CN112518715A - Flexible wearable ankle joint power-assisted robot - Google Patents
Flexible wearable ankle joint power-assisted robot Download PDFInfo
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- CN112518715A CN112518715A CN202011287680.1A CN202011287680A CN112518715A CN 112518715 A CN112518715 A CN 112518715A CN 202011287680 A CN202011287680 A CN 202011287680A CN 112518715 A CN112518715 A CN 112518715A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 51
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- 210000002414 leg Anatomy 0.000 claims description 68
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- 239000003638 chemical reducing agent Substances 0.000 claims description 15
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
The invention belongs to the technical field of wearable equipment, and particularly relates to a flexible wearable ankle joint power-assisted robot which comprises pressure sensing shoes, a power-assisted measuring device, a shank binding band, a longitudinal binding band, a thigh binding band, a flexible tension rope, a flexible waist wearing knitted garment, a control driving system, a power transmission system and a posture sensing module. The control driving system stimulates the power transmission system, force is transmitted to the assistance measuring device along the flexible tension rope, and assistance of the ankle joint is carried out according to sole pressure and gait of a wearer. The flexible wearable ankle joint power-assisted robot overcomes the defects of large inertia, poor wearing comfort, short endurance time and the like of a common exoskeleton power-assisted robot, is light and handy in whole, convenient to wear, good in comfort and fitting performance and high in power-assisted efficiency, and can adapt to different terrains such as flat ground, soil, gravel, stairs and slopes.
Description
Technical Field
The invention belongs to the technical field of wearable equipment, and particularly relates to a flexible wearable ankle joint power-assisted robot.
Background
The flexible wearable ankle joint power-assisted robot is a wearable robot technology which takes a person as a main body and is highly combined with artificial intelligence and a mechanical device, and is a novel system which integrates the technologies of sensing, control, information fusion, mobile computers and the like and simulates the development of exoskeleton in the biological world. By taking advantage of the theory of a human-computer intelligent system, the human and the machine are organically combined on multiple levels of perception, decision making, execution and the like, and the advantages of human intelligence and the advantages of machine physical strength are exerted. Flexible joint helping hand robot, different topography such as adaptable level land, earth, grit, stair, slope not only can assist the wearing person to accomplish actions such as walking, running, climbing, shooting, crawl, jump, reduces human metabolism in addition, slows down human fatigue, strengthens the function of wearing person's function. At present, most of the existing exoskeletons are rigid exoskeletons, the rigid exoskeletons are generally complex in mechanism, large in mass, large in system inertia, high in requirements for structural members and high in energy requirements, the flexible wearable exoskeletons are generally flexible woven clothes worn on a human body, the structural members are few, the system is light and flexible, the wearing comfort and the fitting performance are better than those of the rigid exoskeletons, and the flexible wearable exoskeletons have more advantages in the development prospect of the existing exoskeletons.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to provide a flexible wearing formula ectoskeleton ankle joint helping hand robot, make the wearing travelling comfort, laminating nature, the following nature of ectoskeleton robot higher, the quality of complete machine is littleer, and it is more convenient, light and handy to dress, higher helping hand efficiency in addition simultaneously.
(II) technical scheme
In order to solve the technical problem, the invention provides a flexible wearable ankle joint power-assisted robot, which sequentially comprises the following components from bottom to top: pressure perception shoes 1, helping hand measuring device 2, shank bandage 3, vertical bandage 4, thigh bandage 5, flexible pulling force rope 6, the flexible dress of waist knitwear 7, in addition, it still includes: the control driving system 8, the power transmission system 9 and the attitude sensing module 13;
the pressure sensing shoes 1, the calf bandage 3, the longitudinal bandage 4, the thigh bandage 5, the flexible tension rope 6 and the flexible waist wearing woven clothes 7 are worn on a wearer, and the control driving system 8 is connected with the flexible waist wearing woven clothes 7 in a flexible connection mode; the control driving system 8 stimulates the power transmission system 9 to enable the power transmission system 9 to drive the flexible tension rope 6, force is transmitted to the power-assisted measuring device 2 along the flexible tension rope 6, the thigh bandage 5, the longitudinal bandage 4 and the shank bandage 3, then the walking posture of a wearer is judged according to data of the pressure sensing shoes 1 and the posture sensing module 13, and power assistance is respectively carried out on ankle joints.
The lower limb part comprising the pressure sensing shoe 1, the assistance measuring device 2, the shank bandage 3, the longitudinal bandage 4, the thigh bandage 5 and the flexible tension rope 6 is respectively sleeved on the left side and the right side of a wearer and arranged in parallel.
The shank bandage 3, the longitudinal bandage 4, the thigh bandage 5 and the flexible waist wearing woven clothes 7 are all designed in a mode of compounding multiple layers of materials and are composed of inner-layer flexible materials, middle-layer high-strength supporting materials and outer-layer waterproof materials, the connecting mode is a bonding mode, adjustment can be conveniently conducted according to different wearers, and the shank bandage is characterized in that the shank bandage is distributed along the trend of muscles, and the muscle and tendon play a role in saving labor.
Wherein, the shank bandage 3 is fixed on the middle upper part of the triceps surae of the shank of the human body to prevent the shank bandage from sliding under stress.
The wearing comfort and tightness of the pressure sensing shoes 1, the shank binding bands 3, the thigh binding bands 5 and the waist flexible wearing woven clothes 7 can be automatically adjusted according to the height and the weight of a wearer.
The pressure sensing shoes 1 are internally provided with sensor pressure measuring devices for detecting the distribution of walking force points of the soles of the feet, the walking postures of the wearers are judged by combining the posture sensing modules 13, and the measured data are wirelessly transmitted to the control driving system 8 so as to control the working mode of the power transmission system 9.
Wherein the assistive measurement device 2 comprises: a force sensor 2.6;
the force sensor 2.6 is arranged on the sole of the pressure sensing shoe 1; through the power of flexible pulling force rope 6 through force sensor 2.6 direct action in pressure perception shoes 1, accomplish the walking helping hand to the wearer, acquire flexible wearing formula ankle joint helping hand robot through force sensor 2.6 to the helping hand effect of wearer and the effort of whole body bandage to the wearer, and then can judge the wearing travelling comfort of bandage.
The flexible tensile rope 6 comprises a left leg flexible tensile rope inner core 6.1, a right leg flexible tensile rope inner core 6.2 and a flexible tensile rope protective sleeve 6.3; the inner core 6.1 of the left leg flexible tensile rope and the inner core 6.2 of the right leg flexible tensile rope are arranged to be capable of freely sliding in the flexible tensile rope protective sleeve 6.3; one end of each of the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 is wound on a pulley guide groove 9.9 on a bidirectional pulley 9.10 in opposite directions, and the other end of each is connected with a force sensor 2.6; one end of the flexible tension rope protective sleeve 6.3 is fixed on the mounting hole of the power transmission system 9, and the other end is fixed on the tension rope fixing piece 18 of the shank;
the power transmission system 9 includes: a motor speed reducer system 9.1, a transmission shaft 9.7, a pulley guide groove 9.9 and a bidirectional pulley 9.10;
the output torque of the motor speed reducer system 9.1 is transmitted to a bidirectional pulley 9.10 through a transmission shaft 9.7 to drive the bidirectional pulley 9.10 to rotate, a left leg flexible tension rope inner core 6.1 and a right leg flexible tension rope inner core 6.2 are wound on a pulley guide groove 9.9 on the bidirectional pulley 9.10, and a control driving system 8 decides the output parameters of the motor speed reducer system 9.1 according to the walking posture of a wearer;
helping hand measuring device 2 will be through the excitation force of 6 transmissions of flexible tensile rope through force sensor 2.6 direct action in pressure perception shoes 1, accomplish the walking helping hand to the wearer, can know flexible wearing formula ankle joint helping hand robot to the helping hand effect of wearer and the effort of whole body bandage to the wearer through force sensor 2.6, and then can judge the wearing travelling comfort of bandage.
Wherein, this helping hand robot's theory of operation is: a wearer is connected with the flexible wearable ankle joint power-assisted robot through the pressure sensing shoes 1, the calf bandage 3, the thigh bandage 5 and the waist flexible wearable cloth 7 to form a man-machine closed-loop system;
when a wearer wears the flexible wearable ankle joint power-assisted robot to walk, the pressure sensing shoes 1 and the posture sensing module 13 collect gait information of plantar pressure, acceleration, angular velocity and angle in the human body walking process in real time, so that the human body walking posture information of pace, ankle joint angle and angular velocity is detected, and data are transmitted to the control driving system 8;
the control driving system 8 calculates the ankle joint power-assisted time and the power-assisted torque through a real-time gait recognition algorithm, the power transmission system 9 is excited to drive the bidirectional pulley 9.10 to rotate, the pulley 9.10 drives the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 to alternately stretch and retract, force is transmitted to the power-assisted measuring device 2 along the flexible tension rope 6, the thigh bandage 5, the longitudinal bandage 4 and the shank bandage 3, and the ankle joint is respectively assisted with power.
The control driving system 8 integrates the power module and the control module into the control box, and the battery can be replaced and the electric circuit can be maintained by opening the lock catch.
(III) advantageous effects
Compared with the prior art, the invention has the characteristics of flexible structure, flexible transmission and timely assistance, controls the driving system to perform online intelligent gait recognition on the sensor data acquired in real time, further stimulates the power transmission system to drive the bidirectional pulley to rotate, transmits force to the assistance measuring device along the flexible tension rope, judges the gait of a wearer according to the data of the pressure sensing shoe and the posture sensing module, and respectively assists the ankle joint.
The invention designs a flexible stepless adjusting binding system, wherein a shank binding band, a longitudinal binding band, a thigh binding band and a waist binding band are all designed in a mode of compounding multiple layers of materials and are composed of an inner layer of flexible materials, a middle layer of high-strength supporting materials and an outer layer of waterproof materials, the connection mode adopts a bonding mode, adjustment can be conveniently carried out according to different wearers, the characteristics of the connection mode that the connection mode is distributed along the trend of muscles can play a role in saving labor for multiple muscles and tendons of legs, and limb numbness and fatigue caused by long-term compression of fixed positions are avoided.
The pressure sensing shoe designed by the invention arranges the miniature pressure sensors according to the distribution statistics of the sole force points when a human body walks, pressure data are transmitted with the master control system through Bluetooth, and the whole pressure sensing circuit is packaged in the insole.
The invention relates to a power-assisted measuring device, which directly acts the tension of a flexible tension rope on a pressure sensing heel through a sensor, a rotating part connected with the pressure sensing shoe achieves the purpose of meeting the local action of an ankle when a wearer walks by controlling the structural size of the rotating part, and meanwhile, a spiral spring is arranged at the lower end of the tension rope so as to ensure that the tension rope is tensioned when the tension rope is in a loose state, so that the inner core of the left leg flexible tension rope at the upper end and the inner core of the right leg flexible tension rope cannot slip from a pulley guide groove.
The flexible tension rope designed by the invention changes the force transmission property of the traditional tension rope, the sliding friction exists between the traditional pull rope and the inner plastic sleeve, the sliding friction coefficient is large, and the plastic sleeve cannot be replaced after being used for many times after being damaged.
The pulley disc used by the power transmission system of the invention winds the inner core of the left leg flexible tension rope and the inner core of the right leg flexible tension rope in opposite directions at the same time, and sequentially and respectively provides power for the left leg and the right leg by controlling the self-adaptive control motor of the driving system to rotate forwards and backwards.
The invention adopts a modular design, reasonably utilizes spatial layout, integrates the power module and the control module in the control box, can complete the work of replacing the battery, maintaining the electric circuit and the like by opening the lock catch, and saves space by adopting a multilayer overlapping mode for the control module. The power transmission system, the flexible tension rope, the binding band and the power-assisted measuring device can be quickly disassembled and assembled, the maintenance is convenient, and the structure is more compact and portable.
The invention can reduce physical consumption when a human body bears weight, protect skeletal muscles from being damaged, and has good fitting degree and comfort and high system transmission efficiency.
Drawings
Fig. 1 is a schematic overall structure diagram of a flexible wearable ankle joint power-assisted robot of the invention.
Fig. 2 is a schematic structural diagram of the whole flexible wearable ankle power-assisted robot.
Fig. 3 is a schematic diagram of a power transmission system of the flexible wearable ankle joint power-assisted robot.
Fig. 4 is a schematic diagram of a power measurement structure of the flexible wearable ankle power-assisted robot.
Fig. 5 is a schematic structural diagram of a flexible tensile cord of the flexible wearable ankle power-assisted robot.
Wherein the reference numerals are summarized as follows:
1: pressure sensing shoes; 2: a power assist measuring device; 2.1: a U-shaped member; 2.2: a T-shaped piece; 2.3: a shaft; 2.4: a sensor lower mount; 2.5: a nut; 2.6: a force sensor; 2.7: an upper sensor mounting member; 2.8: riveting; 2.9: a screw; 2.10: a spring; 3: a shank binding band; 4: a longitudinal strap; 5: a thigh strap; 6: a flexible tensile cord; 6.1: a left leg flexible tension rope inner core; 6.2: a right leg flexible tension rope inner core; 6.3: a flexible tensile cord protective sleeve; 7: the waist is flexibly worn; 8: controlling the drive system; 9: a power transmission system; 9.1: a motor reducer system; 9.2: a motor mounting plate; 9.3: a motor key; 9.4: a collar; 9.5: a spacer sleeve; 9.6: a bearing; 9.7: a drive shaft; 9.8: a pulley inner side cover; 9.9: a pulley guide groove; 9.10: a pulley; 9.11: a key; 9.12: collar, 9.13: pulley outside cover, 9.14: an end cap; 10: a motor cover; 11: positioning pins; 12: a bolt; 13: a posture sensing module; 14: locking; 15: a flexible tensile cord fastener; 16: a quick release device; 17: a sensor mount; 18: a tension rope fixing member; 19: a force sensor.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems in the prior art, the invention provides a flexible wearable ankle joint power-assisted robot, which sequentially comprises the following components from bottom to top: pressure perception shoes 1, helping hand measuring device 2, shank bandage 3, vertical bandage 4, thigh bandage 5, flexible pulling force rope 6, the flexible dress of waist knitwear 7, in addition, it still includes: the control driving system 8, the power transmission system 9 and the attitude sensing module 13;
the pressure sensing shoes 1, the calf bandage 3, the longitudinal bandage 4, the thigh bandage 5, the flexible tension rope 6 and the waist flexible wearing knitted clothes 7 are worn on a wearer, and the control driving system 8 is connected with the waist flexible wearing knitted clothes 7 in a flexible connection mode, so that discomfort can not be caused to the wearer; the control driving system 8 excites the power transmission system 9, the power transmission system 9 is enabled to drive the flexible tension rope 6, the bidirectional pulley 9.10 rotates, the pulley 9.10 drives the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 to alternately stretch, force is transmitted to the assistance measuring device 2 along the flexible tension rope 6 and the thigh bandage 5, the longitudinal bandage 4 and the shank bandage 3, then walking postures of wearers are judged according to data of the pressure perception shoes 1 and the posture perception module 13, and assistance is respectively carried out on ankle joints.
The lower limb part comprising the pressure sensing shoe 1, the assistance measuring device 2, the shank bandage 3, the longitudinal bandage 4, the thigh bandage 5 and the flexible tension rope 6 is respectively sleeved on the left side and the right side of a wearer and arranged in parallel.
The shank binding band 3, the longitudinal binding band 4, the thigh binding band 5 and the flexible waist wearing woven garment 7 are all designed in a mode of compounding multiple layers of materials and are composed of flexible materials of an inner layer, high-strength supporting materials of an intermediate layer and waterproof materials of an outer layer, the connection mode adopts a bonding mode, adjustment can be conveniently carried out according to different wearers, and the leg binding band, the longitudinal binding band, the thigh binding band 5 and the flexible waist wearing woven garment 7 are distributed along the direction of muscles and have the function of saving labor for multiple muscles and tendons of legs;
wherein, the shank bandage 3 is fixed on the middle upper part of the triceps surae of the shank of the human body to prevent the shank bandage from sliding under stress.
The wearing comfort and tightness of the pressure sensing shoes 1, the shank binding bands 3, the thigh binding bands 5 and the waist flexible wearing woven clothes 7 can be automatically adjusted according to the height and the weight of a wearer.
The pressure sensing shoes 1 are internally provided with sensor pressure measuring devices for detecting the distribution of walking force points of the soles of the feet, the walking postures of the wearers are judged by combining the posture sensing modules 13, and the measured data are wirelessly transmitted to the control driving system 8 so as to control the working mode of the power transmission system 9.
Wherein the assistive measurement device 2 comprises: u-shaped part 2.1, T-shaped part 2.2, shaft 2.3, sensor lower mounting part 2.4, nut 2.5, force sensor 2.6, sensor upper mounting part 2.7, rivet 2.8, screw 2.9 and spring 2.10;
the force sensor 2.6 is fixed on the U-shaped piece 2.1 through the T-shaped piece 2.2, the shaft 2.3 and the sensor lower mounting piece 2.4, and then is mounted on the sole of the pressure sensing shoe 1 through the U-shaped piece 2.1; through the power of flexible pulling force rope 6 through force sensor 2.6 direct action in pressure perception shoes 1, accomplish the walking helping hand to the wearer, acquire flexible wearing formula ankle joint helping hand robot through force sensor 2.6 to the helping hand effect of wearer and the effort of whole body bandage to the wearer, and then can judge the wearing travelling comfort of bandage.
The flexible tensile rope 6 comprises a left leg flexible tensile rope inner core 6.1, a right leg flexible tensile rope inner core 6.2 and a flexible tensile rope protective sleeve 6.3; the inner core 6.1 of the left leg flexible tensile rope and the inner core 6.2 of the right leg flexible tensile rope are arranged to be capable of freely sliding in the flexible tensile rope protective sleeve 6.3; one end of each of the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 is wound on a pulley guide groove 9.9 on a bidirectional pulley 9.10 in opposite directions, and the other end of each of the left leg flexible tension rope inner core and the right leg flexible tension rope inner core is fixed by bypassing an upper mounting piece 2.7 of the sensor and is connected with a force sensor 2.6; one end of a flexible tensile rope protective sleeve 6.3 is fixed on a mounting hole of an inner side cover 9.8 of a pulley of the power transmission system 9 and simultaneously passes through a flexible tensile rope fixing piece 15, and the other end of the flexible tensile rope protective sleeve is fixed on a tensile rope fixing piece 18 of a shank;
the power transmission system 9 includes: the device comprises a motor speed reducer system 9.1, a motor mounting plate 9.2, a motor key 9.3, a clamping ring 9.4, a spacer 9.5, a bearing 9.6, a transmission shaft 9.7, a pulley inner side cover 9.8, a pulley guide groove 9.9, a bidirectional pulley 9.10, a key 9.11, a clamping ring 9.12, a pulley outer side cover 9.13 and an end cover 9.14;
the output torque of the motor speed reducer system 9.1 is transmitted to the bidirectional pulley 9.10 through the motor key 9.3, the collar 9.4, the spacer 9.5, the bearing 9.6 and the transmission shaft 9.7 in sequence to drive the bidirectional pulley 9.10 to rotate, the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 are wound on the pulley guide groove 9.9 on the bidirectional pulley 9.10, and the control driving system 8 decides the output parameters of the motor speed reducer system 9.1 according to the walking posture of a wearer;
helping hand measuring device 2 will be through the excitation force of 6 transmissions of flexible tensile rope through force sensor 2.6 direct action in pressure perception shoes 1, accomplish the walking helping hand to the wearer, through force sensor 2.6 can be convenient know flexible wearing formula ankle joint helping hand robot to the helping hand effect of wearer and the effort of whole body bandage to the wearer, and then can judge the wearing travelling comfort of bandage.
Wherein, this helping hand robot's theory of operation is: a wearer is connected with the flexible wearable ankle joint power-assisted robot through the pressure sensing shoes 1, the calf bandage 3, the thigh bandage 5 and the waist flexible wearable cloth 7 to form a man-machine closed-loop system;
when a wearer wears the flexible wearable ankle joint power-assisted robot to walk, the pressure sensing shoes 1 and the posture sensing module 13 collect gait information of plantar pressure, acceleration, angular velocity and angle in the human body walking process in real time, so that the human body walking posture information of pace, ankle joint angle and angular velocity is detected, and data are transmitted to the control driving system 8;
the control driving system 8 calculates the ankle joint power-assisted time and the power-assisted torque through a real-time gait recognition algorithm, the power transmission system 9 is excited to drive the bidirectional pulley 9.10 to rotate, the pulley 9.10 drives the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 to alternately stretch and retract, force is transmitted to the power-assisted measuring device 2 along the flexible tension rope 6, the thigh bandage 5, the longitudinal bandage 4 and the shank bandage 3, and the ankle joint is respectively assisted with power.
Wherein, control drive system 8 is integrated power module and control module in the control box, opens the hasp and can accomplish the change of battery and to the maintenance work of electric circuit, and control module adopts the multilayer superimposed mode, has saved space, structure compacter, light.
The flexible tension rope 6 comprises a left leg flexible tension rope inner core 6.1, a right leg flexible tension rope inner core 6.2 and a flexible tension rope protective sleeve 6.3, sliding friction of a common tension rope is changed into rolling friction, although the quality is slightly increased, the transmission efficiency is improved, and the effective working time of the power-assisted robot is prolonged; the flexible tension rope 6 is designed along the working condition of muscles when the lower limbs of a human body walk, so that the power of a wearer can be assisted more efficiently.
The power transmission system 9 drives the motor speed reducer system 9.1 through the power supply system, drives the bidirectional pulley 9.10 to rotate, controls the driving system 8 to decide the output parameters of the motor speed reducer system 9.1 according to the gait of the wearer, drives the flexible tension rope 6 through the rotation of the bidirectional pulley 9.10, and transmits force to the pressure sensing shoe 1 through the flexible tension rope 6, so that the walking assistance is performed on the wearer.
The posture sensing module 13 determines the walking posture of the wearer by measuring the posture information of the wearer when walking and cooperating with the pressure sensing shoes 1, and then the control driving system 8 makes a decision.
Example 1
The embodiment provides a structural schematic diagram of a flexible wearable ankle joint assisting robot, which is shown in fig. 1 and fig. 2 and sequentially comprises a pressure sensing shoe 1, an assisting force measuring device 2, a calf bandage 3, a longitudinal bandage 4, a thigh bandage 5, a flexible tension rope 6, a waist flexible wearable knitted garment 7, a control driving system 8, a power transmission system 9, a posture sensing module 13 and the like from bottom to top.
According to the flexible wearable ankle joint power-assisted robot, the lower limb parts are sleeved on the left side and the right side of a wearer respectively and are arranged in parallel.
As shown in fig. 3, the assistive measuring device 2 includes a U-shaped member 2.1, a T-shaped member 2.2, a shaft 2.3, a sensor lower mounting member 2.4, a nut 2.5, a force sensor 2.6, a sensor upper mounting member 2.7, a rivet 2.8, a screw 2.9, and a spring 2.10. The force sensor 2.6 is fixed on the T-shaped piece 2.2 through a 2.2T-shaped piece, a 2.3 shaft and a 2.4 sensor lower mounting piece, and then is mounted on the sole of the pressure sensing shoe 1 through a U-shaped piece 2.1. Through the power of flexible tensile rope 6 through force sensor 2.6 direct action in pressure perception shoes 1, accomplish the walking helping hand to the wearer, through force sensor 2.6 can be convenient know flexible wearing formula ankle joint helping hand robot to the helping hand effect of wearer and the effort of whole body bandage to the wearer, and then can judge the wearing travelling comfort of bandage.
The shank bandage 3 is fixed on the middle upper part of triceps surae of human body to prevent the shank bandage from sliding under stress.
As shown in fig. 4, the power transmission system 9 includes: the device comprises a motor speed reducer system 9.1, a motor mounting plate 9.2, a motor key 9.3, a clamping ring 9.4, a spacer 9.5, a bearing 9.6, a transmission shaft 9.7, a pulley inner side cover 9.8, a pulley guide groove 9.9, a pulley 9.10, a key 9.11, a clamping ring 9.12, a pulley outer side cover 9.13 and an end cover 9.14; the output torque of the motor speed reducer system 9.1 is transmitted to the bidirectional pulley 9.10 through the motor key 9.3, the clamping ring 9.4, the spacer 9.5, the bearing 9.6 and the transmission shaft 9.7 in sequence to drive the bidirectional pulley 9.10 to rotate, the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 are wound on the pulley guide groove 9.9 on the pulley 9.10, and the control driving system 8 decides the output parameters of the motor speed reducer system 9.1 according to the gait of a wearer.
As shown in fig. 5, the flexible tensile cord 6 includes a left leg flexible tensile cord inner core 6.1, a right leg flexible tensile cord inner core 6.2, and a flexible tensile cord protective sheath 6.3. The left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 can freely slide in the flexible tension rope protective sleeve 6.3, one ends of the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 are wound on the pulley guide groove 9.9 on the pulley 9.10 in opposite directions, and the other ends of the left leg flexible tension rope inner core and the right leg flexible tension rope inner core are fixed by bypassing the mounting part 2.7 on the sensor. One end of the flexible tensile rope protective sleeve 6.3 is fixed on the mounting hole of the pulley inner side cover 9.8 and simultaneously passes through the flexible tensile rope fixing piece 15, and the other end is fixed on the tensile rope fixing piece 18 of the shank.
The process of the invention for assisting with load is described by working principle in combination with some specific actions of a flexible wearable ankle joint assisting robot.
The wearer is connected with the flexible wearable ankle joint power-assisted robot through the pressure perception shoes 1, the shank binding bands 3, the thigh binding bands 5 and the flexible waist wearing cloth 7 to form a man-machine closed-loop system. When a wearer wears the flexible wearable ankle joint power-assisted robot to walk, the pressure sensing shoes 1 and the posture sensing module 13 collect gait information such as plantar pressure, acceleration, angular velocity and angle in the human body walking process in real time, so that human body motion posture information such as pace, ankle joint angle and angular velocity is detected, and data are transmitted to the control driving system 8. The control driving system 8 calculates the ankle joint power-assisted time and the power-assisted torque through a real-time gait recognition algorithm, the power transmission system 9 is excited to drive the bidirectional pulley 9.10 to rotate, the pulley 9.10 drives the left leg flexible tension rope inner core 6.1 and the right leg flexible tension rope inner core 6.2 to alternately stretch and retract, force is transmitted to the power-assisted measuring device 2 along the flexible tension rope 6, the thigh bandage 5, the longitudinal bandage 4 and the shank bandage 3, and the ankle joint is respectively assisted with power.
The invention mainly has the following technical characteristics:
the real-time ankle assisting device has the advantages of being flexible in transmission and timely in assisting, a driving system is controlled to conduct online intelligent gait recognition on sensor data collected in real time, and the driving system alternately pulls the flexible tension rope to transmit torque to ankle real-time assisting according to movement of a wearer.
The pulley disc winds the left leg flexible tension rope inner core and the right leg flexible tension rope inner core in opposite directions simultaneously, the left leg flexible tension rope inner core and the right leg flexible tension rope inner core are sequentially and respectively assisted for the left leg and the right leg by controlling the driving system to adaptively control the forward rotation and the reverse rotation of the motor, and compared with two sets of system independent driving assistance, the invention has more compact and light structure.
According to the pressure sensing shoes designed according to statistics of the distribution of the sole force points when a human body walks, pressure data are transmitted with a master control system through Bluetooth, and the whole pressure sensing circuit is packaged in a shoe pad.
The flexible tension rope changes the force transmission property of the traditional tension rope, the sliding friction is formed between the traditional pull rope and the inner plastic sleeve, the sliding friction coefficient is large, and the plastic sleeve cannot be replaced after being damaged after being used for many times.
The lower end of the flexible tension rope is provided with a spiral spring to ensure that the tension rope is tensioned when the tension rope is in a loose state, so that the inner core of the left leg flexible tension rope and the inner core of the right leg flexible tension rope at the upper end cannot slip from the pulley guide groove.
Flexibility is nimble, and the adjustment adaptation accords with the binding system design of ergonomics, effectively improves the travelling comfort and the motion flexibility of wearing the motion, and stealthy overall arrangement has many places size adaptability adjustment mechanism, can be according to the quantitative adjustment length of the height size of wearing person, avoids the sour numb and tired sense of limbs that oppress fixed position for a long time and lead to.
The storage is convenient, the binding belt of the system is bound firmly, and the binding belt is packed into a box body for transportation.
The robot can be used in military operations, and an individual-soldier wearing exoskeleton robot has stronger physical function and stronger individual-soldier operational capability, can also be used for conveying rescue goods and materials and can freely walk in an environment with complex terrain, so that a user can still easily complete various actions while carrying a larger weight.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a flexible wearing formula ankle joint helping hand robot which characterized in that, it from the bottom up includes in proper order: pressure perception shoes (1), helping hand measuring device (2), shank bandage (3), vertical bandage (4), thigh bandage (5), flexible tensile rope (6), the flexible dress of wearing of waist knits clothing (7), in addition, it still includes: the control driving system (8), the power transmission system (9) and the attitude sensing module (13);
the pressure sensing shoes (1), the calf bandage (3), the longitudinal bandage (4), the thigh bandage (5), the flexible tension rope (6) and the flexible waist wearing knitted garment (7) are worn on the body of a wearer, and the control driving system (8) is connected with the flexible waist wearing knitted garment (7) in a flexible connection mode; control actuating system (8) excitation power transmission system (9), impel power transmission system (9) to drive flexible tensile rope (6), transmit power to helping hand measuring device (2) along flexible tensile rope (6) and thigh bandage (5), vertical bandage (4), shank bandage (3), then judge the walking gesture of wearing person according to the data of pressure perception shoes (1) and gesture perception module (13), carry out helping hand respectively to the ankle joint.
2. The flexible wearable ankle power-assisted robot according to claim 1, wherein the lower limb parts including the pressure sensing shoes (1), the power-assisted measuring device (2), the calf strap (3), the longitudinal strap (4), the thigh strap (5) and the flexible tension rope (6) are respectively sleeved on the left and right sides of the wearer and are arranged in parallel.
3. The flexible wearable ankle joint power-assisted robot according to claim 1, characterized in that the shank strap (3), the longitudinal strap (4), the thigh strap (5) and the waist flexible wearable cloth (7) are all designed in a multi-layer material composite mode, and are composed of an inner layer of flexible material, a middle layer of high-strength support material and an outer layer of waterproof material, the connection mode adopts a bonding mode, adjustment can be conveniently carried out according to different wearers, and the distribution characteristics of the connection mode along the muscle trend can play a role in saving labor for multiple muscles and tendons of legs.
4. The flexible wearable ankle joint power-assisted robot according to claim 1, characterized in that the lower leg strap (3) is fixed on the middle-upper part of the triceps surae of the human body to prevent the lower leg strap from sliding under force.
5. The flexible wearable ankle power-assisted robot according to claim 1, wherein the pressure sensing shoes (1), the shank straps (3), the thigh straps (5), the waist flexible wearable fabric (7) are self-adjustable in wearing comfort and tightness according to the height and weight of a wearer.
6. The flexible wearable ankle joint power-assisted robot according to claim 1, characterized in that the pressure sensing shoes (1) are internally provided with sensor pressure measuring devices for detecting the distribution of the foot sole walking force points of a person, the walking posture of the wearer is judged by combining with the posture sensing module (13), and the measured data is wirelessly transmitted to the control driving system (8) to control the working mode of the power transmission system (9).
7. The flexible wearable ankle power-assisted robot according to claim 1, characterized in that the power-assisted measuring device (2) comprises: a force sensor (2.6);
the force sensor (2.6) is arranged on the sole of the pressure sensing shoe (1); the force of flexible tensile rope (6) directly acts on pressure perception shoes (1) through force sensor (2.6), accomplishes the walking helping hand to the wearer, acquires flexible wearing formula ankle joint helping hand robot through force sensor (2.6) and to the helping hand effect of wearer and the effort of whole body bandage to the wearer, and then can judge the wearing travelling comfort of bandage.
8. The flexible wearable ankle power-assisted robot according to claim 1, characterized in that the flexible tensile cord (6) comprises a left leg flexible tensile cord inner core (6.1), a right leg flexible tensile cord inner core (6.2), a flexible tensile cord protective sheath (6.3); the inner core (6.1) of the left leg flexible tensile rope and the inner core (6.2) of the right leg flexible tensile rope are arranged to be capable of freely sliding in the flexible tensile rope protective sleeve (6.3); one end of each of the left leg flexible tension rope inner core (6.1) and the right leg flexible tension rope inner core (6.2) is wound on a pulley guide groove (9.9) on a bidirectional pulley (9.10) in opposite directions, and the other end of each is connected with a force sensor (2.6); one end of the flexible tension rope protective sleeve (6.3) is fixed on the mounting hole of the power transmission system (9), and the other end is fixed on the tension rope fixing piece (18) of the shank;
the power transmission system (9) includes: a motor speed reducer system (9.1), a transmission shaft (9.7), a pulley guide groove (9.9) and a bidirectional pulley (9.10);
the output torque of the motor speed reducer system (9.1) is transmitted to a bidirectional pulley (9.10) through a transmission shaft (9.7) to drive the bidirectional pulley (9.10) to rotate, a left leg flexible tension rope inner core (6.1) and a right leg flexible tension rope inner core (6.2) are wound on a pulley guide groove (9.9) on the bidirectional pulley (9.10), and a control driving system (8) decides the output parameters of the motor speed reducer system (9.1) according to the walking posture of a wearer;
helping hand measuring device (2) will be through the exciting force of flexible tensile rope (6) transmission through force sensor (2.6) direct action in pressure perception shoes (1), accomplish the walking helping hand to the wearer, can know flexible wearing formula ankle joint helping hand robot to the helping hand effect of wearer and the effort of whole body bandage to the wearer through force sensor (2.6), and then can judge the wearing travelling comfort of bandage.
9. The flexible wearable ankle power-assisted robot according to claim 8, wherein the working principle of the power-assisted robot is as follows: a wearer is connected with the flexible wearable ankle joint power-assisted robot through the pressure sensing shoes (1), the shank binding bands (3), the thigh binding bands (5) and the waist flexible wearable cloth (7) to form a man-machine closed-loop system;
when a wearer wears the flexible wearable ankle joint power-assisted robot to walk, the pressure sensing shoes (1) and the posture sensing module (13) collect gait information of plantar pressure, acceleration, angular velocity and angle in the human body walking process in real time, so that the human body walking posture information of the pace, the ankle joint angle and the angular velocity is detected, and data are transmitted to the control driving system (8);
the control driving system (8) calculates the ankle joint power-assisted time and the power-assisted torque through a real-time gait recognition algorithm, the power transmission system (9) is excited to drive the two-way pulley (9.10) to rotate, the pulley (9.10) drives the left leg flexible tension rope inner core (6.1) and the right leg flexible tension rope inner core (6.2) to alternately stretch out and draw back, force is transmitted to the power-assisted measuring device (2) along the flexible tension rope (6), the thigh bandage (5), the longitudinal bandage (4) and the shank bandage (3), and the ankle joint is respectively assisted with power.
10. The flexible wearable ankle joint power-assisted robot according to claim 1, characterized in that the control driving system (8) integrates a power supply module and a control module in a control box, and the battery replacement and the maintenance of the electric circuit can be completed by unlocking a lock catch.
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| CN113104181A (en) * | 2021-04-08 | 2021-07-13 | 中国科学技术大学 | Ankle joint exoskeleton robot system for assisting diving |
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