stator 211.
  • the motor rotor 212 is coupled to the motor shaft 213.
  • the motor stator 211 is fixedly coupled to the motor connecting plate 22, and the motor connecting plate 22 is fixedly coupled to the first lower arm plate 121.
  • the motor 21 is a disc type outer rotor motor, and the motor rotor 212 is tightly fixed with the motor shaft 213.
  • the rotation of the motor rotor 212 drives the motor shaft 213 to rotate together, and the first small pulley 23 is rotated, and then the timing belt is rotated. 29 sequentially drives the primary large pulley 24, the secondary small pulley 25, the secondary large pulley 26, and the power output shaft 27 to rotate, thereby driving the upper arm 11 to rotate together.
  • the dynamic joint device 101 of the present invention further includes a torque measuring mechanism.
  • the torque measuring mechanism is a torque sensor 4, the secondary large pulley 26 is of a hollow structure, and the torque sensor 4 is located therein.
  • the torque sensor 4 includes a torque input end and a torque output end.
  • the torque input end of the torque sensor 4 is fixedly coupled to the second large pulley 26, and the torque output end of the torque sensor 4 is fixedly coupled with the power output shaft 27, that is, the torque measuring mechanism is disposed in the secondary belt.
  • the power output shaft 27 is fixedly coupled to the second upper arm plate 112.
  • the rotation of the motor 21 drives the timing pulley 23-26 to rotate, thereby driving the torque sensor 4 to rotate; the output end of the torque sensor 4 drives the power output shaft 27 to rotate, and finally drives the upper arm 11 fixedly coupled thereto to rotate; thereby, the upper arm can be measured The interaction torque between the 11 and the secondary pulleys 26.
  • the dynamic joint device 101 of the present invention further includes a first angle measuring mechanism 3A.
  • the first angle measuring mechanism 3A includes a first magnet 31 and a first magnetic field sensing circuit 32.
  • the first magnet 31 is coupled to the motor shaft 213 or the primary pulley 23 and is mounted within the mounting cavity 18.
  • the first magnetic field sensing circuit 32 is disposed on the sensor board 35 disposed inside the mounting cavity 18 and adjacent to the first magnet 31.
  • the sensor board 35 is located in the cavity of the first lower arm plate 121 and is fixedly coupled to the first lower arm plate 121.
  • the rotation of the motor 21 drives the motor shaft 213 to rotate, thereby driving the first magnet 31 to rotate.
  • the first magnetic field sensing circuit 32 measures the rotation angle of the motor 31 relative to the lower arm 12 by sensing the rotation angle of the first magnet 31.
  • the dynamic joint device 101 of the present invention further includes a second angle measuring mechanism 3B including a second magnet 34 and a second magnetic field sensing circuit 33, the second magnet 34 being coupled to the power output shaft 27 Or the secondary large pulley 26 and mounted within the mounting cavity 18.
  • the second magnetic field sensing circuit 33 is disposed on the sensor board 35 and adjacent to the second magnet 34.
  • the sensor board 35 is located in the first lower arm plate 121 cavity and is fixedly coupled to the first lower arm plate 121.
  • the rotation of the secondary large pulley 26 drives the power output shaft 27 to rotate, thereby driving the second magnet 34 to rotate.
  • the second magnetic field sensing circuit 33 measures the rotation angle of the second magnet 34 to measure the upper arm 11 relative to the lower arm 12. Rotation angle.
  • the second magnet 34 and the second magnetic field sensing circuit 33 are used in a non-contact coupling manner to measure the relative angle between the upper arm and the lower arm, which is simple, light, low-cost, wear-free, and highly reliable;
  • the first magnetic field sensing circuit and the second magnetic field sensing circuit are simultaneously mounted on both sides of the first motor cover without mutual influence, and the integration degree is high and the structural design is simple.
  • the power output shaft 27 has a hollow structure
  • the first lower arm plate 121 has a wire exit hole on the side thereof and is in communication with the hollow structure.
  • the power joint device 101 is provided with a cable 6 passing through the second upper arm plate 112 outlet hole, the hollow structure of the power output shaft 27, and the side outlet hole of the first lower arm plate 121, so that the cable 6 is connected to the upper arm 11 and Lower arm 12.
  • the dynamic joint device 101 of the present invention further includes a timing belt tensioning mechanism 28, and both ends of the common shaft of the primary large pulley 24 and the secondary small pulley 25 are fixedly coupled to the timing belt tensioning mechanism 28.
  • the tensioning mechanism 28 includes a tensioning rod 281, a tension nut 282, a tensioning slider 283, and a fixing protrusion 284.
  • the primary large pulley 24 and the secondary small pulley 25 are fixed to the tension slider 283 on both sides of the common shaft.
  • the tensioning slider 283 can slide up and down on the lower arm 12, and one end of the tensioning rod 281 is fixedly coupled with the primary large pulley 24 and the secondary small pulley 25 (it can also be tensioned and slipped)
  • the block 283 is fixedly coupled to the primary large pulley 24 and the secondary small pulley 25, and the other end is threadedly engaged with the tension nut 282, and the tensioning rod 281 is movably coupled to the tension nut 282.
  • the arm 12 is provided with a fixing protrusion 284.
  • the tension nut 282 is disposed on the lower arm 12, and the tensioning rod 281 is rotated relative to the lower arm 12 by rotating the tension nut 282, thereby driving the primary large pulley 24 and the secondary small pulley
  • the common shaft of 25 moves relative to the lower arm 12, thereby effecting tensioning or loosening of the timing belt 29.
  • the torque sensor 4 of the dynamic joint device 101 of the present invention includes an outer ring 41, an inner ring 42, and a bridge beam 43.
  • the outer ring 41 is a torque input end
  • the inner ring 42 is a torque output end
  • the bridge beam 43 is a force measuring beam
  • the bridge beam 43 is evenly distributed with a plurality of stress pieces.
  • the force measuring beams are equally spaced.
  • the power output shaft 27 of the present invention is provided with a plurality of radial slits 271.
  • the power output 27 shaft can be slightly deformed at the slit 271 to compensate for errors in mounting and machining, and to avoid installation stress on the torque sensor 4 caused by the error.
  • the secondary large pulleys 26 are provided with mounting faces for mounting the torque sensor 4 on both sides or one side.
  • the mounting surface is radially evenly distributed with a plurality of tongue-like cantilever structures 261 for absorbing a slight deformation in the mounting direction (ie, the axial direction) of the torque sensor 4 to compensate for the installation and
  • the error caused by the machining avoids the installation stress on the torque sensor 4 caused by the error.
  • the upper arm 11 and the lower arm 12 are relatively rotated in one plane, and the limit block 16 is formed at both ends in the extending and contracting directions, respectively, and the upper arm and the lower arm contact the limit block 16
  • An anti-wear buffer block formed of a cushioning wear resistant material is provided.
  • the two limiting blocks 16 form an angle of 70-150°, that is, the angle of mutual rotation between the upper arm 11 and the lower arm 12 is 70-150°.
  • the dynamic joint device 101 of the present invention is further provided with a gyroscope and/or an accelerometer 5 for measuring the angular velocity and/or acceleration of the dynamic joint motion.
  • a gyroscope and/or an accelerometer 5 is provided on the outer side of the lower arm 12.
  • a lower limb assisted exoskeleton device as shown in FIGS. 7-8, includes a booster bracket 100, a power system 30, a control system 40, and a human-machine connection structure 200, the booster bracket 100 including the above-described dynamic joint device 101, waist Structure 103, thigh rod 104, calf rod 105, and foot structure 106.
  • the dynamic joint device 101 is disposed between the lumbar structure 103 and the thigh rod 104 and between the thigh rod 104 and the lower leg rod 105.
  • the relative extension or bending between the waist structure 103 and the thigh rod 104, between the thigh rod 104 and the lower leg rod 105 is controlled by the motor 21 of the powered joint device 101.
  • the device In order to be able to wear both legs of the human body, the device is symmetrically arranged.
  • the lower end of the waist structure 103 is connected to the upper arm 11 of the hip joint main body 1A through the hip joint abduction shaft 107, and the lower end of the thigh rod 104 is connected to the upper arm 11 of the knee joint main body 1B, and the thigh rod 104 and the lower leg rod The upper ends of the 105 are respectively connected to the lower arms 12 of the joint main body 1.
  • the lower end of the joint body 1 is provided with a sliding groove, and the upper ends of the thigh rod 104 and the lower leg rod 105 protrude into the sliding groove and can slide up and down, and a locking bolt is arranged on the joint main body 1 to form The length adjustment locking structure 17 is provided.
  • the joint body 1 is locked by the length adjustment locking structure 17 and the thigh rod 104 and the calf rod 105 to adjust the length.
  • the lower end of the calf rod 105 is coupled to the foot structure 106 by an ankle shaft 108.
  • the control system 40 is electrically connected to the first angle measuring mechanism 3A, the second angle measuring mechanism 3B, the torque measuring mechanism, the gyro/accelerometer 5, and the motor 21 in the power joint device 101.
  • the control system 40 controls the rotation of the motor 21 by the measurement results of the first angle measuring mechanism 3A, the second angle measuring mechanism 3B, the gyroscope/accelerometer 5, and the torque measuring mechanism, and the motor 21 drives the waist structure 103 and
  • the thigh rod 104, the thigh rod 104 and the calf rod 105 are stretched or bent.
  • the power system 30 is a battery pack that is electrically connected to the motor 21 and the control system 40 to provide power to both.
  • the human-machine connection structure 200 includes a waist guard 201, a waist strap 202, a thigh strap 203, and a foot strap 204.
  • the human-machine connection structure 200 is fixedly coupled with the corresponding part of the human body, so that the auxiliary support 100 is firmly coupled with the lower limb of the human body.
  • the human-machine connection structure 200 and the booster bracket 100 further include a force sensor including a back force sensor 301 disposed between the waist guard 201 and the waist structure 103, and a waist strap 202 and a waist structure 103.
  • the hip force sensor 302 is disposed between the thigh strap 203 and the thigh rod 104.
  • the force sensor is electrically connected to the control system 40.
  • the calf rod 105 is provided with a calf strap and a calf force sensor with 105 calf rods.
  • the lower leg 104 and the lower end of the lower leg 105 in the structure of the lower limb assisted exoskeleton device of the embodiment are bent inward to better fit the wearer's leg, and the waist structure 103 is oriented. Internal contraction to better fit the wearer's waist.
  • the waistline structure 103 of the wearer's waist and exoskeleton device is connected by an ergonomic backing 201 to make the fixation more secure and more comfortable to wear.
  • a hip abduction shaft 107 is disposed between the waist structure 103 and the hip power joint 101 to facilitate the abduction and adduction of the wearer's legs.
  • the lower limb assisted exoskeleton device of the present embodiment has a compact structure and high integration.
  • the joint device 101 of the present invention is used as a joint device for the lower limb assisted exoskeleton, and can measure a lot of information, including joint torque, waist structure 103 and thigh.
  • the angle, angular velocity, acceleration, angle between the thigh and the calf, angular velocity, acceleration, and angle of rotation of the motor 21 allow the control system to implement more precise and flexible control.
  • a method for controlling a lower limb assisted exoskeleton device is as follows: the transmission mechanism 20 of the power unit 2 is disposed in the mounting cavity 18 of the joint body 1, and the first angle measuring mechanism 3A disposed on the transmission mechanism 20 measures the motor 21
  • the second angle measuring mechanism 3B measures the rotation angle between the upper arm 11 and the lower arm 12 of the joint main body 1 at an angle of rotation with the lower arm 12 of the joint main body 1, and the torque measuring mechanism calculates the moment of the transmission mechanism 20 and the upper arm, and the gyro/acceleration
  • the meter 5 measures the speed and acceleration of the joint body 1, and then transmits the measured data to the control system 40.
  • a corresponding signal is output to control the rotation speed of the motor 21, thereby controlling the upper arm 11 and the lower arm. 12 relative rotational movement between the two; and, the upper arm 11 of the lumbar dynamic joint device 101 is fixedly coupled with the lumbar structure 103, the lower arm 12 is fixedly coupled with the thigh rod 104, and the upper arm 11 and the thigh of the knee joint of the dynamic joint device 101
  • the rod 104 is fixedly coupled, and the lower arm 12 is fixedly coupled with the calf rod 105, so that the power joint device 101 controls the waist structure 103 and the thigh rod 104, the thigh rod 104 and the small Stretching and bending between the rods 105; further, a back force sensor 301 between the waist guard 201 and the waist structure 103, a hip force sensor 302 disposed between the waist strap 202 and the waist structure 103, and a thigh strap The thigh force sensor 303 between the strap 203 and the thigh
  • the data detected by each force sensor is controlled by the control system 40 to control the lumbar dynamic joint device 101 and the knee.
  • Rotation between the powered joint devices 101 controls the coordinated movement between the lumbar structure 103, the thigh rods 104, and the calf rods 105.
  • the present invention is a portable power joint device.
  • the power device drives the upper arm or the lower arm to move by a transmission mechanism disposed in the mounting cavity, so that the upper arm and the lower arm have relative rotation.
  • the data is controlled by the torque measuring mechanism, the first angle measuring mechanism, the first angle measuring mechanism and the control system to control the rotation of the motor, thereby realizing the control of the motor rotating the upper arm and the lower arm.
  • the utility model has the advantages of small volume, simple structure and low production cost.
  • the first angle measuring mechanism, the force sensor and the second angle measuring mechanism can simultaneously measure the rotation angle of the motor, the relative rotation angle of the upper and lower arms and the force of the upper arm, and contribute to the improvement of the shape performance of the exoskeleton control, and the cost is low. High reliability.
  • the first bearing bearing and the second bearing bearing are respectively located on both sides of the cavity of the lower arm, and can carry large lateral torque and high structural strength.
  • the transmission mechanism is located outside the closed cavity of the lower arm, and the selection adaptability range is wide.
  • the first magnet and the first magnetic field sensing circuit, the second magnet and the second magnetic field sensing circuit all adopt non-contact coupling to realize the measurement of the rotation angle of the motor, which is simple, light, and low in cost, and is larger than the existing integrated encoder solution. It simplifies the complexity of mechanical structure design; there is no contact between the magnet and the magnetic field induction circuit, there is no friction, no mechanical damage, and good durability; the magnetic field generated by the magnet is a static magnetic field, which is not easily affected by environmental interference, reliability high.
  • the invention also can measure the interaction force of the two by installing a force sensor between the power output shaft and the secondary large pulley, and then the interaction torque can be calculated; the joint mechanism of the invention is not required for the force sensor and does not need to be used.
  • the expensive and high-quality torque sensor can be used with ordinary lightweight strain beam sensors, and the cost and weight are low; the installation method is more flexible and convenient.
  • the upper arm and the lower arm are distributed on a plane, and the joint device does not generate lateral torque and shear force when subjected to load, and has higher bearing strength under the same weight; the upper arm can be buffered by the wear-resistant pressure block
  • the impact force when touching the lower arm prevents the upper arm and lower arm from being worn when touched, and also protects the force sensor from damage due to over-range impact.
  • a lower limb assisted exoskeleton device of the present invention is provided between a lumbar structure and a thigh rod, between a thigh rod and a calf rod
  • the relative extension or bending is achieved by a dynamic joint device.
  • the invention has simple structure and high integration.
  • the lower limb assisted exoskeleton of the dynamic joint device of the invention can increase the information that can be measured, including the joint torque, the angle between the waist structure and the thigh rod, and the angle between the thigh rod and the lower leg rod. And the rotation angle of the motor in the power unit, the control system can implement more precise and flexible control.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil d'articulation électrique portable, un dispositif d'exosquelette d'assistance d'extrémité inférieure et un procédé de commande associé. L'appareil d'articulation portable comprend un corps d'articulation (1) et une unité d'alimentation (2) disposée sur le côté extérieur du corps d'articulation. Le corps d'articulation comprend un bras supérieur (11) et un bras inférieur (12) relié rotatif au bras supérieur ; le bras supérieur ou le bras inférieur est pourvu d'une cavité de montage (18) ; l'unité d'alimentation est pourvue d'un mécanisme de transmission (20) sur le côté interne de la cavité de montage ; l'unité d'alimentation est fixée au bras supérieur ou au bras inférieur, et entraîne, au moyen du mécanisme de transmission, la rotation du bras supérieur ou du bras inférieur. Le dispositif d'exosquelette d'assistance d'extrémité inférieure comprend un support d'assistance (100). Le support d'assistance comprend l'appareil d'articulation électrique, et comprend en outre une structure de taille (103), des tiges de cuisses (104), des tiges de jambes (105) et des structures de pieds (106). Le procédé de commande pour le dispositif d'exosquelette d'assistance d'extrémité inférieure comprend l'analyse et le calcul par mesure d'informations telles qu'un couple d'articulation, un angle entre la structure de taille et les tiges de cuisses, un angle entre les tiges de cuisses et les tiges de jambes, et un angle de rotation d'un moteur dans l'unité d'alimentation de façon à effectuer une commande précise et flexible sur le dispositif d'exosquelette d'assistance d'extrémité inférieure. L'appareil présente un petit volume, une structure simple, un faible coût de production, une fiabilité et une intégration élevées, et une commande précise.
PCT/CN2017/089544 2017-06-22 2017-06-22 Appareil d'articulation électrique portable, dispositif d'exosquelette d'assistance d'extrémité inférieure et procédé de commande associé WO2018232691A1 (fr)

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CN201780001147.4A CN107690375B (zh) 2017-06-22 2017-06-22 轻便式动力关节装置和下肢助力外骨骼设备及其控制方法
PCT/CN2017/089544 WO2018232691A1 (fr) 2017-06-22 2017-06-22 Appareil d'articulation électrique portable, dispositif d'exosquelette d'assistance d'extrémité inférieure et procédé de commande associé

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PCT/CN2017/089544 WO2018232691A1 (fr) 2017-06-22 2017-06-22 Appareil d'articulation électrique portable, dispositif d'exosquelette d'assistance d'extrémité inférieure et procédé de commande associé

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CN109702765B (zh) * 2017-10-26 2021-05-18 深圳市肯綮科技有限公司 一种动力关节装置和下肢助力设备
CN110385693B (zh) * 2018-04-23 2020-10-02 深圳市肯綮科技有限公司 一种紧凑型动力关节机构及其轻便型下肢助力设备
WO2020024241A1 (fr) * 2018-08-03 2020-02-06 深圳市肯綮科技有限公司 Appareil de puissance de câble de tension et son système de puissance et dispositif d'assistance de puissance et son procédé de commande
CN111603362A (zh) * 2020-05-25 2020-09-01 上海壹佰米网络科技有限公司 一种下肢骨骼机器人
CN111529319A (zh) * 2020-05-26 2020-08-14 江西电力职业技术学院 一种登阶梯助力器、控制装置及控制方法
CN114918921B (zh) * 2022-06-08 2024-01-26 苏州艾利特机器人有限公司 一种冗余检测的力传感器及机器人

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