CN107322572B - Portable booster unit of supplementary human low limbs building of climbing - Google Patents
Portable booster unit of supplementary human low limbs building of climbing Download PDFInfo
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- CN107322572B CN107322572B CN201710686975.8A CN201710686975A CN107322572B CN 107322572 B CN107322572 B CN 107322572B CN 201710686975 A CN201710686975 A CN 201710686975A CN 107322572 B CN107322572 B CN 107322572B
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- 230000009194 climbing Effects 0.000 title claims description 13
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 45
- 238000007789 sealing Methods 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 38
- 238000005452 bending Methods 0.000 claims description 12
- 238000001125 extrusion Methods 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 230000005021 gait Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 28
- 210000001624 hip Anatomy 0.000 abstract description 19
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 3
- 210000004394 hip joint Anatomy 0.000 abstract description 3
- 210000000629 knee joint Anatomy 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000002493 climbing effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a portable power assisting device for assisting a human lower limb to climb stairs, which comprises a power assisting mechanism, a controller and a direct current power supply. The power assisting mechanism comprises: a waist support member having a U-shape for fitting with the waist of a human body; the two actuators are respectively arranged at the two ends of the U shape of the waist supporting piece and are used for assisting two lower limbs of a human body to climb stairs; two leg fixing frames respectively mounted on the two actuators; the two leg binding bands are respectively arranged on the two leg fixing frames and are respectively bound on two lower limbs of a human body when in use. The controller controls the operation of the two actuators, and the direct current power supply provides power for the two actuators. The auxiliary power assisting effect can be realized by assisting the flexion and extension of quadriceps, the movement of the hip joint, the knee joint and the ankle joint is not needed to be considered integrally, the targeted structural design is carried out, and the cost is greatly reduced.
Description
Technical Field
The invention relates to a power assisting device in the medical field, in particular to a portable power assisting device for assisting a human lower limb to climb a building.
Background
At present, in the fields of helping old people and disabled people and medical rehabilitation, a general lower limb power assisting device comprises a hip joint, a knee joint and an ankle joint, the structure is complex, and a user needs to be trained before using the device; expensive cost, and difficult bearing for common families; the whole structure is heavy, and the wearing comfort is poor. The document (Ken YASUHARA. Walking Assist Device with Stride Management System [ J ]. Honda R & D Technical Review, 2009.10:57-66) provides a small-sized lower limb auxiliary walking device, and the device has small output moment due to the adoption of a structure of combining a disc motor with a planetary gear, is only used for running and walking in-place training, and has no direct power-assisting effect; the speed output lacks closed loop control and the output speed cannot be controlled stably. The prior art is difficult to realize considering both the cost, the comfort and the assistance effect.
Disclosure of Invention
In order to solve the problem that the existing lower limb booster is difficult to consider in terms of manufacturing cost, wearing comfort and boosting effect, the portable booster for assisting the human lower limb to climb stairs is provided.
The technical problems to be solved by the invention can be realized by the following technical scheme: a portable power assisting device for assisting a human lower limb to climb a building comprises a power assisting mechanism, a controller and a direct current power supply. The power assisting mechanism comprises: a waist support member having a U-shape for fitting with the waist of a human body; the two actuators are respectively arranged at the two ends of the U shape of the waist supporting piece and are used for assisting two lower limbs of a human body to climb stairs; two leg fixing frames respectively mounted on the two actuators; the two leg binding bands are respectively arranged on the two leg fixing frames and are respectively bound on two lower limbs of a human body when in use. The controller controls the operation of the two actuators, and the direct current power supply provides power for the two actuators.
As a further improvement of the above, each actuator includes: the device comprises an angle sensor, an encoder, a transmission seat, a flexible gear flange, a harmonic reducer, a mounting seat and a brushless direct current motor; one end of the transmission seat is a central shaft, penetrates through the encoder and is inserted into the angle sensor, the opposite end of the transmission seat is a substrate, and the transmission seat is concentrically fixed on the flexible wheel flange; the flexible wheel flange is fixed with the harmonic reducer; the harmonic speed reducer and the brushless direct current motor are respectively fixed on two opposite sides of the mounting seat, and the brushless direct current motor is used for driving the harmonic speed reducer; the mounting seat is arranged on the waist supporting piece, and the flexible wheel flange is arranged on the corresponding leg fixing frame; the angle sensor detects the rotation angle value of the transmission seat, and the encoder detects the rotation speed value of the transmission seat; the controller changes the rotating speed of the brushless direct current motor according to the angle value through a gait function stored in the controller during the climbing process of the human body, and reduces the rotating speed fluctuation of the brushless direct current motor according to the speed value; the controller drives the harmonic reducer to drive the flexible wheel flange to transfer torque to the corresponding leg fixing frame through controlling the brushless direct current motor, the rotation of the flexible wheel flange changes the rotation angle and speed of the transfer seat, and the angle sensor and the encoder respectively obtain real-time angle values and speed values and send the real-time angle values and speed values back to the controller, so that closed-loop control of actuator transmission is realized.
Further, the mounting seat realizes the angle adjustment with the lumbar support through the angle adjustment structure; the angle adjusting structure comprises at least one first mounting hole, at least one second mounting hole corresponding to the at least one first mounting hole and at least one rotating shaft fixed in the corresponding first mounting hole and the corresponding second mounting hole; the first mounting hole is formed in the mounting seat, the second mounting hole is formed in the waist supporting piece, and the rotating shaft is used for realizing movable connection between the mounting seat and the waist supporting piece.
Further, the flexible wheel flange realizes the length adjustment with the corresponding leg fixing frame through the length and angle adjusting structure; the length and angle adjusting structure comprises at least one mounting hole III, at least one mounting hole IV corresponding to the at least one mounting Kong Sanxiang, and at least one fastener fixed in the corresponding mounting hole III and mounting hole IV; the third mounting hole is formed in the flexible wheel flange, the mounting Kong Sikai is arranged on the leg fixing frame, and the fastening piece is used for realizing mutual fixation between the flexible wheel flange and the leg fixing frame after length adjustment and angle adjustment.
Further, the flexible gear flange is provided with a first sealing groove for installing the harmonic reducer, and an O-shaped sealing ring I is filled in the first sealing groove to form extrusion sealing with the circumferential side face of the harmonic reducer.
Further, each actuator further includes a mounting cup; the angle sensor is fixed on the mounting cover, and the central shaft of the transmission seat passes through the encoder and then passes through the mounting cover to be inserted into the angle sensor.
Still further, each actuator further comprises a protective cover; the encoder and the mounting cover are both arranged on the protective cover, and the central shaft of the transmission seat passes through the protective cover before passing through the encoder.
Further, each actuator further comprises a motor flange; the brushless direct current motor is arranged on the mounting seat through a motor flange.
Still further, the mounting seat is provided with a second sealing groove for mounting the motor flange, and an extrusion seal is formed by filling an O-shaped sealing ring II into the second sealing groove and the circumferential side surface of the motor flange; a motor flange is provided with a sealing groove III for installing the brushless direct current motor, and an extrusion seal is formed by filling an O-shaped sealing ring III in the sealing groove III and the circumferential side surface of the brushless direct current motor.
As a further improvement of the scheme, the waist supporting piece adopts two bending pieces which are symmetrically connected, each bending piece is connected with a connecting plate in a movable connection mode, a horizontal return groove is formed in the connecting plate, and the distance between the actuator and the corresponding bending piece is adjusted through the fixed position on the return groove.
In the process of climbing stairs, the stair climbing action is realized mainly through the bending and stretching of quadriceps, so that the assistance effect can be realized through assisting the bending and stretching of quadriceps, the movement of hip joints, knee joints and ankle joints is not needed to be considered integrally, the targeted structural design is carried out, and the cost is greatly reduced; the structure is adjustable, so that the requirements of more people can be met or the change of the shape of the same user can be adapted, the quality of the device is reduced by simplifying the structure, and the wearing comfort of the device can be improved; the power-assisted effect is reflected in the two aspects of the power-assisted size and the stability, the motor specification, the speed reducer structure, the power source parameters and the installation form are comprehensively considered in the aspect of improving the power-assisted size, and the motion monitoring of power transmission is required to be designed in the aspect of the stability.
Therefore, the beneficial effects of the invention are mainly as follows:
1. aiming at stair climbing action design, the stair climbing device is simple and convenient in structure, and compared with the prior art, the stair climbing device has the advantage that the cost is greatly reduced;
2. the overall quality is greatly reduced, and the wearing comfort and the universality of the device are improved due to the design of angle or length adjusting structures at a plurality of positions;
3. the motion state of the actuating mechanism is monitored, so that the stability of power output is improved;
4. the brushless direct current motor combines the harmonic reducer and the high-capacity lithium battery, so that the output torque of the actuator is improved.
Drawings
Fig. 1 is a perspective view showing the structure of a portable booster for assisting a person to climb a stairs.
Fig. 2 is an exploded perspective view of an actuator of the portable booster of fig. 1.
Fig. 3 is a partial cross-sectional view of an actuator of the portable power assist device of fig. 1.
Fig. 4 is a diagram of the structural relationship between the lumbar support and the actuator of the portable power assist device of fig. 1.
Fig. 5 is an enlarged partial schematic view of the region I in fig. 4.
Fig. 6 is an enlarged partial schematic view of the region II in fig. 4.
Fig. 7 is a structural relationship between the actuator and the leg mount of the portable booster of fig. 1.
Fig. 8 is an enlarged partial schematic view of the region III in fig. 7.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, the portable power assisting device for assisting a human lower limb to climb stairs of the present invention solves the problem that the existing lower limb power assisting device is difficult to consider in terms of manufacturing cost, wearing comfort and power assisting effect, and mainly comprises a power assisting mechanism, a controller 1 and a direct current power supply 2. The controller 1 is used for controlling the power assisting mechanism to assist the lower limbs of the human body to climb the stairs, the direct current power supply 2 provides power for the power assisting mechanism, the controller 1 and the direct current power supply 2 can be arranged on the power assisting mechanism, and the power assisting mechanism can also be independent of the power assisting mechanism, for example, the controller 1 and the direct current power supply 2 are arranged into handheld parts, and the parts are held by a person to operate. In the present embodiment, the controller 1 and the dc power supply 2 are mounted on the assist mechanism.
Referring to fig. 2 and 3, the assist mechanism includes a lumbar support 4, two actuators 5, two leg holders 6, two leg straps 7, and two harnesses 3.
The lumbar support 4 is U-shaped for cooperation with the lumbar of a person. The lumbar support 4 may be of an integral structure or a split structure, such as in the present embodiment, the lumbar support 4 is formed of two bending members symmetrically connected. Each bending piece is connected with a connecting plate 42 in a movable connection mode, and a horizontal return groove 43 is formed in the connecting plate 42. The movable connection mode can adopt the forms of hinging, pin joint and the like, so long as the waist support 4 is convenient to attach to the waist of a human body better when in use. In order to reduce the weight of the lumbar support 4, holes 44 may also be provided in the lumbar support 4. Of course, these holes 44 also facilitate the installation of the controller 1 and the dc power supply 2 on the lumbar support 4, and the controller 1 and the dc power supply 2 may be symmetrically arranged on the lumbar support 4, so that the mass distribution of the whole power assisting device may be balanced and the power assisting device is beautiful.
Two ends of the two braces 3 are respectively arranged on the waist supporting piece 4, and the two braces 3 are matched with two shoulders of a human body for being convenient for the human body to load the weight of the whole booster device. The brace 3 can be fixed between the middle part of the waist support 4 and the upper end of the actuator 5 by adopting a screw, and the wearing length of the brace 3 is designed to be adjustable and can be shaped like the brace structure mode of a knapsack.
The two actuators 5 are respectively arranged at the two ends of the U-shaped waist support piece 4 and are used for assisting two lower limbs of a human body to climb stairs. The actuator 5 adjusts the distance between the actuator 5 and the corresponding bending piece by a fixed position on the return groove 43.
Each actuator 5 comprises an angle sensor 8, a mounting cover 9, an encoder 10, a protective cover 11, a transmission seat 12, a flexible gear flange 13, an O-shaped sealing ring I14, a harmonic reducer 15, a mounting seat 16, an O-shaped sealing ring II 17, a motor flange 18, an O-shaped sealing ring III 19, a brushless direct current motor 20 and a motor protective cover 21.
In other embodiments, the actuator 5 may include only the angle sensor 8, the encoder 10, the transmission mount 12, the flexspline flange 13, the harmonic reducer 15, the mount 16, and the brushless dc motor 20. One end of the transmission seat 12 is a central shaft, penetrates through the encoder 10 and is inserted into the angle sensor 8, the opposite end of the transmission seat 12 is a substrate, and the transmission seat is concentrically fixed on the flexible wheel flange 13. The flexspline flange 13 is fixed to the harmonic reducer 15, and the harmonic reducer 15 and the brushless dc motor 20 are respectively fixed to opposite sides of the mount 16, and the brushless dc motor 20 is used to drive the harmonic reducer 15. The mounting seats 16 are mounted on the lumbar support 4 and the flex flanges 13 are mounted on the respective leg mounts 6.
The controller angle sensor 8 detects the angle value of the rotation of the transmission base 12, and the encoder 10 detects the speed value of the rotation of the transmission base 12. The controller 1 changes the rotation speed of the brushless dc motor 20 according to the angle value through an internally stored gait function during climbing stairs of a human body, and reduces the fluctuation of the rotation speed of the brushless dc motor 20 according to the speed value. The controller 1 drives the harmonic reducer 15 to drive the flexible wheel flange 13 to transmit torque to the corresponding leg fixing frame 6 by controlling the brushless direct current motor 20, the rotation of the flexible wheel flange 13 changes the rotation angle and speed of the transmission seat 12, and the angle sensor 8 and the encoder 10 respectively obtain real-time angle values and speed values and send the real-time angle values and speed values back to the controller 1, so that closed-loop control of the transmission of the actuator 5 is realized.
Specifically, the angle sensor 8 detects the rotation angle value of the transmission seat 12, and the transmission seat 12 is fixedly connected to the flexspline flange 13, so that the rotation angle values are identical. The angle sensor 8 converts the detected angle value into an electric signal and sends the electric signal to the controller 1; the encoder 10 detects the value of the rotational speed of the transmission mount 12, and the rotational speed of the transmission mount 12 is changed to 1/i of the rotational speed of the brushless dc motor 20 by the deceleration action of the harmonic reducer 15, i being the reduction ratio of the harmonic reducer 15, in this embodiment, i=100. The rotational speed of the brushless dc motor 20 is thus obtained indirectly by measuring the value of the speed at which the transmission mount 12 rotates, the transmission mount 12 converting the speed signal into an electrical signal which is sent to the controller 1. The controller 1 can adopt a preset STM32 singlechip chip to control the brushless direct current motor 20, and the STM32 singlechip chip is pre-written with gait functions in the stair climbing process of a human body. The rotation speed of the brushless direct current motor 20 corresponds to the rotation angle value of the transmission seat 12, the rotation speed of the brushless direct current motor 20 is changed according to a gait function after the angle value sent by the angle sensor 8 is processed by the STM32 single-chip microcomputer, and the rotation speed fluctuation of the brushless direct current motor 20 is reduced after the speed value sent by the encoder 10 is processed by the STM32 single-chip microcomputer. The controller 1 controls the brushless direct current motor 20 to drive the harmonic reducer 15 to drive the flexible wheel flange 13 to transmit torque to the corresponding leg fixing frame 6, the rotation of the flexible wheel flange 13 changes the rotation angle value and the rotation speed value of the transmission seat 12, and the angle sensor 8 and the encoder 10 send the rotation angle value and the rotation speed value back to the controller 1 to realize closed-loop control of the transmission of the actuator 5.
The harmonic reducer 15 and the flexspline flange 13 can be mounted in the following manner: the flexible gear flange 13 is provided with a first sealing groove for installing the harmonic reducer 15, and an extrusion seal is formed by filling an O-shaped sealing ring 14 in the first sealing groove and the circumferential side surface of the harmonic reducer 15. Similarly, the mounting base 16 and the motor flange 18, the motor flange 18 and the brushless dc motor 20 can be mounted in a similar manner: the mounting seat 16 is provided with a second sealing groove for mounting the motor flange 18, and an extrusion seal is formed by filling an O-shaped sealing ring II 17 in the second sealing groove and the circumferential side surface of the motor flange 18; the motor flange 18 is provided with a third sealing groove for installing the brushless direct current motor 20, and an extrusion seal is formed by filling an O-shaped sealing ring III 19 in the third sealing groove and the circumferential side surface of the brushless direct current motor 20.
Referring to fig. 4, 5 and 6, the mounting base 16 is angularly adjustable with respect to the lumbar support 4 by an angular adjustment structure. The angle adjusting structure includes at least one first mounting hole 161, at least one second mounting hole corresponding to the at least one first mounting hole 161, and at least one rotation shaft 41 fixed to one of the corresponding first mounting hole 161 and second mounting hole. The first mounting hole 161 is formed in the mounting seat 16, the second mounting hole is formed in the lumbar support 4, and the rotating shaft 41 realizes movable connection between the mounting seat 16 and the lumbar support 4. The mounting seat 16 adjusts the distance between the actuator 5 and the corresponding bending member by means of a fixed position on the return groove 43, and the mounting seat 16 may be provided with an extension bar to make room for a co-operation with the lumbar support 4.
In fig. 4, the lumbar support 4 is provided with 12 uniformly distributed mounting holes, and the mounting seat 16 is provided with 4 uniformly distributed mounting holes, so that the angle adjustment between the lumbar support 4 and the actuator 5 is realized, and the angle adjustment value is 30 degrees.
In fig. 5, the flexspline flange 13 is provided with 4 rows of 8 mounting holes from top to bottom, and the horizontal center distance and the vertical center distance of the adjacent 4 holes are equal; the leg fixing frame 6 is provided with 4 arc waist holes, the center distances in the horizontal direction and the vertical direction between the arc waist holes are equal, and the center distance value is equal to the center distance value of the adjacent 4 holes of the flexible wheel flange 13; the arc waist hole and the round holes are matched to realize angle adjustment within a certain range, and the arc waist hole and the multi-row holes are matched to realize grading adjustment of the length dimension.
Referring to fig. 7 and 8, the flexible flange 13 is adjusted in length with the leg fixing frame 6 by a length and angle adjusting structure. The length and angle adjustment structure includes at least one third mounting hole 131, at least one fourth mounting hole corresponding to the at least one third mounting hole 131, and at least one fastener 132 secured to the corresponding third mounting hole 131 and fourth mounting hole. The third mounting hole 131 is formed in the flexible wheel flange 13, the mounting Kong Sikai is arranged on the leg fixing frame 6, and the fastening piece 132 is used for realizing mutual fixation between the flexible wheel flange 13 and the leg fixing frame 6 after length adjustment and angle adjustment.
In the embodiment, the controller 1 and the direct current power supply 2 are arranged on two sides of the lumbar support 4, and are fixed by screws, and the direct current power supply adopts a power lithium battery, so that secondary charging and discharging can be realized, and the power specification is 24V and 3200mAh. An angle adjusting structure is designed between the lumbar support 4 and the actuator 5, and the adjustment is completed through screw fixation. An installation angle and length adjusting structure is designed between the actuator 5 and the leg fixing frame 6, and the adjustment is completed through screw fixation. The leg binding band 7 is of a magic tape structure and is used for wrapping thighs and is arranged on the leg fixing frame 6 through countersunk screws. The braces 3, the actuator 5, the leg fixing frame 6 and the leg binding band 7 are respectively provided with two pieces, and are arranged on the left side and the right side.
The angle sensor 8 is fixed to the mounting cover 9 by screws, and the mounting cover 9 and the encoder 10 are mounted on the protective cover 11. The transmission seat 12 is fixed with the flexible wheel flange 13 in a centering way, and forms an actuator 5 movement monitoring mechanism by matching with the angle sensor 9 and the encoder 10. The flexible wheel flange 13 is provided with a first sealing groove, and after the first O-shaped sealing ring 14 is filled, the first O-shaped sealing ring and the left end face of the harmonic reducer 15 form extrusion sealing, the flexible wheel flange 13 is fixed on a flexible wheel screw of the harmonic reducer 15, and rotates along with a flexible wheel of the harmonic reducer 15. The protection cover 11, the harmonic reducer 15, the motor flange 18, the brushless direct current motor 20 and the motor protection cover 21 are all fixed on the mounting seat 16 through screws, sealing grooves are formed in two end faces of the motor flange 18, after the second O-shaped sealing ring 17 and the third O-shaped sealing ring 19 are filled, the mounting seat 16 and the end face extrusion of the brushless direct current motor 20 are matched, the right end face extrusion sealing of the harmonic reducer 15 is achieved, and lubricating grease filled in the harmonic reducer 15 is prevented from leaking. The installation cover 9, the protection cover 11 and the motor protection cover 21 are plastic parts and are used for safety protection, preventing human bodies from contacting moving parts and preventing electric shock. The brushless direct current motor 20 converts high-speed low torque into low-speed high torque through the harmonic reducer 15, and transmits torque and motion outwards through the flexspline flange 13 fixedly connected to the harmonic reducer 15.
Referring again to fig. 3, the transmission base 12, the flexspline flange 13, the angle sensor 8 and the encoder 10 may form the main components of the motion monitoring mechanism of the actuator 5. Wherein, the transmission seat 12 is fixedly installed with the flexible wheel flange 13, and the installation of the angle sensor 8 and the encoder 10 is described in fig. 2; the transmission seat 12 and the flexible wheel flange 13 perform rotary motion relative to the actuator mounting seat 16, and the angle sensor 8 and the encoder 10 are fixed relative to the mounting seat 16; the extension shaft of the transmission seat 12 penetrates through the encoder 10 and is inserted into the angle sensor 8, so that the rotation angle and speed of the transmission seat 12 are detected, the detected data are uploaded and processed by the controller 1, and then the rotation speed of the brushless direct current motor 20 is regulated, so that the movement monitoring of the actuator 5 is realized.
The portable booster for assisting the lower limbs of the human body to climb the stairs is operated in the operation process with reference to fig. 1 to 5.
Detecting a stair climbing gait cycle of a user before wearing, and adjusting the motion parameters of the actuator 5; the back strap 3 is worn, the length is adjusted, and the leg strap 7 is tied up; referring to fig. 4 and 7, the angle and length are adjusted according to the user posture. After the adjustment work is completed, the stair is worn.
It should be noted that the portable power assisting device for assisting the climbing of the lower limbs of the human body is used for the climbing process of the user with normal leg functions but insufficient exercise capacity, such as assisting the elderly to climb the stairs.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A portable booster unit of supplementary human lower limb building of climbing, includes power assisting mechanism, it includes:
a waist support (4) which is U-shaped and is used for being matched with the waist of a human body;
two actuators (5) which are respectively arranged at the two U-shaped ends of the waist supporting piece (4) and are used for assisting two lower limbs of a human body to climb stairs; it is characterized in that the method also comprises the following steps:
two leg fixing frames (6) which are respectively arranged on the two actuators (5); the two leg binding bands (7) are respectively arranged on the two leg fixing frames (6) and are respectively bound on two lower limbs of a human body when in use;
a controller (1) for controlling the operation of the two actuators (5); and a DC power supply (2) for supplying power to the two actuators (5);
the actuator (5) comprises a transmission seat (12), a harmonic speed reducer (15) and a brushless direct current motor (20), wherein the rotation speed of the transmission seat (12) is changed into 1%of the rotation speed of the brushless direct current motor (20) through the speed reduction function of the harmonic speed reducer (15)i，iIs the reduction ratio of the harmonic reducer (15),i=100；
each actuator (5) further comprises: an angle sensor (8), an encoder (10), a flexspline flange (13), a mounting seat (16) and a motor flange (18); the brushless direct current motor (20) is arranged on the mounting seat (16) through the motor flange (18);
one end of the transmission seat (12) is a central shaft, penetrates through the encoder (10) and is inserted into the angle sensor (8), the opposite end of the transmission seat (12) is a substrate, and the transmission seat and the substrate are concentrically fixed on the flexible wheel flange (13); the flexible gear flange (13) is fixed with the harmonic reducer (15); the harmonic speed reducer (15) and the brushless direct current motor (20) are respectively fixed on two opposite sides of the mounting seat (16), and the brushless direct current motor (20) is used for driving the harmonic speed reducer (15); the mounting seat (16) is mounted on the waist support piece (4), and the flexible wheel flange (13) is mounted on the corresponding leg fixing frame (6);
the flexible gear flange (13) is provided with a first sealing groove for installing the harmonic reducer (15), and an O-shaped sealing ring (14) is filled in the first sealing groove to form extrusion sealing with the circumferential side surface of the harmonic reducer (15);
the angle sensor (8) detects the rotation angle value of the transmission seat (12), and the encoder (10) detects the rotation speed value of the transmission seat (12); the controller (1) changes the rotating speed of the brushless direct current motor (20) according to the angle value through a gait function stored in the controller during the climbing process of the human body, and reduces the rotating speed fluctuation of the brushless direct current motor (20) according to the speed value; the controller (1) drives the harmonic reducer (15) to drive the flexible gear flange (13) to transmit torque to the corresponding leg fixing frame (6) through controlling the brushless direct current motor (20), the rotation of the flexible gear flange (13) changes the rotation angle and speed of the transmission seat (12), and the angle sensor (8) and the encoder (10) respectively obtain real-time angle values and speed values from the angle values and the speed values and send the real-time angle values and speed values back to the controller (1) to realize closed-loop control of the transmission of the actuator (5).
2. The portable booster for assisting a person to climb a stairs from a lower limb according to claim 1, wherein: the mounting seat (16) realizes the angle adjustment with the lumbar support (4) through an angle adjustment structure; the angle adjusting structure comprises at least one first mounting hole (161), at least one second mounting hole corresponding to the at least one first mounting hole (161), and at least one rotating shaft (41) fixed in the corresponding first mounting hole (161) and the corresponding second mounting hole; the first mounting hole (161) is formed in the mounting seat (16), the second mounting hole is formed in the lumbar support (4), and the rotating shaft (41) is used for realizing movable connection between the mounting seat (16) and the lumbar support (4).
3. The portable booster for assisting a person to climb a stairs from a lower limb according to claim 1, wherein: the flexible wheel flange (13) realizes the length adjustment with the corresponding leg fixing frame (6) through a length and angle adjusting structure; the length and angle adjusting structure comprises at least one mounting hole III (131), at least one mounting hole IV corresponding to the at least one mounting hole III (131), and at least one fastener (132) fixed in the corresponding mounting hole III (131) and mounting hole IV; the third mounting hole (131) is formed in the flexible gear flange (13), the mounting Kong Sikai is formed in the leg fixing frame (6), and the fastening piece (132) is used for realizing mutual fixation between the flexible gear flange (13) and the leg fixing frame (6) after length adjustment and angle adjustment.
4. The portable booster for assisting a person to climb a stairs from a lower limb according to claim 1, wherein: each actuator (5) further comprises a mounting cap (9); the angle sensor (8) is fixed on the mounting cover (9), and the central shaft of the transmission seat (12) passes through the encoder (10) and then passes through the mounting cover (9) to be inserted into the angle sensor (8).
5. The portable booster unit for assisting a person to climb a stairs from a lower limb according to claim 4, wherein: each actuator (5) further comprises a protective cover (11); the encoder (10) and the mounting cover (9) are both arranged on the protective cover (11), and the central shaft of the transmission seat (12) passes through the protective cover (11) before passing through the encoder (10).
6. The portable booster for assisting a person to climb a stairs from a lower limb according to claim 1, wherein: the mounting seat (16) is provided with a second sealing groove for mounting the motor flange (18), and an extrusion seal is formed between the second sealing groove and the circumferential side surface of the motor flange (18) by filling an O-shaped sealing ring (17); a third sealing groove for installing the brushless direct current motor (20) is formed in the motor flange (18), and an O-shaped sealing ring III (19) is filled in the third sealing groove to form extrusion sealing with the circumferential side surface of the brushless direct current motor (20).
7. The portable booster for assisting a person to climb a stairs from a lower limb according to claim 1, wherein: the waist support piece (4) adopts two bending pieces which are symmetrically connected, each bending piece is connected with a connecting plate (42) in a movable connection mode, a horizontal return groove (43) is formed in the connecting plate (42), and the distance between the actuator (5) and the corresponding bending piece is adjusted by the actuator (5) through the fixed position on the return groove (43).
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| CN201710686975.8A CN107322572B (en) | 2017-08-11 | 2017-08-11 | Portable booster unit of supplementary human low limbs building of climbing |
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| CN107322572B true CN107322572B (en) | 2023-10-03 |
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| CN107928996B (en) * | 2017-11-22 | 2023-10-31 | 上海理工大学 | Semi-passive light-weight lower limb exoskeleton |
| CN108283568A (en) * | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
| JP7170418B2 (en) * | 2018-05-15 | 2022-11-14 | ユーピーアール株式会社 | motion support device |
| CN109015599B (en) * | 2018-08-01 | 2022-04-15 | 武汉理工大学 | Waist assistance exoskeleton robot based on hybrid drive |
| CN108748116A (en) * | 2018-08-31 | 2018-11-06 | 广州市海同机电设备有限公司 | A kind of self-adapting flexible ectoskeleton |
| CN110236807B (en) * | 2019-05-09 | 2020-05-01 | 哈工大机器人（合肥）国际创新研究院 | Passive support obstacle avoidance device, stair climbing robot and stair climbing method thereof |
| CN110755184B (en) * | 2019-11-08 | 2021-09-24 | 哈工大机器人湖州国际创新研究院 | Prosthetic knee joint control method |
| CN110815191A (en) * | 2019-12-02 | 2020-02-21 | 迈宝智能科技(苏州)有限公司 | Wearable waist assistance exoskeleton |
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