CN113183119B - Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver - Google Patents
Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver Download PDFInfo
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- CN113183119B CN113183119B CN202110219238.3A CN202110219238A CN113183119B CN 113183119 B CN113183119 B CN 113183119B CN 202110219238 A CN202110219238 A CN 202110219238A CN 113183119 B CN113183119 B CN 113183119B
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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 relates to a wearable lower limb exoskeleton robot based on a rope-driven redundant flexible driver. The invention comprises a leg exoskeleton structure with a left leg and a right leg which are symmetrically arranged; the two groups of leg exoskeleton structures are the same and respectively comprise two super-input flexible drivers, two bandage structures and a foot bottom plate; each super-input flexible driver comprises two flexible drivers connected through a rope and outputs one degree of freedom of rotation; the two super-input flexible drivers are connected through a mechanical connecting device; one bandage structure is connected with one super-input flexible driver, and the other bandage structure is connected with a mechanical connecting device; the foot bottom plate is connected with the other super-input flexible driver through the switching bracket. On one hand, the invention can be applied to the military field, provides assistance for combat soldiers and improves the marching movement capacity of the soldiers; on the other hand, the physiotherapy can be provided for the apoplexy patient, and the recovery period of the patient in the rehabilitation process is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a wearable lower limb exoskeleton robot based on redundant rope drive flexible drivers.
Background
In the process of man-machine interaction, when the robot needs to interact with an unknown environment, the rigid transmission of the traditional robot has great potential safety hazards, and the robot often has over-constraint force. The flexibility of the robot is an important guarantee for completing tasks by human-machine cooperation. The research on the flexibility of the robot is developing towards a rigid-flexible hybrid integrated mechanism, accurate and rapid environmental judgment and good flexibility control. Compliance of the mechanical system is ensured by the mechanical design and the drive control system. When the movement of the human and the robot is not coordinated or the control system fails, a flexible driving structure is designed, and the impact force can be reduced by reducing the kinetic energy and the inertia. The invention designs a wearable lower limb exoskeleton robot based on the motion characteristics of lower limbs of a human body, and helps a wearer to assist in motion.
Disclosure of Invention
The invention aims to provide a wearable lower limb exoskeleton robot based on a rope-driven redundant flexible driver.
The invention comprises a leg exoskeleton structure with a left leg and a right leg which are symmetrically arranged; the two groups of leg exoskeleton structures are the same and respectively comprise four flexible drivers, two bandage structures and a foot bottom plate; the four flexible drivers are connected in pairs through ropes to form super-input flexible drivers, and then the two groups of super-input flexible drivers are connected through a mechanical connecting device; one bandage structure is connected with a group of flexible drivers, and the other bandage structure is connected with a mechanical connecting device; the foot bottom plate is connected with the other group of flexible drivers through the switching bracket. The invention can provide assistance for a wearer, so the invention can be applied to the military field, assists soldiers in walking with heavy load, can also be applied to the rehabilitation medical field, provides physiotherapy assistance for patients and fully ensures the safety of the patients in the rehabilitation process.
The super-input flexible driver comprises two flexible drivers connected through a rope, and each flexible driver comprises a motor shell, a motor, a gear box, a first encoder, a fixed motor device, a second encoder, a coupler, a torsion spring, a roller, a mechanical connecting device, two bevel gears, two optical axes, four sleeves, four bearings and four end covers; the motor and motor fixing device is arranged on a motor shell, and the motor shell is fixedly connected with the gear box; the first encoder is connected with the motor and exposed out through an opening on the motor shell; the first bevel gear is connected with the output shaft of the motor, and the first bevel gear is meshed with the second bevel gear to realize 90-degree output steering; the first optical axis passes through the first bearing and is connected with the second bevel gear; the first bearing is fixed on the motor shell, one end of the inner ring of the first bearing is contacted with the first sleeve, the other end of the inner ring of the first bearing is contacted with the second sleeve, and the outer ring of the first bearing is contacted with the first end cover; the second bearing is sleeved on the first optical axis, the outer ring of the second bearing is connected with the second end cover, and the second end cover is fixed on the motor shell to realize axial restraint of the first optical axis; the torsion spring is sleeved at the output end of the first optical axis, and the torque is transmitted to the second optical axis through the torsion spring; the second optical axis is axially constrained by a third bearing and a fourth bearing, a third sleeve and a fourth sleeve, and a third end cover and a fourth end cover through a structure similar to the first optical axis; the fourth end cover is fixed on the second end cover, and the third end cover is fixed on the fourth end cover; the second optical axis is connected with a second encoder through a coupler; a roller is sleeved outside the coupling, is connected with a rope and is connected with another flexible driver through the rope to form an ultra-input flexible driver with two motors outputting one degree of freedom; the mechanical connecting device comprises a slide rail and a connecting plate;
the bandage structure is fixedly connected with two sides of a bandage through two plates, and the width of the bandage is adjusted through a retaining ring;
the foot bottom plate comprises a switching bracket, a damping spring strut, a foot supporting plate and a foot front bandage; the damping spring pillar is connected with the foot supporting plate, the switching support is located on the damping spring pillar, and the foot front bandage is fixed at the front end of the foot supporting plate.
The motor shell is connected with the gear box through three bulges and is connected with and fixes the motor through a screw hole reserved on the motor.
The bevel gear is connected with the shaft through a hole by a bolt.
The super-input flexible driver is connected with the mechanical connecting device by punching a hole in one of the motor shells.
The mechanical connecting device is provided with a series of threaded holes formed in the connecting plate, and a sliding rail is arranged to control the mounting distance between the two flexible driver structures.
The bandage structures are respectively fixed on a flexible driver and a mechanical connecting device, and the whole direction of the bandage structures faces downwards; the foot bottom plate is connected with the flexible driver through a hole formed in the connecting support and a screw.
The bandage structure and the sole plate are positioned on the inner side, and the flexible driver is positioned on the outer side.
The flexible driver frame is made of portable and small integral materials; the weight of the mechanical mechanism is reduced through rope driving, and assistance is provided for a wearer; the torsion spring has large rigidity and small volume, can reduce the human-machine constraint force on one hand, and can detect the human-machine interaction force on the other hand, thereby feeding back to the flexible driver to control the output of the motor. In conclusion, the invention has simple structure and convenient installation, can provide assistance for a wearer, can be applied to the military field, assists soldiers in walking with heavy load, can be worn by the patient to enable the patient to walk independently and normally, can provide rehabilitation for the patient and fully ensures the safety of the patient in the rehabilitation process. The flexible driver frame is made of portable and small whole materials.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the super-input flexible driver of the present invention;
FIG. 3 is a schematic view of a flexible drive structure of the present invention in cross-section;
FIG. 4 is a schematic view of the bandage of the present invention;
FIG. 5 is a schematic view of the sole plate of the present invention;
Detailed Description
As shown in fig. 1, a wearable lower limb exoskeleton robot based on redundant rope-driven flexible drivers comprises a leg exoskeleton structure with a left leg and a right leg symmetrically arranged; the two groups of leg exoskeleton structures are the same and respectively comprise two super-input flexible drivers 1, two bandage structures 2 and a foot bottom plate 3; each super-input flexible driver comprises a group of flexible drivers 6 which are connected through a rope 5; then the two groups of flexible drivers 6 are connected through the mechanical connecting device 4; one bandage structure is connected with a group of flexible drivers, and the other bandage structure is connected with a mechanical connecting device; the foot bottom plate is connected with the other group of flexible drivers through the switching bracket.
As shown in fig. 2 and 3, the flexible driver includes a motor housing 12, a motor 10, a gear box 9, a first encoder 8, a motor fixing device 7, a second encoder 13, a coupling 22, a torsion spring 29, a roller 14, a first bevel gear 11, a second bevel gear 21, a second optical axis 17, a first optical axis 18, four sleeves, four bearings, and four end caps; the motor 10 and the motor fixing device 7 are arranged on a motor shell 12, and the motor shell 12 is fixedly connected with the gear box 9; the first encoder is connected with the motor and exposed out through an opening on the motor shell; the first bevel gear 11 is connected with the output shaft of the motor, and the first bevel gear 11 is meshed with the second bevel gear 21 to realize output 90-degree steering; the first optical axis 18 passes through a first bearing 32 and is connected with a second bevel gear 21, the first bearing 32 is fixed on the motor shell 12, one end of an inner ring is contacted with the first sleeve 20, the other end of the inner ring is contacted with the second sleeve 41, and an outer ring is contacted with the first end cover 31; the second bearing 30 is sleeved on the first optical axis 18, the outer ring is connected with the second end cover 19, and the second end cover 19 is fixed on the motor shell 12 to realize the axial constraint of the first optical axis 18; the torsion spring 29 is sleeved at the output end of the first optical axis 18, and the torque is transmitted to the second optical axis 17 through the torsion spring 29; the second optical axis 17 is axially constrained by a structure similar to that of the first optical axis 18, with third and fourth bearings 26 and 23, third and fourth sleeves 27 and 25, and third and fourth end caps 15 and 16; the fourth end cover 16 is fixed on the second end cover 19 through a first screw 28, and the third end cover 15 is fixed on the fourth end cover 16 through a second screw 24; the second optical axis 17 is connected with the second encoder 13 through a coupler 22; the roller 14 is sleeved outside the coupling 22, the roller 14 is connected with a rope, and is connected with another flexible driver through the rope, so that an ultra-input flexible driver with two motors outputting one degree of freedom is formed.
The mechanical connecting device consists of a sliding rail and a connecting plate, and can be worn by people with various leg lengths.
The torsion spring with large rigidity and small volume is selected. The torsional spring passes two rings of two optical axes respectively, realizes the transmission moment of torsion of higher efficiency.
As shown in fig. 4, the bandage structure includes two plates 33, a bandage 35, and a clasp 34. The two plates 33 are fixedly connected with two sides of a bandage 35, and the bandage 35 realizes width adjustment through a buckle 34.
As shown in fig. 5, the sole plate comprises an adapter bracket 36, a shock-absorbing spring support 37, a foot support plate 40 and a foot front bandage 39, wherein the shock-absorbing spring support 37 is connected with the foot support plate 40, the adapter bracket 36 is seated on the shock-absorbing spring support 37, and the foot front bandage 39 is fixed at the front end of the foot support plate 40, so that various types of feet can be worn.
When the leg lifting device works, when a leg is lifted, the flexible driver on the thigh receives the rope, the flexible driver on the leg releases the rope, namely the flexible driver on the thigh outputs torque, and the flexible driver on the leg is in a state of following movement; when the shank is put down, the flexible driver on the thigh releases the rope, the flexible driver on the shank retracts the rope, namely the flexible driver on the shank moves along, and the flexible driver on the thigh outputs torque.
Claims (7)
1. Wearable lower limbs ectoskeleton robot based on redundant flexible driver of rope drive, including the shank ectoskeleton structure of two sets of symmetry settings of left leg and right leg, its characterized in that: the leg exoskeleton structure comprises a pair of super-input flexible drivers, a bandage structure and a foot bottom plate, wherein each super-input flexible driver comprises a group of flexible drivers connected through a rope, and the pair of super-input flexible drivers are connected through a mechanical connecting device; one bandage structure is connected with one super-input flexible driver, and the other bandage structure is connected with a mechanical connecting device; the foot bottom plate is connected with another super-input flexible driver through a switching bracket;
the super-input flexible driver comprises two flexible drivers connected through a rope, and each flexible driver comprises a motor shell, a motor, a gear box, a first encoder, a fixed motor device, a second encoder, a coupler, a torsion spring, a roller, a mechanical connecting device, two bevel gears, two optical axes, four sleeves, four bearings and four end covers; the motor and motor fixing device is arranged on a motor shell, and the motor shell is fixedly connected with the gear box; the first encoder is connected with the motor and exposed out through an opening on the motor shell; the first bevel gear is connected with the output shaft of the motor, and the first bevel gear is meshed with the second bevel gear to realize 90-degree output steering; the first optical axis passes through the first bearing and is connected with the second bevel gear; the first bearing is fixed on the motor shell, one end of the inner ring of the first bearing is contacted with the first sleeve, the other end of the inner ring of the first bearing is contacted with the second sleeve, and the outer ring of the first bearing is contacted with the first end cover; the second bearing is sleeved on the first optical axis, the outer ring of the second bearing is connected with the second end cover, and the second end cover is fixed on the motor shell to realize axial constraint of the first optical axis; the torsion spring is sleeved at the output end of the first optical axis, and the torque is transmitted to the second optical axis through the torsion spring; the second optical axis is axially constrained by a third bearing and a fourth bearing, a third sleeve and a fourth sleeve, and a third end cover and a fourth end cover through a structure similar to the first optical axis; the fourth end cover is fixed on the second end cover, and the third end cover is fixed on the fourth end cover; the second optical axis is connected with a second encoder through a coupler; a roller is sleeved outside the coupling, is connected with a rope and is connected with another flexible driver through the rope to form an ultra-input flexible driver with two motors outputting one degree of freedom; the mechanical connecting device comprises a slide rail and a connecting plate;
the bandage structure is fixedly connected with two sides of a bandage through two plates, and the width of the bandage is adjusted through a retaining ring;
the foot bottom plate comprises a switching bracket, a damping spring strut, a foot supporting plate and a foot front bandage; the damping spring pillar is connected with the foot supporting plate, the switching support is located on the damping spring pillar, and the foot front bandage is fixed at the front end of the foot supporting plate.
2. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the motor shell is connected with the gear box through three bulges and is connected with and fixes the motor through a screw hole reserved on the motor.
3. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the bevel gear is connected with the shaft through a hole by a bolt.
4. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the super-input flexible driver is connected with the mechanical connecting device by punching a hole in one of the motor shells.
5. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the mechanical connecting device is provided with a series of threaded holes through punching on the connecting plate, and a slide rail is arranged to control the installation distance between the two flexible driver structures.
6. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the bandage structures are respectively fixed on a flexible driver and a mechanical connecting device, and the whole direction of the bandage structures faces downwards; the foot bottom plate is connected with the flexible driver through a hole formed in the connecting support and a screw.
7. The wearable lower extremity exoskeleton robot of claim 1 based on rope-driven redundant flexible drives, wherein: the bandage structure and the sole plate are positioned on the inner side, and the flexible driver is positioned on the outer side.
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| CN202110219238.3A CN113183119B (en) | 2021-02-26 | 2021-02-26 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
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| CN202110219238.3A CN113183119B (en) | 2021-02-26 | 2021-02-26 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
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| CN113183119B true CN113183119B (en) | 2022-05-31 |
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