CN113799099A - Driving assembly, active exoskeleton motion module and active exoskeleton robot - Google Patents
Driving assembly, active exoskeleton motion module and active exoskeleton robot Download PDFInfo
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- CN113799099A CN113799099A CN202111063840.9A CN202111063840A CN113799099A CN 113799099 A CN113799099 A CN 113799099A CN 202111063840 A CN202111063840 A CN 202111063840A CN 113799099 A CN113799099 A CN 113799099A
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- active exoskeleton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention provides a driving assembly, an active exoskeleton motion module and an active exoskeleton robot. Wherein the drive assembly comprises: the motor, the connecting rod and the balancing weight; the output end of the motor is vertically connected with one end of the connecting rod, the balancing weight is connected with the other end of the connecting rod, and the motor can drive the balancing weight to perform non-uniform circular motion through the connecting rod. The active exoskeleton motion module disclosed by the invention performs non-uniform circular motion through the motor control balancing weight to generate centripetal forces in different directions and sizes, provides assistance for the limbs where the weight is located, does not influence the joint freedom degree of a wearer, and is high in wearing comfort.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a driving assembly, an active exoskeleton motion module and an active exoskeleton robot.
Background
The active exoskeleton robot is man-machine integrated power mechanical equipment integrating intelligent control, sensing, mobile computing, information and other technologies. The active exoskeleton robot is used for providing assistance and protection for the movement of a wearer and is mainly applied to the fields of military, civil use and industry at present.
The wearable active exoskeleton device mainly comprises seven basic parts, namely a shape frame, a driving system, a control system, a transmission system, an execution system, a sensing system and a binding system. Connected through a binding system, the power is boosted to the acting object, namely the person wearing the exoskeleton.
The working principle is that a driving device applies torque, and force is transmitted through a rod piece parallel to the skeleton and a binding device connected with the human body; the posture sensor positioned at the muscle movement part of the human body senses the movement information, physiological signals and the like of the human body, the information is fed back to the control system in real time, and the control system comprehensively calculates the input information and continuously outputs control parameters to the driving device.
However, the existing active exoskeleton power assisting method mainly includes that a motor is installed at a joint to directly apply torque or power is assisted through a traction mechanism such as a steel rope.
The two modes need to align the joints and adjust the sizes of the wearers according to different body types, so that the assembly and the wearing are complicated, the learning cost of a user is high, the whole size of the equipment is large, and the configuration is not flexible enough. When human joints reciprocate, the modes often need the motor to change directions rapidly to meet certain motion frequency of the human body, and the prior technical conditions are difficult to achieve ideal effects.
Therefore, it is necessary to provide a further solution to the above problems.
Disclosure of Invention
The invention aims to provide a driving assembly, an active exoskeleton motion module and an active exoskeleton robot, so as to overcome the defects in the prior art.
To achieve the above object, the present invention provides a driving assembly, comprising: the motor, the connecting rod and the balancing weight;
the output end of the motor is vertically connected with one end of the connecting rod, the balancing weight is connected with the other end of the connecting rod, and the motor can drive the balancing weight to perform non-uniform circular motion through the connecting rod.
As an improvement of the driving assembly of the present invention, the driving assembly further includes a housing, the driving assembly is accommodated in the housing, an inner side wall of one end of the housing close to the motor is provided with an internal thread, and an outer side wall of one end of the housing close to the weight block is provided with an external thread.
To achieve the above object, the present invention provides an active exoskeleton exercising module, comprising: the device comprises a body, a battery, a main control board, an attitude sensor and at least one driving component;
the battery, the main control board, the attitude sensor and the driving assembly are integrated on the body;
the battery supplies power to the main control board, the attitude sensor and the driving assembly;
the gesture sensor can identify the motion law of the limb assisted by the active exoskeleton motion module and obtain an assistance track corresponding to the motion law; and the main control board controls the driving assembly to provide corresponding assistance according to the assistance track.
As an improvement of the active exoskeleton exercising module, the driving assembly is integrated in the middle of one side of the body, and the battery, the main control board and the attitude sensor are embedded in the body.
As an improvement of the active exoskeleton exercising module, the other side of the body is also provided with an abdominal bandage.
As an improvement of the active exoskeleton motion module, when the number of the driving assemblies is multiple, the driving assemblies are sequentially assembled and connected through threads at two ends of the driving assemblies, and the driving assemblies are coaxially arranged.
As an improvement of the active exoskeleton exercising module, the active exoskeleton exercising module further comprises an activation switch, and the activation switch controls the power supply to be turned on and off.
In order to achieve the above object, the present invention provides an active exoskeleton robot, which includes the active exoskeleton motion module as described above.
Compared with the prior art, the invention has the beneficial effects that:
the active exoskeleton motion module disclosed by the invention performs non-uniform circular motion through the motor control balancing weight to generate centripetal forces in different directions and sizes, provides assistance for the limbs where the weight is located, does not influence the joint freedom degree of a wearer, and is high in wearing comfort.
The active exoskeleton motion module provided by the invention does not need to align the joints and adjust the size, and can be directly tied on limbs needing assistance, so that the active exoskeleton motion module is simple in structure and convenient to use. The module has flexible configuration mode, can assist a single limb, can be assembled by a plurality of limbs, and does not need to depend on a loaded exoskeleton system. And the modular design is also beneficial to reducing the manufacturing cost.
When the active exoskeleton motion module provided by the invention assists the reciprocating motion of a human body, the motor always performs variable-speed motion in one direction, so that the delay and energy loss caused by frequent direction switching are avoided, and the mode is more suitable for the occasions of high-speed motion of wearers.
The power assisting size of the active exoskeleton motion module can be increased or decreased by increasing or decreasing the number of the driving assemblies, so that a user can conveniently configure the active exoskeleton motion module according to different scenes, the active exoskeleton motion module is flexible and convenient to use, and the increase of the dead weight of the system due to the larger power assisting upper limit of the system is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of an active exoskeleton movement module in an embodiment of the exoskeleton robot of the present invention;
fig. 2 is an enlarged perspective view of the motor, the connecting rod and the weight member of the active exoskeleton exercising module shown in fig. 1.
Detailed Description
The present invention is described in detail below with reference to various embodiments, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should be able to make modifications and substitutions on the functions, methods, or structures of these embodiments without departing from the scope of the present invention.
An embodiment of the present invention provides an exoskeleton robot, including: the upper limb mechanism and the lower limb mechanism are respectively arranged on the upper limb mechanism and the lower limb mechanism, and the active exoskeleton motion module is arranged on the upper limb mechanism and the lower limb mechanism. The upper limb mechanism and the lower limb mechanism can be worn on limbs of a human body, and the active exoskeleton motion module is used for providing power for the limbs mechanism.
As shown in fig. 1, active exoskeleton motion module 100 comprises: the body 10, the battery 20, the main control board 30, the attitude sensor 40, and at least one driving assembly 50.
The battery 20, the main control board 30, the posture sensor 40, and the driving assembly 50 are integrated on the body 10. The battery 20 is electrically connected to the main control board 30, the attitude sensor 40, and the driving assembly 50, and the battery 20 supplies power to the main control board 30, the attitude sensor 40, and the driving assembly 50. In addition, the active exoskeleton exercising module further comprises an activation switch 60, and the activation switch 60 controls the power supply to be turned on and off.
In one embodiment, the driving unit 50 is integrated at a middle position of one surface of the body 10, and the battery 20, the main control board 30, and the posture sensor 40 are embedded in the body 10. In addition, a belly band 70 is provided on the other side of the body 10 to facilitate wearing by the user.
As shown in fig. 2, the driving assembly 50 includes: motor 51, link 52, and counterweight 53. Wherein, the output end of the motor 51 is vertically connected with one end of the connecting rod 52, the counterweight block 53 is connected with the other end of the connecting rod 52, and the motor 51 can drive the counterweight block 53 to perform non-uniform circular motion through the connecting rod 52. In order to enable the motor 51 to drive the counterweight 53 to perform non-uniform circular motion, the output power of the motor 51 is non-constant.
So, when motor 51 was the variable speed motion towards a direction, the balancing weight 53 of being connected with its transmission can carry out non-uniform circular motion to produce not equidirectional, equidimension centripetal force, and then provide the helping hand for the limbs of place, can not influence the joint degree of freedom of wearing person itself, and the dress comfort is strong. In addition, because the motor 51 always performs variable-speed movement in one direction, the delay and energy loss caused by frequent direction switching are avoided, and the method is more suitable for occasions of high-speed movement of the wearer.
Meanwhile, the traditional mode that the motor 51 is installed at the joint to directly apply torque or power assistance is performed through traction mechanisms such as steel ropes is not adopted, so that the active exoskeleton motion module does not need to perform joint alignment and size adjustment, and can be directly tied to limbs needing power assistance. The module has flexible configuration mode, can assist a single limb, can be assembled by a plurality of limbs, and does not need to depend on a loaded exoskeleton system. And the modular design is also beneficial to reducing the manufacturing cost.
When the driving assembly 50 is configured to be a plurality of driving assemblies 50, in order to facilitate assembly and connection of the plurality of driving assemblies 50, the driving assembly 50 further includes a housing, and the driving assembly 50 is accommodated in the housing and keeps a certain distance from two ends of the housing, so that interference does not occur when the plurality of driving assemblies 50 are assembled subsequently. The inside wall that the shell is close to the one end of motor 51 is provided with the internal thread, and the outside wall that the shell is close to the one end of balancing weight 53 is provided with the external screw thread. At this time, the plurality of driving units 50 are sequentially assembled and connected by the screw threads at both ends thereof, and the driving units 50 are coaxially disposed.
Thus, the assistance size of the active exoskeleton exercising module can be increased or decreased by increasing or decreasing the number of the driving assemblies 50, so that a user can conveniently and flexibly configure different scenes, and the system is free from self weight increase due to the large assistance upper limit of the system.
The posture sensor 40 is used for collecting the posture information of the limb where the module is located and analyzing the movement condition of the limb. The main control board 30 is used for collecting data of the attitude sensor 40 and controlling the driving assembly 50 to provide corresponding assistance according to an assistance track calculated according to the data of the attitude sensor 40.
The attitude sensor 40 can measure the pitch angle, roll angle and course angle of the limb, and further, when the limb performs periodic motion, the attitude sensor 40 can predict the subsequent motion condition according to the attitude angles of the previous periods. The boost trajectory leads in phase the predicted limb motion trajectory. For the motor, corresponding to the acceleration of the control motor, forces in different directions can be obtained according to newton's second law.
When the exoskeleton robot works, the starting switch is firstly turned on, the driving assembly does not run at the moment, and the posture sensor records and analyzes the movement rule of limbs and obtains the assistance track when a human body moves. And then, the driving component controls the counter weight to do non-uniform circular motion according to the power-assisted track to obtain centripetal forces in different directions and sizes, and the forces provide power assistance for the limbs.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A drive assembly, comprising: the motor, the connecting rod and the balancing weight;
the output end of the motor is vertically connected with one end of the connecting rod, the balancing weight is connected with the other end of the connecting rod, and the motor can drive the balancing weight to perform non-uniform circular motion through the connecting rod.
2. The driving assembly according to claim 1, further comprising a housing, wherein the driving assembly is received in the housing, an inner sidewall of the housing near one end of the motor is provided with an inner thread, and an outer sidewall of the housing near one end of the weight block is provided with an outer thread.
3. An active exoskeleton motion module, comprising: a body, a battery, a main control board, a posture sensor and at least one drive assembly of claim 1 or 2;
the battery, the main control board, the attitude sensor and the driving assembly are integrated on the body;
the battery supplies power to the main control board, the attitude sensor and the driving assembly;
the gesture sensor can identify the motion law of the limb assisted by the active exoskeleton motion module and obtain an assistance track corresponding to the motion law; and the main control board controls the driving assembly to provide corresponding assistance according to the assistance track.
4. The active exoskeleton motion module of claim 3 wherein the drive assembly is integrated in a middle position on one side of the body, and the battery, the main control board and the attitude sensor are embedded in the body.
5. The active exoskeleton motion module of claim 4 wherein the other side of the body is further provided with a belly band.
6. The active exoskeleton motion module of claim 3 wherein when the plurality of drive assemblies is provided, the drive assembly is the drive assembly of claim 2;
the plurality of driving assemblies are sequentially assembled and connected through threads at two ends of the driving assemblies, and the driving assemblies are coaxially arranged.
7. The active exoskeleton motion module of claim 3 further comprising an activation switch that controls the power supply on and off.
8. An active exoskeleton robot comprising the active exoskeleton motion module of any one of claims 3 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111063840.9A CN113799099A (en) | 2021-09-10 | 2021-09-10 | Driving assembly, active exoskeleton motion module and active exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111063840.9A CN113799099A (en) | 2021-09-10 | 2021-09-10 | Driving assembly, active exoskeleton motion module and active exoskeleton robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000037406A (en) * | 1998-07-24 | 2000-02-08 | Shigeru Tanaka | Lower extremity prosthesis device |
| US20120016276A1 (en) * | 2010-03-25 | 2012-01-19 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| CN204036471U (en) * | 2014-03-21 | 2014-12-24 | 刘克强 | A kind of balancing weight boosting mechanism of mechanical police's mechanical arm |
| WO2017033885A1 (en) * | 2015-08-24 | 2017-03-02 | 国立大学法人電気通信大学 | Motor-driven hand |
| WO2021136003A1 (en) * | 2019-12-30 | 2021-07-08 | 北京术锐技术有限公司 | Torque balance device, self-balancing joint, and surgical robot |
-
2021
- 2021-09-10 CN CN202111063840.9A patent/CN113799099A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000037406A (en) * | 1998-07-24 | 2000-02-08 | Shigeru Tanaka | Lower extremity prosthesis device |
| US20120016276A1 (en) * | 2010-03-25 | 2012-01-19 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| CN204036471U (en) * | 2014-03-21 | 2014-12-24 | 刘克强 | A kind of balancing weight boosting mechanism of mechanical police's mechanical arm |
| WO2017033885A1 (en) * | 2015-08-24 | 2017-03-02 | 国立大学法人電気通信大学 | Motor-driven hand |
| WO2021136003A1 (en) * | 2019-12-30 | 2021-07-08 | 北京术锐技术有限公司 | Torque balance device, self-balancing joint, and surgical robot |
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