CN112809657A - Load-mobile exoskeleton system and application method thereof - Google Patents
Load-mobile exoskeleton system and application method thereof Download PDFInfo
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- CN112809657A CN112809657A CN202110188455.0A CN202110188455A CN112809657A CN 112809657 A CN112809657 A CN 112809657A CN 202110188455 A CN202110188455 A CN 202110188455A CN 112809657 A CN112809657 A CN 112809657A
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- 210000002414 leg Anatomy 0.000 claims abstract description 92
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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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Abstract
The invention discloses a load motorized exoskeleton system and a use method thereof, wherein the system comprises a control system, a foot structure, a trunk structure, and a leg structure connected with the foot structure and the trunk structure, wherein each bionic leg of the leg structure comprises a bionic hip joint, an adjustable thigh rod piece, a bionic knee joint, an adjustable shank rod piece, a bionic ankle joint, a hip joint hydraulic cylinder and a knee joint hydraulic cylinder which are sequentially connected; the bionic hip joint is connected with a waist supporting piece of the trunk structure, the bionic ankle joint is connected with the foot structure, and the hip joint hydraulic cylinder is connected with the bionic hip joint and the waist supporting piece; the knee joint hydraulic cylinder is connected with the adjustable thigh rod piece and the adjustable shank rod piece, the hydraulic station of the trunk structure is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and the control system drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to move through the hydraulic station, so that the bionic leg is driven to move. The exoskeleton system has good extension freedom degree and bearing capacity, and can coordinate with the human body to move.
Description
Technical Field
The invention relates to the technical field of exoskeleton bionic structures, in particular to a load maneuvering type exoskeleton system and a using method thereof.
Background
The exoskeleton bionic structure is a novel mechanical structure which is provided by simulating the outer skeleton of the biological boundary, combines the technologies of sensing, control, information fusion, mobile calculation and the like, coordinates with a human body to move, supports the load of an effective load and has enough power to realize load walking, can provide support and protection for a wearer, can effectively enhance the load bearing capacity and endurance of the human body, and has wide application prospect in the fields of individual soldier maneuvering operation, emergency rescue, rehabilitation and civil application (including building operation and assembly operation).
However, in order to realize the sensing of movement intention, cognitive decision, and sufficient power driving and execution, the overall size and weight of the existing exoskeleton structure are often large, which causes the whole exoskeleton system to be inconvenient to use, the man-machine interaction is poor, the joint control is not flexible enough, and the movement coherence and balance are affected, so that how to design the exoskeleton structure by following the anthropomorphic design concept on the aspects of the external skeleton size, the joint freedom, the bionic structure and the like, and develop a loaded exoskeleton mechanical structure capable of coordinately moving with the human body is a technical problem to be solved urgently.
Disclosure of Invention
A first object of the present invention is to overcome the disadvantages and drawbacks of the prior art and to provide a load-mobile exoskeleton system that has good freedom of extension and load-bearing capacity and is capable of moving in coordination with the human body.
It is a second object of the present invention to provide a method of using a load-mobile exoskeleton system.
The first purpose of the invention is realized by the following technical scheme:
a load-mobile exoskeleton system comprising: a control system, a foot structure, a torso structure, a leg structure connecting the foot structure and the torso structure, wherein,
the foot structure comprises an intelligent shoe, and a pressure sensor for detecting the weight distribution and the central change of a human body is embedded in the intelligent shoe;
the trunk structure comprises a back frame, a waist supporting piece, a power supply and a hydraulic station, wherein the back frame is used as a basic framework, the waist supporting piece, the power supply, the hydraulic station and the control system are all fixed on the back of the back frame, and the power supply, the control system and the hydraulic station are all positioned above the waist supporting piece;
the leg structure consists of a left bionic leg and a right bionic leg which are independent from each other, and each bionic leg comprises a leg motion measuring module, a bionic hip joint, an adjustable thigh rod piece, a bionic knee joint, an adjustable shank rod piece, a bionic ankle joint, a hip joint hydraulic cylinder and a knee joint hydraulic cylinder which are connected in sequence from top to bottom; the hip joint hydraulic cylinder is arranged at the bionic hip joint and is connected with the bionic hip joint and the waist support piece; the knee joint hydraulic cylinder is arranged at the bionic knee joint and is connected with the adjustable thigh rod piece and the adjustable shank rod piece; the leg movement measuring module comprises an inertial sensor, a force sensor and a position sensor, wherein the inertial sensor is arranged between the adjustable thigh rod piece and the adjustable shank rod piece, the force sensor is arranged at the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and the position sensor is arranged at the knee joint hydraulic cylinder; the bionic ankle joint is connected with the foot structure;
the power supply is connected with the control system, the hydraulic station, the pressure sensor and the leg movement measuring module; the pressure sensor and the leg movement measuring module are respectively connected with the control system and send the acquired sensing data to the control system; the hydraulic station is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of each bionic leg, and the control system drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to move through the hydraulic station, so that the bionic legs are driven to move.
Preferably, each biomimetic leg has 7 different degrees of freedom: 3 degrees of freedom of hip joints, 1 degree of freedom of knee joints and 3 degrees of freedom of ankle joints;
wherein, the 3 degrees of freedom of the hip joint are 1 degree of freedom of initiative and 2 degrees of freedom of passivity respectively, 1 degree of freedom of initiative is the hip joint and bends forward/stretches backward, 2 degrees of freedom of passivity are hip joint internal rotation/external rotation, hip joint abduction/adduction; the knee joint degree of freedom is an active degree of freedom, which means the flexion/extension of the knee joint; the 3 ankle joint degrees of freedom are passive degrees of freedom which respectively refer to ankle joint toe flexion/extension, ankle joint internal rotation/external rotation and ankle joint abduction/adduction, and when a user wears the exoskeleton system, the rotation center of the bionic ankle joint is concentric with the rotation center of the ankle joint of the human body;
the motion range of the bionic joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion.
Preferably, the foot structure further comprises a sole supporting block, a supporting seat, a rotating shaft, a bearing and a clamp spring, wherein the sole supporting block is fixed on one side of the intelligent shoe, and the supporting seat is fixed above the sole supporting block;
one end of the rotating shaft is connected with the supporting seat through a bearing and a clamp spring, wherein the bearing is sleeved on one end of the rotating shaft and limited by the clamp spring; the other end of the rotating shaft is also sleeved with a bearing and is connected with the bionic ankle joint through the bearing.
Furthermore, the intelligent shoe is sequentially divided into a sole layer, a metal interlayer, a sensor layer and a shoe wearing layer from bottom to top, and the different layers are connected in a bonding mode;
the sole supporting block is adjacent to the sole layer and connected with the sole layer in a bonding mode, and the sole supporting block is connected with the supporting seat in a bonding mode;
the metal interlayer is formed by arraying a plurality of metal plates, and the sensor layer is formed by a plurality of film pressure sensors distributed at intervals.
Preferably, the adjustable thigh rod part consists of a plurality of thigh rods with different sizes, and the length of the adjustable thigh rod part is adjusted by accommodating the thigh rod with smaller size in the thigh rod with larger size or splicing the thigh rod with smaller size and the thigh rod with larger size together;
the adjustable shank rod piece is composed of a plurality of shank rods with different sizes, and the length of the adjustable shank rod piece is adjusted by accommodating the shank rod with smaller size in the shank rod with larger size or splicing the shank rod with smaller size and the shank rod with larger size together.
Preferably, the adjustable thigh rod piece, the adjustable shank rod piece and the waist support piece are all made of aviation aluminum materials, and the back frame is a molar back frame;
the bionic leg is provided with a leg wearing piece on the adjustable thigh rod piece or the adjustable shank rod piece, and the front side of the back frame is provided with a shoulder wearing piece and a waist wearing piece.
Preferably, the waist support part is provided with a base part and connecting parts which respectively extend from the left end and the right end of the base part, the base part is hinged with the bottom of the back frame, the two connecting parts are respectively connected with the bionic hip joints of the left bionic leg and the right bionic leg through bearings, and a hip joint hydraulic cylinder at the bionic hip joint is connected with the bionic hip joint and is also connected to the connecting parts.
Preferably, the hydraulic station comprises a motor, an oil source, a hydraulic pump, a one-way valve and a hydraulic valve, the motor, the one-way valve and the hydraulic valve are all connected with the control system, the motor, the hydraulic pump and the hydraulic valve are all connected with the power supply, the motor is connected with and drives the hydraulic pump, and the hydraulic pump is controlled by controlling the rotation speed of the motor; the hip joint hydraulic cylinder and the knee joint hydraulic cylinder both adopt single-acting cylinders;
the hydraulic pump is connected with the oil source and the one-way valve through hydraulic pipes, the one-way valve is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes, and the hydraulic valve is connected with the oil source, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes;
the motor controls the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process through the hydraulic pump, and controls the flow rate of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process through the hydraulic pump and the one-way valve so as to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend;
the retraction movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is driven by the legs of the person, wherein the phase change of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and the flow in the retraction movement process are controlled by a hydraulic valve.
Furthermore, the control system consists of a central processing unit, a motion data acquisition card, a servo driver and a CAN bus, wherein the central processing unit is connected with the motion data acquisition card and issues a control instruction; the motion data acquisition card is connected with the pressure sensor and the leg motion measurement module, acquires sensing data and uploads the sensing data to the central controller; the motion data acquisition card is connected with the servo driver and issues a driving instruction to the servo driver according to the control instruction; the servo driver is connected with the motor through a CAN bus and controls the motor according to a driving instruction.
The second purpose of the invention is realized by the following technical scheme:
a method of using a load-mobile exoskeleton system, comprising the steps of:
s1, the user adjusts the load-mobile exoskeleton system according to the shape of the user, wears the load-mobile exoskeleton system and starts a power supply of the exoskeleton system;
s2, the user starts to act, at the moment, the intelligent shoe of the exoskeleton system detects the weight distribution and the central change of the human body in real time through an internal pressure sensor, an inertial sensor on a bionic leg detects the speed, the acceleration and/or the angular velocity of an adjustable thigh rod piece and an adjustable shank rod piece in real time, force sensors at a knee joint hydraulic cylinder and a hip joint hydraulic cylinder detect the output force of the knee joint hydraulic cylinder and the hip joint hydraulic cylinder in real time, a position sensor at the knee joint hydraulic cylinder detects the position of the knee joint hydraulic cylinder in real time, and the sensing data are all sent to a control system;
and S3, judging the movement intention of the user according to the sensing data by the control system, and driving the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by controlling the hydraulic station based on the movement intention so as to drive the movement of the bionic leg.
Compared with the prior art, the invention has the following advantages and effects:
(1) the load-mobile exoskeleton system can be worn on a user, and the pressure sensor and the leg movement measuring module of the intelligent shoe form a sensing system; the control system is used as a control center of the whole exoskeleton system; the hydraulic station, the power supply, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder form a power system, and the bionic hip joint, the adjustable thigh rod piece, the bionic knee joint, the adjustable shank rod piece and the bionic ankle joint form a mechanical system, so that the exoskeleton system can realize movement intention perception, cognitive decision, power driving and power execution and realize coordinated movement with a human body.
(2) The left and right bionic legs of the exoskeleton system are controlled independently, the hydraulic station and the hydraulic cylinder provide driving force, and the movements of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of the left and right bionic legs are controlled to realize the control of the movements of the hip joint and the knee joint in multiple degrees of freedom, so that the exoskeleton system is ensured to have good flexibility, reliability and higher bionic degree. The hydraulic cylinder is arranged at the bionic joint, so that the space can be saved to a certain extent, and the size of the exoskeleton system is reduced.
(3) The exoskeleton system is designed according to the size of the large and small leg rods, and the length of the large and small leg rods is adjustable, so that the exoskeleton system can be better matched with legs of a person, the leg structure is almost anthropomorphic, the person can walk smoothly and freely after wearing the exoskeleton system, the use safety is improved, the interference is reduced, and the human-computer interaction force is further reduced.
(4) The exoskeleton system is provided with the waist support piece, the bottom of the back frame is hinged with the waist support piece, the bionic hip joints of the left and right bionic legs are connected with the waist support piece through the bearings, and the hip joint hydraulic cylinders at the bionic hip joints are connected with the waist support piece and the bionic hip joints, so that the two bionic hip joints are independent from each other and can freely rotate without interfering with a trunk. The limited range of freedom degree can allow the exoskeleton to have certain flexibility in the horizontal plane, and also allow the bionic hip joint to rotate for a certain angle relative to the trunk structure, so that the left and right bionic legs have the extension freedom degree, and the exoskeleton system is more flexibly controlled.
(5) The exoskeleton system bears the load weight through the back frame and the waist support piece, and then transmits the load weight to the ground through the hip joint hydraulic cylinder, the adjustable thigh rod piece, the knee joint hydraulic cylinder, the adjustable shank rod piece, the sole support block and the support seat, so that the load weight born by the human body can be reduced, the load bearing capacity of the human body is enhanced, and the action flexibility of the human body is kept.
Drawings
Fig. 1 is a perspective view of the load-motorized exoskeleton system of the present invention.
Fig. 2 is a perspective view of the exoskeleton system of fig. 1 from another perspective.
Fig. 3 is a rear view of the exoskeleton system of fig. 1.
Fig. 4 is a side view of the exoskeleton system of fig. 1.
Fig. 5 is a schematic diagram of the separation of the intelligent shoe.
Fig. 6 is a schematic of exoskeleton degrees of freedom.
Figure 7 is a schematic view of a biomimetic leg.
Figure 8 is a schematic diagram of the exoskeleton system of figure 1.
Description of reference numerals:
the device comprises a load motorized exoskeleton system 100, a control system 1, a foot structure 2, an intelligent shoe 2-1, a sole layer 2-1-1, a metal interlayer 2-1-2, a sensor layer 2-1-3, a shoe wearing layer 2-1-4, a sole supporting block 2-2, a supporting seat 2-3, a trunk structure 3, a back frame 3-1, a waist supporting piece 3-2, a base part 3-2-1, a connecting part 3-2-2, a power supply 3-3, a hydraulic station 3-4, a motor 3-4-1, an oil source 3-4-2, a hydraulic pump 3-4-3, a one-way valve 3-4-4, a hydraulic valve 3-4-5, a bionic leg 4, a bionic hip joint 4-1 and an adjustable thigh rod piece 4-2, 4-3 parts of a bionic knee joint, 4-4 parts of an adjustable shank rod piece, 4-5 parts of a bionic ankle joint, 4-6 parts of a hip joint hydraulic cylinder, 4-7 parts of a knee joint hydraulic cylinder, 4-8 parts of a jack, 4-9 parts of a leg wearing piece and 4-10 parts of a position sensor.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
The present embodiment discloses a load-mobile exoskeleton system 100, as shown in fig. 1 to 4, comprising: control system 1, foot structure 2, torso structure 3, leg structure connecting the foot structure and the torso structure.
As shown in figures 1-5, the foot structure comprises an intelligent shoe 2-1, a sole supporting block 2-2, a supporting seat 2-3, a rotating shaft, a bearing and a clamp spring, the intelligent shoe is sequentially divided into a sole layer 2-1-1, a metal interlayer 2-1-2, a sensor layer 2-1-3 and a shoe wearing layer 2-1-4 from bottom to top, and the different layers are connected in a bonding mode. In fig. 1 to 4, for the sake of simplicity, only the sole layer is shown in the smart shoe.
The heel area of the sole layer is made of polyurethane material, so that the sole layer can have higher hardness, and the loaded weight can be transferred to the ground; the material in the toe region of sole layer is flexible material, can improve and dress the travelling comfort. The metal interlayer is formed by arraying a plurality of metal plates, has the function of reducing the interference of road unevenness on the sensor layer, and the metal plates can be aluminum alloy plates. The sensor layer is composed of a plurality of film pressure sensors distributed at intervals and used for detecting the weight distribution and the central change of a human body so as to facilitate the control system to judge whether the feet are in contact with the ground. The shoe wearing layer is provided with a common quick wearing lock catch structure, so that the intelligent shoe can be reliably worn on the foot of a user.
The sole supporting shoe is fixed in intelligence shoes one side, and the supporting seat is fixed in the sole supporting shoe top, and in this embodiment, the sole supporting shoe is adjacent to the sole layer and is connected through the mode of bonding with the sole layer, and the sole supporting shoe is also connected through the mode of bonding with the supporting seat.
One end of the rotating shaft is connected with the supporting seat through a bearing and a clamp spring, wherein the bearing is specifically sleeved on one end of the rotating shaft and limited by the clamp spring; the other end of the rotating shaft is also sleeved with a bearing and is connected with the leg structure through the bearing.
As shown in fig. 1-4 and 7, the leg structure is composed of a left bionic leg and a right bionic leg which are independent from each other, each bionic leg 4 comprises a leg movement measuring module, a bionic hip joint 4-1, an adjustable thigh rod piece 4-2, a bionic knee joint 4-3, an adjustable shank rod piece 4-4 and a bionic ankle joint 4-5 which are sequentially connected from top to bottom, a hip joint hydraulic cylinder 4-6 and a knee joint hydraulic cylinder 4-7.
Wherein, the bionic ankle joint is connected with the rotating shaft, so that the bionic ankle joint is connected with the foot structure.
The adjustable thigh rod piece is composed of a plurality of thigh rods with different sizes, and the length of the adjustable thigh rod piece is adjusted by accommodating the thigh rod with a smaller size in the thigh rod with a larger size or splicing the adjustable thigh rod piece with the thigh rod with the larger size together.
The adjustable shank rod piece is composed of a plurality of shank rods with different sizes, and the length of the adjustable shank rod piece is adjusted by accommodating the shank rod with smaller size in the shank rod with larger size or splicing with the shank rod with larger size together.
Specifically, each thigh rod is provided with a plurality of jacks 4-8, so that different thigh rods can be spliced together by inserting plug connectors such as screws, pins and the like into the jacks, and the length of the adjustable thigh rod piece is adjusted by inserting the plug connectors into different jacks, so that the adjustable thigh rod piece can be matched with the actual thigh length of a human body.
Similarly, each shank rod is also provided with a plurality of jacks 4-8, so that different shank rods can be spliced together by inserting plug connectors such as screws, bolts and the like into the jacks, and the length of the adjustable shank rod is adjusted by inserting the plug connectors into different jacks, so that the adjustable shank rod can be matched with the actual shank length of a human body. In addition, the bionic ankle joint can also be correspondingly provided with a jack, so that the shank can be connected with the bionic ankle joint through the jack and the plug connector.
The size of the thigh rod and the shank rod is designed on the basis of GB10000-88 human body size of Chinese adults, the height of a human body is converted into the approximate length of a chain link, the leg structure of the exoskeleton system is similar to the height of the legs of the human body, the exoskeleton system is almost anthropomorphic, and the motion safety and the interaction force are greatly improved as the anthropomorphic degree of the exoskeleton is higher, namely the exoskeleton system is better in fit with the legs of the human body, so that the design can ensure that the system has the maximum safety and the minimum human-computer interaction force.
The hip joint hydraulic cylinder is arranged at the bionic hip joint and is connected with the bionic hip joint and the waist support piece. The knee joint hydraulic cylinder is arranged at the bionic knee joint and is connected with the adjustable thigh rod piece and the adjustable shank rod piece. Each joint hydraulic cylinder can adopt a single-acting hydraulic cylinder to provide driving force for the corresponding joint.
As the biomimetic legs adopt an anthropomorphic structure, each biomimetic leg has 7 different degrees of freedom (DOF) as the human leg: 3 degrees of freedom for the hip joint, 1 degree of freedom for the knee joint and 3 degrees of freedom for the ankle joint, see fig. 6.
Wherein, 3 hip joint degrees of freedom are 1 initiative degree of freedom and 2 passive degrees of freedom respectively, and 1 initiative degree of freedom is hip joint anteflexion/extensional, and 2 passive degrees of freedom are hip joint internal rotation/extroversion, hip joint abduction/adduction. The knee joint degree of freedom is the active degree of freedom, which means the flexion/extension of the knee joint. The 3 ankle joint degrees of freedom are passive degrees of freedom, namely ankle joint toe flexion/extension, ankle joint internal rotation/external rotation and ankle joint abduction/adduction, and when a user wears the exoskeleton system, the rotation center of the bionic ankle joint is concentric with the rotation center of the human ankle joint.
The motion range of each bionic joint is determined according to the joint motion range of a human body, the joint motion range of each bionic joint is slightly larger than the maximum motion range of the human body, and the motion range of each bionic joint in the freedom degree is usually designed to be larger than the motion range of walking of the human body and smaller than the maximum motion range of the motion of the human body. Of course, in practical applications, in order to prevent mechanical interference, some joint motion ranges may be reduced in the design process, such as the motion ranges of the bionic hip joint, the bionic knee joint, and the bionic ankle joint shown in table 1 in this embodiment.
TABLE 1
In this embodiment, the thigh rod and the shank rod are made of aviation aluminum material, the bionic leg can be provided with leg wearing parts 4-9 on the adjustable thigh rod part or the adjustable shank rod part, and the user can fix the bionic leg on the leg through the leg wearing parts.
The leg movement measuring module comprises an inertial sensor, a force sensor and a position sensor 4-10, wherein the inertial sensor is arranged between the adjustable thigh rod piece and the adjustable shank rod piece, the force sensor is arranged at the knee joint hydraulic cylinder and the hip joint hydraulic cylinder, and the position sensor is arranged at the knee joint hydraulic cylinder and used for detecting the position of the knee joint hydraulic cylinder in real time.
As shown in fig. 1 to 4, the trunk structure 3 includes a back frame 3-1, a lumbar support member 3-2, a power supply 3-3, and a hydraulic station 3-4, the back frame is used as a basic framework, the lumbar support member, the power supply, the hydraulic station, and the control system are all fixed on the back of the back frame, and the power supply, the control system, and the hydraulic station are all located above the lumbar support member. The applied load may be fixed to the back of the back frame and positioned above the lumbar support. The power supply is connected with the control system, the hydraulic station, the pressure sensor and the leg movement measuring module and supplies power to the devices, and the power supply can adopt a lithium battery.
For more conforming to human waist appearance, the back of the body frame corresponds and sets up to the arc, can add the sponge according to actual conditions, improves the travelling comfort of dressing. The back frame can adopt a molar back frame, the front side of the back frame can be provided with a shoulder wearing piece and a waist wearing piece, and a user can fix the trunk structure on the back of a human body through the shoulder wearing piece and the waist wearing piece. The lumbar support may be formed from an aircraft aluminum material.
As shown in figures 1-4, the waist support has a base 3-2-1 and connecting parts 3-2-2 extending from the left and right ends of the base, the base is hinged with the bottom of the back frame, the two connecting parts are respectively connected with the bionic hip joints of the left and right bionic legs through bearings, and hip joint hydraulic cylinders at the bionic hip joints are connected with the bionic hip joints and are also connected with the connecting parts.
The waist support can enable the bionic hip joints of the left and right bionic legs to be independent of each other and can rotate freely without interfering with the trunk structure. This limited range of freedom allows some flexibility of the exoskeleton system in the horizontal plane, and also allows the biomimetic hip joints of the left and right biomimetic legs to rotate around the lumbar support by a certain angle, thus allowing the leg structure to have freedom to extend.
The hydraulic station is connected with a hip joint hydraulic cylinder and a knee joint hydraulic cylinder of each bionic leg, and particularly, as shown in figures 1-4, the hydraulic station 3-4 comprises a motor 3-4-1, an oil source 3-4-2, a hydraulic pump 3-4-3, a one-way valve 3-4-4 and a hydraulic valve 3-4-5, the hydraulic pump is connected with the oil source and the one-way valve through hydraulic pipes, the one-way valve is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes, and the hydraulic valve is also connected with the oil source, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes.
The motor, the hydraulic pump and the hydraulic valve are all connected with a power supply and are powered by the power supply. The hip joint hydraulic cylinder and the knee joint hydraulic cylinder both adopt single-acting cylinders, and the motors can adopt direct current motors.
The motor is connected with and drives the hydraulic pump, the hydraulic pump is controlled by controlling the rotation speed of the motor, and the hydraulic pump can generate oil pressure, so that the motor can control the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extension and retraction movement process through the hydraulic pump, and the flow of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extension movement process is controlled by combining the hydraulic pump with the one-way valve, so as to drive the extension movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder.
Because the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of the embodiment are single-acting cylinders, the retraction motions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are driven by the legs of a person. In this process, the flow during the commutation and retraction movements of the hip and knee hydraulic cylinders is controlled by hydraulic valves.
The motor, the one-way valve and the hydraulic valve are all connected with the control system, and the working state of the direct current motor and the opening degrees of the one-way valve and the hydraulic valve can be controlled by the control system, so that the control system can drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of each bionic leg to move by controlling the motor, the one-way valve and the hydraulic valve of the hydraulic station, thereby realizing the multi-freedom control of the movement of the hip joint and the knee joint and completing the driving of the bionic legs.
Here, as shown in fig. 8, the control system may be composed of a central processing unit, a motion data acquisition card, a servo driver, and a CAN bus, wherein the central processing unit is connected to the motion data acquisition card and issues a control command.
The motion data acquisition card is connected with the pressure sensor and the leg motion measurement module, acquires sensing data and uploads the sensing data to the central controller. The motion data acquisition card is connected with the servo driver and can issue a driving instruction to the servo driver according to the control instruction.
The servo driver is connected with the motor through a CAN bus, so that the servo driver CAN control the motor according to a driving instruction to control the hip joint hydraulic cylinder and the knee joint hydraulic cylinder.
The central processing unit stores various machine algorithms such as an intelligent fuzzy inference algorithm, a minimized man-machine interaction force control algorithm and a self-adaptive impedance adjustment algorithm, and can be used for generating an optimal control instruction according to sensing data.
The central processing unit can also be connected with a computer in a wireless communication mode, and the computer is used as a monitoring center, can monitor various sensing data of the exoskeleton system in real time, and can also issue a control instruction to the exoskeleton system.
In general, as shown in fig. 8, the pressure sensors of the smart shoe, the leg movement measurement module, may constitute a load-mobile exoskeleton system for an intended-sensing system. The control system in the torso structure may serve as the control center for the entire exoskeleton system for cognitive decision making. The hydraulic station, the power supply, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder can form a power system for driving a mechanical system consisting of the bionic hip joint, the adjustable thigh rod piece, the bionic knee joint, the adjustable shank rod piece and the bionic ankle joint, and the mechanical system is used for executing relevant actions.
The use method of the load-mobile exoskeleton system comprises the following specific steps:
and S1, the user adjusts the load-motorized exoskeleton system according to the shape of the user, wears the load-motorized exoskeleton system and starts a power supply of the exoskeleton system.
Here, since the leg movements of the person and exoskeleton are not exactly the same (only similar), the user is rigidly connected to the foot structure via the shoe-donning layer, rigidly connected to the biomimetic leg via the leg-donning member (without displacement), and flexibly connected to the torso structure via the shoulder-donning member and waist-donning member (movable within a certain range).
S2, the user starts to act, at the moment, the intelligent shoe of the exoskeleton system detects the weight distribution and the central change of the human body in real time through the internal pressure sensor, the inertial sensor on the bionic leg detects the speed, the acceleration and/or the angular velocity of the adjustable thigh rod piece and the adjustable shank rod piece in real time, the force sensors at the knee joint hydraulic cylinder and the hip joint hydraulic cylinder detect the output force of the knee joint hydraulic cylinder and the hip joint hydraulic cylinder in real time, the position sensor at the knee joint hydraulic cylinder detects the position of the knee joint hydraulic cylinder in real time, and the sensing data are all sent to the control system.
S3, the control system judges the movement intention of the user according to the sensing data, concretely, the control system obtains the weight distribution and the central change of the human body according to the sensing data of the pressure sensor, obtains the speed, the acceleration and/or the angular speed of the adjustable thigh rod piece and the adjustable shank rod piece by the inertial sensor, obtains the output force of the knee joint hydraulic cylinder and the hip joint hydraulic cylinder by the force sensor, calculates the real-time movement angle of the bionic knee joint according to the position of the knee joint hydraulic cylinder detected by the position sensor, and judges the user to intend to do the movement of sitting, standing, going up stairs, going down stairs, running or walking by combining the data.
For example, whether the non-periodic activities are sitting, standing, or ascending stairs, descending stairs, running or walking (if the non-periodic activities are sitting and standing, the ground contact force does not change significantly) is determined according to the data of the pressure sensor, and if the non-periodic activities are determined, the non-periodic activities are determined to be sitting or standing according to the angle of the bionic knee joint, and if the angle is small, the non-periodic activities are determined to be standing, and if the angle is large, the non-periodic activities are determined to be sitting. If the user judges that the user is periodic activity, whether the user runs or not is judged according to the weight distribution and the central change of the human body (if the user runs, the two feet do not contact the ground at certain time), if the user does not run, the user goes upstairs, downstairs or walks (the bending angle of the knee joint is larger in the process of going upstairs, the knee joint shows a larger stretching angle in the process of going downstairs, and the angle of the knee joint is smaller in the process of walking activity) is judged according to the bionic knee joint angles of the left and right bionic legs.
Then, the control system drives the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by controlling the hydraulic station based on the judged movement intention, thereby driving the movement of the bionic leg.
Specifically, the control system controls the hydraulic pump by controlling the rotating speed of the motor of the hydraulic station, further controls the oil pressure in the extension and retraction movement processes of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by controlling the hydraulic pump and the one-way valve, and controls the flow rate in the extension movement processes of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by controlling the hydraulic pump and the one-way valve, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of the left bionic leg and the right bionic leg drive the joints to reach the corresponding rotating angles according to the corresponding oil pressure and flow rate, and further drives a user to complete the action to be executed.
In the process, the control system also judges whether the hydraulic cylinder of the knee joint moves to the limit position according to the sensing data of the position sensor so as to control the hydraulic station to close in time and avoid the damage of the exoskeleton system.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A load-mobile exoskeleton system comprising: a control system, a foot structure, a torso structure, a leg structure connecting the foot structure and the torso structure, wherein,
the foot structure comprises an intelligent shoe, and a pressure sensor for detecting the weight distribution and the central change of a human body is embedded in the intelligent shoe;
the trunk structure comprises a back frame, a waist supporting piece, a power supply and a hydraulic station, wherein the back frame is used as a basic framework, the waist supporting piece, the power supply, the hydraulic station and the control system are all fixed on the back of the back frame, and the power supply, the control system and the hydraulic station are all positioned above the waist supporting piece;
the leg structure consists of a left bionic leg and a right bionic leg which are independent from each other, and each bionic leg comprises a leg motion measuring module, a bionic hip joint, an adjustable thigh rod piece, a bionic knee joint, an adjustable shank rod piece, a bionic ankle joint, a hip joint hydraulic cylinder and a knee joint hydraulic cylinder which are connected in sequence from top to bottom; the hip joint hydraulic cylinder is arranged at the bionic hip joint and is connected with the bionic hip joint and the waist support piece; the knee joint hydraulic cylinder is arranged at the bionic knee joint and is connected with the adjustable thigh rod piece and the adjustable shank rod piece; the leg movement measuring module comprises an inertial sensor, a force sensor and a position sensor, wherein the inertial sensor is arranged between the adjustable thigh rod piece and the adjustable shank rod piece, the force sensor is arranged at the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and the position sensor is arranged at the knee joint hydraulic cylinder; the bionic ankle joint is connected with the foot structure;
the power supply is connected with the control system, the hydraulic station, the pressure sensor and the leg movement measuring module; the pressure sensor and the leg movement measuring module are respectively connected with the control system and send the acquired sensing data to the control system; the hydraulic station is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder of each bionic leg, and the control system drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to move through the hydraulic station, so that the bionic legs are driven to move.
2. The load-motorized exoskeleton system of claim 1 wherein each biomimetic leg has 7 different degrees of freedom: 3 degrees of freedom of hip joints, 1 degree of freedom of knee joints and 3 degrees of freedom of ankle joints;
wherein, the 3 degrees of freedom of the hip joint are 1 degree of freedom of initiative and 2 degrees of freedom of passivity respectively, 1 degree of freedom of initiative is the hip joint and bends forward/stretches backward, 2 degrees of freedom of passivity are hip joint internal rotation/external rotation, hip joint abduction/adduction; the knee joint degree of freedom is an active degree of freedom, which means the flexion/extension of the knee joint; the 3 ankle joint degrees of freedom are passive degrees of freedom which respectively refer to ankle joint toe flexion/extension, ankle joint internal rotation/external rotation and ankle joint abduction/adduction, and when a user wears the exoskeleton system, the rotation center of the bionic ankle joint is concentric with the rotation center of the ankle joint of the human body;
the motion range of the bionic joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion.
3. The load-motorized exoskeleton system of claim 1, wherein the foot structure further comprises a sole support block, a support base, a rotating shaft, a bearing, and a snap spring, wherein the sole support block is fixed to one side of the smart shoe and the support base is fixed above the sole support block;
one end of the rotating shaft is connected with the supporting seat through a bearing and a clamp spring, wherein the bearing is sleeved on one end of the rotating shaft and limited by the clamp spring; the other end of the rotating shaft is also sleeved with a bearing and is connected with the bionic ankle joint through the bearing.
4. The load-motorized exoskeleton system of claim 3, wherein the intelligent shoe is divided into a sole layer, a metal sandwich layer, a sensor layer and a shoe wearing layer from bottom to top in sequence, and the different layers are connected by bonding;
the sole supporting block is adjacent to the sole layer and connected with the sole layer in a bonding mode, and the sole supporting block is connected with the supporting seat in a bonding mode;
the metal interlayer is formed by arraying a plurality of metal plates, and the sensor layer is formed by a plurality of film pressure sensors distributed at intervals.
5. The load motorized exoskeleton system of claim 1, wherein the adjustable thigh lever is comprised of a plurality of thigh levers of different sizes, the adjustable thigh lever adjusting the length by housing the smaller size thigh lever in the larger size thigh lever or splicing the smaller size thigh lever with the larger size thigh lever;
the adjustable shank rod piece is composed of a plurality of shank rods with different sizes, and the length of the adjustable shank rod piece is adjusted by accommodating the shank rod with smaller size in the shank rod with larger size or splicing the shank rod with smaller size and the shank rod with larger size together.
6. The load motorized exoskeleton system of claim 1, wherein the adjustable thigh levers, the adjustable shank levers and the lumbar support are all made of aircraft aluminum material, and the back frame is a morgan back frame;
the bionic leg is provided with a leg wearing piece on the adjustable thigh rod piece or the adjustable shank rod piece, and the front side of the back frame is provided with a shoulder wearing piece and a waist wearing piece.
7. The load-motorized exoskeleton system of claim 1 wherein the waist support has a base portion and connecting portions extending from the left and right ends of the base portion, the base portion is hinged to the bottom of the back frame, the two connecting portions are connected to the bionic hip joints of the left and right bionic legs via bearings, respectively, and the hip joint hydraulic cylinder at the bionic hip joint is connected to the bionic hip joint and to the connecting portions.
8. The load-motorized exoskeleton system of claim 1, wherein the hydraulic station comprises a motor, an oil source, a hydraulic pump, a check valve and a hydraulic valve, the motor, the check valve and the hydraulic valve are all connected to the control system, the motor, the hydraulic pump and the hydraulic valve are all connected to the power supply, the motor is connected to and drives the hydraulic pump, and the hydraulic pump is controlled by controlling the rotation speed of the motor; the hip joint hydraulic cylinder and the knee joint hydraulic cylinder both adopt single-acting cylinders;
the hydraulic pump is connected with the oil source and the one-way valve through hydraulic pipes, the one-way valve is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes, and the hydraulic valve is connected with the oil source, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through hydraulic pipes;
the motor controls the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process through the hydraulic pump, and controls the flow rate of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process through the hydraulic pump and the one-way valve so as to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend;
the retraction movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is driven by the legs of the person, wherein the phase change of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and the flow in the retraction movement process are controlled by a hydraulic valve.
9. The load motorized exoskeleton system of claim 8, wherein the control system comprises a central processing unit, a motion data acquisition card, a servo driver, and a CAN bus, the central processing unit is connected to the motion data acquisition card and issues control commands; the motion data acquisition card is connected with the pressure sensor and the leg motion measurement module, acquires sensing data and uploads the sensing data to the central controller; the motion data acquisition card is connected with the servo driver and issues a driving instruction to the servo driver according to the control instruction; the servo driver is connected with the motor through a CAN bus and controls the motor according to a driving instruction.
10. A method of using a load-mobile exoskeleton system, comprising the steps of:
s1, the user adjusts the load-mobile exoskeleton system according to the shape of the user, wears the load-mobile exoskeleton system and starts a power supply of the exoskeleton system;
s2, the user starts to act, at the moment, the intelligent shoe of the exoskeleton system detects the weight distribution and the central change of the human body in real time through an internal pressure sensor, an inertial sensor on a bionic leg detects the speed, the acceleration and/or the angular velocity of an adjustable thigh rod piece and an adjustable shank rod piece in real time, force sensors at a knee joint hydraulic cylinder and a hip joint hydraulic cylinder detect the output force of the knee joint hydraulic cylinder and the hip joint hydraulic cylinder in real time, a position sensor at the knee joint hydraulic cylinder detects the position of the knee joint hydraulic cylinder in real time, and the sensing data are all sent to a control system;
and S3, judging the movement intention of the user according to the sensing data by the control system, and driving the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by controlling the hydraulic station based on the movement intention so as to drive the movement of the bionic leg.
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