CN104198105B - A kind of exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot - Google Patents
A kind of exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot Download PDFInfo
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- CN104198105B CN104198105B CN201410491074.XA CN201410491074A CN104198105B CN 104198105 B CN104198105 B CN 104198105B CN 201410491074 A CN201410491074 A CN 201410491074A CN 104198105 B CN104198105 B CN 104198105B
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Abstract
A kind of exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot, it relates to a kind of foot end multi-dimensional force pick-up unit for robot, single to solve traditional foot's man-machine interaction power Detection Information, be difficult to the motion intention judging human body accurately, can not meet the retinoic acid syndrome problem of complicated control overflow and conventional multidimensional power detection existence, it comprises chassis plate, horizontal force transmission plate, sole, sole Rubber shock-absorbing pad, first connecting rod, second connecting rod, third connecting rod, double leval jib, elastic body and two flute profile back up pads; Described elastic body comprises body, the first semi-girder, the second semi-girder, the 3rd semi-girder, the first elastic plate, the second elastic plate, the 3rd elastic plate and six foil gauges; The both sides of body are fixed with the first semi-girder and the second semi-girder respectively; Elastic body is arranged on the upper surface of sole, and sole is arranged on the upper surface of sole Rubber shock-absorbing pad.Foot's man-machine interaction power that the present invention is used for robot detects.
Description
Technical field
The present invention relates to a kind of foot end multi-dimensional force pick-up unit for robot, belong to robotics.
Background technology
Wearable type lower limb assistance exoskeleton robot is a current study hotspot, may be used for helping the elderly or disabled person's walking, also can be used for the specific uses such as long-range heavy burden march.Ensure the comfort level of dressing, and judge the motion intention of human body accurately, a accurate man-machine interaction force checking device must be designed, and for lower limb assistance exoskeleton, the man-machine interaction power of foot detects particularly important.Traditional foot's man-machine interaction power detects and mostly adopts diaphragm pressure sensor, ergomiter-insole, or one dimension pull pressure sensor.The reciprocal force information detected is comparatively single, is difficult to the motion intention judging human body accurately, and then can not meet complicated control overflow preferably.The present invention is directed to this present situation, devise a sensor that simultaneously can detect two-dimentional power and one dimension moment of torsion, thinner thickness, is convenient to be installed on sole; Eliminate the retinoic acid syndrome problem that conventional multidimensional power detects simultaneously, demarcate simple, have easy to use, measure feature accurately.
Summary of the invention
The present invention is single for solving traditional foot's man-machine interaction power Detection Information, be difficult to the motion intention judging human body accurately, the retinoic acid syndrome problem of complicated control overflow and conventional multidimensional power detection existence can not be met, and then provide a kind of exoskeleton or biped robot to use foot end double-range three-dimensional force pick-up unit.
The present invention is the technical scheme taked that solves the problem: a kind of exoskeleton of the present invention or biped robot's foot end double-range three-dimensional force pick-up unit comprise chassis plate, horizontal force transmission plate, sole, sole Rubber shock-absorbing pad, first connecting rod, second connecting rod, third connecting rod, double leval jib, elastic body and two flute profile back up pads;
Described elastic body comprises body, the first semi-girder, the second semi-girder, the 3rd semi-girder, the first elastic plate, the second elastic plate, the 3rd elastic plate and six foil gauges, the middle part of body is processed with the 3rd semi-girder longitudinally arranged, the body of the both sides of the 3rd semi-girder is respectively fixed with the 3rd elastic plate longitudinally arranged, the both sides of body are fixed with the first semi-girder and the second semi-girder respectively, the bottom of the first semi-girder is fixed with the first elastic plate and the two connects as one, the bottom of the second semi-girder is fixed with the second elastic plate and the two connects as one, the upper and lower surface of the first semi-girder is respectively pasted with a foil gauge, the upper and lower surface of the second semi-girder is respectively pasted with a foil gauge, the two sides of the 3rd semi-girder are respectively pasted with a foil gauge,
Elastic body is arranged on the upper surface of sole, and sole is arranged on the upper surface of sole Rubber shock-absorbing pad, and chassis plate is arranged in elastomeric upper surface, first connecting rod, second connecting rod, third connecting rod and double leval jib level and be arranged in parallel;
First connecting rod and second connecting rod hinged, second connecting rod and one of them flute profile back up pad hinged, the first semi-girder is inserted in the opening of one of them flute profile back up pad; Third connecting rod and double leval jib hinged, third connecting rod with residue a flute profile back up pad hinged, the second semi-girder is inserted in the opening of a residue flute profile back up pad; Second connecting rod is rotatably installed in the front end of sole, double leval jib is rotatably installed in the rear end of sole, the front end of sole is connected with the front end of Rubber shock-absorbing pad, the rear end of Rubber shock-absorbing pad is bonded on the lower surface of sole, the front end of chassis plate is connected with one of them flute profile back up pad described, flute profile back up pad in rear end and described residue of chassis plate is connected, chassis plate lower surface is embedded with horizontal force transmission plate, the lower surface of horizontal force transmission plate is processed with teat, teat be inserted into the 3rd semi-girder end processing and in the through hole mated with teat.
The invention has the beneficial effects as follows: one, first connecting rod of the present invention, second connecting rod, third connecting rod, double leval jib, sole and chassis plate form a six bar mechanism, the present invention is based on the design of six bar mechanism, devise double-dial elastic body detecting unit on this basis, double-range refers to the first semi-girder, second semi-girder and the 3rd semi-girder are rigidity submissile gonosome, first elastic plate, second elastic plate and the 3rd elastic plate are large elastic body, there is larger elastic deformation, rely on the rotational characteristic of six bar mechanism, remain two translational degree of freedom and a rotational freedom, for the detection of man-machine interaction power, two-dimentional power and one dimension moment of torsion can be measured simultaneously, avoid the retinoic acid syndrome problem that conventional multidimensional power detects, there is higher accuracy of detection.Two, the double-dial design of the present invention can ensure, when foot lands, to provide the protection of elastic plate wide range; When foot is unsettled, the demand of semi-girder small-range can be given full play to again, when making reciprocal force less, still there is enough susceptibilitys, contribute to the control efficiency improving robot.Three, to have thickness thin for apparatus of the present invention, measures feature accurately, also have the feature that transducer calibration is easy, and can be used for foot's reciprocal force that exoskeleton type dresses robot and detect, the sole ground reaction force being also applicable to other bionical biped robots detects.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention, Fig. 2 is the exploded perspective view of Fig. 1, the one-piece construction schematic diagram that Fig. 3 is elastic body, first connecting rod, second connecting rod, third connecting rod, double leval jib are connected with flute profile back up pad, Fig. 4 is man-machine interaction force information measuring mechanism sketch of the present invention, Fig. 5 is strain gauge adhesion of the present invention and principle of work schematic diagram, and Fig. 6 is the structural representation that the present invention detects for Wearable exoskeleton robot foot man-machine interaction power.
Embodiment
Embodiment one: composition graphs 1-Fig. 3 illustrates, a kind of exoskeleton of present embodiment or biped robot comprise chassis plate 5, horizontal force transmission plate 6, sole 7, sole Rubber shock-absorbing pad 9, first connecting rod 11, second connecting rod 12, third connecting rod 14, double leval jib 15, elastic body 17 and two flute profile back up pads 10 with foot end double-range three-dimensional force pick-up unit;
Described elastic body 17 comprises body 27, first semi-girder 19, second semi-girder 20, the 3rd semi-girder 22, first elastic plate 21, second elastic plate 23, the 3rd elastic plate 18 and six foil gauges 25, the middle part of body 27 is processed with the 3rd semi-girder 22 longitudinally arranged, the body 27 of the both sides of the 3rd semi-girder 22 is respectively fixed with the 3rd elastic plate 18 longitudinally arranged, the both sides of body 27 are fixed with the first semi-girder 19 and the second semi-girder 20 respectively, the bottom of the first semi-girder 19 is fixed with the first elastic plate 21 and the two connects as one, the bottom of the second semi-girder 20 is fixed with the second elastic plate 23 and the two connects as one, the upper and lower surface of the first semi-girder 19 is respectively pasted with a foil gauge 25, the upper and lower surface of the second semi-girder 20 is respectively pasted with a foil gauge 25, the two sides of the 3rd semi-girder 22 are respectively pasted with a foil gauge 25,
Elastic body 17 is arranged on the upper surface of sole 7, sole 7 is arranged on the upper surface of sole Rubber shock-absorbing pad 9, chassis plate 5 is arranged in the upper surface of elastic body 17, first connecting rod 11, second connecting rod 12, third connecting rod 14 and double leval jib 15 level and be arranged in parallel;
First connecting rod 11 is hinged with second connecting rod 12, and second connecting rod 12 is hinged with one of them flute profile back up pad 10, and the first semi-girder 19 is inserted in the opening of one of them flute profile back up pad 10, third connecting rod 14 and double leval jib 15 hinged, a third connecting rod 14 and residue flute profile back up pad 10 is hinged, and the second semi-girder 20 is inserted in the opening of a residue flute profile back up pad 10, second connecting rod 12 is rotatably installed in the front end of sole 7, double leval jib 15 is rotatably installed in the rear end of sole 7, the front end of sole 7 is connected with the front end of Rubber shock-absorbing pad 9, the rear end of Rubber shock-absorbing pad 9 is bonded on the lower surface of sole 7, the front end of chassis plate 5 is connected with one of them flute profile back up pad 10 described, flute profile back up pad 10 in rear end and described residue of chassis plate 5 is connected, chassis plate 5 lower surface is embedded with horizontal force transmission plate 6, the lower surface of horizontal force transmission plate 6 is processed with teat 6-1, teat 6-1 be inserted into the 3rd semi-girder 22 end processing and in the through hole 27-1 mated with teat 6-1.
The two ends of the second connecting rod 12 of present embodiment add the forward moving axis 13 that hinges, the two ends of double leval jib 15 add hinge after rotation axis 16, before hinge, after rotation axis 13 and hinge, rotation axis 16 is hinged with the front and back end of ectoskeletal sole 7 respectively.
Embodiment two: composition graphs 2-Fig. 4 explanation, teat 6-1 described in present embodiment comprises cylinder 6-1-1 and semisphere excrescence 6-1-2, the upper surface of cylinder 6-1-1 connects horizontal force transmission plate 6, the lower surface of cylinder 6-1-1 is connected with the middle part of the bottom surface of semisphere excrescence 6-1-2, and semisphere excrescence 6-1-2 is inserted in through hole 27-1.Setting like this, the force information of the 3rd semi-girder transmits, and devises spherical power transmission configuration, reduces friction loss, improve the sensitivity of detection.Other is identical with embodiment one.
Embodiment three: composition graphs 4 illustrates, one end of first semi-girder 19 of present embodiment is processed with spherical portion, one end of second semi-girder 20 is processed with spherical portion, the spherical portion of the first semi-girder 19 is inserted in the opening of one of them flute profile back up pad 10 described, and the spherical portion of the second semi-girder 20 is inserted in the opening of a described residue flute profile back up pad 10.Setting like this, the force information of the 3rd semi-girder transmits, and devises spherical power transmission configuration, reduces friction loss, improve the sensitivity of detection.Other is identical with embodiment one or two.
Embodiment four: composition graphs 4 and Fig. 5 illustrate, each described foil gauge 25 of present embodiment is foil resistance foil gauge or strain-ga(u)ge transducer.Setting like this, measurement range is wide, and product stability is good, highly sensitive, can measure multiple mechanical signal.Other is identical with embodiment three.
Embodiment five: composition graphs 2 illustrates, pick-up unit described in present embodiment also comprises web joint 8, is provided with the web joint 8 be connected with the two between the front end of sole 7 and the front end of sole Rubber shock-absorbing pad 9.Setting like this, assembles convenient and reliable, simple and easy to do.Other with embodiment one, two or four identical.
Principle of work
The present invention is used for the structural representation of Wearable exoskeleton robot foot man-machine interaction power detection as shown in Figure 6, wherein the supported on both sides otic placode, 3 in 1 to be foot's bundling belt, 2 be exoskeleton portion is U-shaped web joint, 4 is the connecting hinges be connected with the shank of exoskeleton robot, the supported on both sides otic placode 2 in two exoskeleton portions is arranged on sole 7, the supported on both sides otic placode 2 in U-shaped web joint 3 and two exoskeleton portions is hinged, and the connecting hinge 4 that U-shaped web joint 3 is connected by the shank of exoskeleton robot with the shank of exoskeleton robot connects.
When the present invention uses, its sensing detection foil gauge 25 is pasted onto on the surface of corresponding component.As shown in Figure 5, what dotted portion represented is the part be connected with human foot, comprises chassis plate 5, the flute profile back up pad 10 of chassis plate front and back end and horizontal force transmission plate 6.Bold portion is connected with ectoskeletal shank; comprise ectoskeletal sole 7, first connecting rod 11, second connecting rod 12, third connecting rod 14, double leval jib 15, the first semi-girder 19, second semi-girder 20, the 3rd semi-girder 22, wide range fender first elastic plate 21, second elastic plate 23 of semi-girder and the 3rd elastic plate 18.
That what the first semi-girder 19 and the second semi-girder 20 detected is vertical component Fa and Fb, semi-girder C detects is horizontal component Fc.Distance between known vertical component Fa and Fb, then the reciprocal force that can calculate between chassis plate 5 and sole 7 is as follows: vertical force and horizontal force (two-dimentional power) and moment of torsion (one dimension moment of torsion).
When the present invention is applied to bionical biped robot, in Fig. 5, dotted portion is directly connected with the shank of robot, and this device just can detect the reacting force information on ground.
Claims (5)
1. an exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot, described device comprises chassis plate (5), sole (7), sole Rubber shock-absorbing pad (9) and elastic body (17), it is characterized in that: described device also comprises horizontal force transmission plate (6), first connecting rod (11), second connecting rod (12), third connecting rod (14), double leval jib (15) and two flute profile back up pads (10);
Described elastic body (17) comprises body (27), the first semi-girder (19), the second semi-girder (20), the 3rd semi-girder (22), the first elastic plate (21), the second elastic plate (23), the 3rd elastic plate (18) and six foil gauges (25), the middle part of body (27) is processed with the 3rd semi-girder (22) longitudinally arranged, the body (27) of the both sides of the 3rd semi-girder (22) is respectively fixed with the 3rd elastic plate (18) longitudinally arranged, the both sides of body (27) are fixed with the first semi-girder (19) and the second semi-girder (20) respectively, the bottom of the first semi-girder (19) is fixed with the first elastic plate (21) and the two connects as one, the bottom of the second semi-girder (20) is fixed with the second elastic plate (23) and the two connects as one, the upper and lower surface of the first semi-girder (19) is respectively pasted with a foil gauge (25), the upper and lower surface of the second semi-girder (20) is respectively pasted with a foil gauge (25), the two sides of the 3rd semi-girder (22) are respectively pasted with a foil gauge (25),
Elastic body (17) is arranged on the upper surface of sole (7), sole (7) is arranged on the upper surface of sole Rubber shock-absorbing pad (9), chassis plate (5) is arranged in the upper surface of elastic body (17), first connecting rod (11), second connecting rod (12), third connecting rod (14) and double leval jib (15) level and be arranged in parallel;
First connecting rod (11) is hinged with second connecting rod (12), second connecting rod (12) is hinged with one of them flute profile back up pad (10), and the first semi-girder (19) is inserted in the opening of one of them flute profile back up pad (10), third connecting rod (14) is hinged with double leval jib (15), third connecting rod (14) and residue flute profile back up pad (10) is hinged, and the second semi-girder (20) is inserted in the opening of a residue flute profile back up pad (10), second connecting rod (12) is rotatably installed in the front end of sole (7), double leval jib (15) is rotatably installed in the rear end of sole (7), the front end of sole (7) is connected with the front end of Rubber shock-absorbing pad (9), the rear end of Rubber shock-absorbing pad (9) is bonded on the lower surface of sole (7), the front end of chassis plate (5) is connected with one of them flute profile back up pad (10) described, rear end and described residue flute profile back up pad (10) of chassis plate (5) is connected, chassis plate (5) lower surface is embedded with horizontal force transmission plate (6), the lower surface of horizontal force transmission plate (6) is processed with teat (6-1), teat (6-1) be inserted into the 3rd semi-girder (22) end processing and in the through hole (27-1) mated with teat (6-1).
2. a kind of exoskeleton according to claim 1 or biped robot hold double-range three-dimensional force pick-up unit with foot, it is characterized in that: described teat (6-1) comprises cylinder (6-1-1) and semisphere excrescence (6-1-2), the upper surface of cylinder (6-1-1) connects horizontal force transmission plate (6), the lower surface of cylinder (6-1-1) is connected with the middle part of the bottom surface of semisphere excrescence (6-1-2), and semisphere excrescence (6-1-2) is inserted in through hole (27-1).
3. a kind of exoskeleton according to claim 1 and 2 or biped robot hold double-range three-dimensional force pick-up unit with foot, it is characterized in that: one end of the first semi-girder (19) is processed with spherical portion, one end of second semi-girder (20) is processed with spherical portion, the spherical portion of the first semi-girder (19) is inserted in the opening of one of them flute profile back up pad (10) described, and the spherical portion of the second semi-girder (20) is inserted in the opening of a described residue flute profile back up pad (10).
4. a kind of exoskeleton according to claim 3 or biped robot are with foot end double-range three-dimensional force pick-up unit, it is characterized in that: each described foil gauge (25) is foil resistance foil gauge or strain-ga(u)ge transducer.
5. a kind of exoskeleton according to claim 1,2 or 4 or biped robot hold double-range three-dimensional force pick-up unit with foot, it is characterized in that: described pick-up unit also comprises web joint (8), between the front end of sole (7) and the front end of sole Rubber shock-absorbing pad (9), be provided with the web joint (8) be connected with the two.
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| CN201410491074.XA CN104198105B (en) | 2014-09-24 | 2014-09-24 | A kind of exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot |
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| CN201410491074.XA CN104198105B (en) | 2014-09-24 | 2014-09-24 | A kind of exoskeleton or biped robot hold double-range three-dimensional force pick-up unit with foot |
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| CN104198105B true CN104198105B (en) | 2016-04-20 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105784247B (en) * | 2016-03-25 | 2018-03-30 | 哈尔滨工业大学 | A kind of five-dimension force detection means based on space overlapping method |
| CN111693181B (en) * | 2020-05-20 | 2022-04-05 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN115253194B (en) * | 2022-08-04 | 2023-06-20 | 四川大学华西第四医院 | Plantar pressure feedback device for progressive weight-bearing patient |
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| CN102829909A (en) * | 2012-09-21 | 2012-12-19 | 北京科瑞思创测控科技有限公司 | Double-range torque sensor |
| CN103542963A (en) * | 2013-10-24 | 2014-01-29 | 东南大学 | Variable-gain three-dimensional force sensor |
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- 2014-09-24 CN CN201410491074.XA patent/CN104198105B/en active Active
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| DE4012829A1 (en) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Multi-indensional force measurement - has string gauges, piezoelectric sensors on membrane arms with three=dimensional force input hub |
| CN1513647A (en) * | 2003-08-21 | 2004-07-21 | 中国科学院合肥智能机械研究所 | Humanoid robot foot and foot force information detection method |
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| DE102010012701A1 (en) * | 2010-03-24 | 2011-11-17 | Bundesrepublik Deutschland, vertr.d.d. Bundesministerium für Wirtschaft und Technologie, d.vertr.d.d. Präsidenten der Physikalisch-Technischen Bundesanstalt | Microforce sensor for measuring micro forces at nano range and milli Newton range, has spring region provided between two support regions and stiffener marking unit, respectively, where spring regions comprise two-winged meander shape |
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