CN114131584A - Human body bone movement auxiliary balancing method - Google Patents
Human body bone movement auxiliary balancing method Download PDFInfo
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- CN114131584A CN114131584A CN202111570027.0A CN202111570027A CN114131584A CN 114131584 A CN114131584 A CN 114131584A CN 202111570027 A CN202111570027 A CN 202111570027A CN 114131584 A CN114131584 A CN 114131584A
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
A human skeleton exercise auxiliary balance method and device, set up the equilibrium force actuating cylinder used for human movement balance on the thigh skeleton of the human movement skeleton, the equilibrium force actuating cylinder is connected with balancing the flexible traction device; when the thigh bone of the human motion skeleton swings, the balance force acting cylinder is dragged by the balance flexible traction device to generate balance force, so that the human body is always in a balance state when the skeleton thigh swings due to the human motion or squat. The invention uses the flexible traction device to pull the balance force acting cylinder to balance the human body, and uses the balance force acting cylinder to swing to form balance tension, thereby realizing the balance of the swing arm during human body movement or squatting.
Description
Technical Field
The invention relates to a balance method for human body balance, in particular to an auxiliary balance method for human body skeleton movement; the auxiliary human body skeleton motion balancing method can realize the human body motion balance of the front and back bidirectional swinging of the thigh skeleton of the human body motion skeleton under the condition of no need of external force; belonging to the technical field of object swing balance.
Background
In the static range, a support for placing an object or the object itself is taken as a non-inertial reference system, and the resultant force of each universal gravitation and each inertial force borne by the object is called Gravity (Gravity); the force-exerting object of gravity is the earth. The influence of gravity on life and work of people is very important, and sometimes people need to utilize the gravity, and sometimes the influence of the gravity needs to be eliminated, especially for swinging and rotating objects such as robots. The suspension arm and the like are expected to eliminate the influence of gravity in work, so the concept of human body balance is proposed.
At present, thighs of human bones balanced by human motion are widely applied to various fields of vehicles, military equipment, industrial automation, medical instruments, furniture and the like, and the thighs of the human bones balanced by human motion are adopted in devices such as industrial operation robots, human motion assistance robots, automobile trunks, transport vehicle cab boards, optical instrument supports, medical instrument supports, treadmill folding mechanisms, table lamp supports and the like. The thigh of human skeleton is balanced through human motion to reach the elimination gravity influence in the operation process, the thigh constitution of human skeleton of human motion balance at present can be divided into two main categories with external power drive and no external power drive, wherein the thigh of human skeleton of human motion balance with external power drive utilizes devices such as pneumatic cylinder, motor to drive usually, and general drive moment is big, and the load is more, but external power can lead to the system's volume great again, and the energy consumption increases, especially can't utilize external power supply in many places, so the application receives very big limitation. In addition, the thigh without external power drive for balancing human skeleton by human motion generally stores the gravitational potential energy of the heavy object in the descending process as elastic potential energy or internal energy of a storage medium by energy storage devices such as a pressure spring, a tension spring, a disc spring, a torsion spring, a gas spring and the like, and when the heavy object needs to be lifted, the energy storage devices convert the stored energy into the gravitational potential energy of the heavy object, so that when the thigh operator for balancing human skeleton by human motion needs to lift the heavy object, the heavy object can be lifted by applying a thrust far smaller than the gravity of the heavy object. In addition, due to the buffering effect of the energy storage device, the descending process of the heavy object is relatively stable when the heavy object descends. Although the thigh without external power drive for human body motion balance human skeleton has the advantages of energy saving, environmental protection, simple appearance, lightness, practicability and the like, the existing thigh without external force for human body motion balance human skeleton at home and abroad generally has the defects of unstable swing moment, insufficient energy storage device capability, unstable hovering at any position, need of locking by a locking device and the like. Especially when bidirectional swing balance is required, the gravity change of the swing changes from positive direction to negative direction to form a sine wave curve, which is difficult to control accurately. The reason for this is found through research that the human motion balance human skeleton thighs cannot always keep balance with gravity in the motion range, and particularly, when the gravity load is much larger than the friction resistance of the human skeleton thighs, the external acting force required by the human skeleton thighs can be changed in a large range, so that the maneuverability is poor. The adoption of the method is not easy to realize in order to really and effectively eliminate the influence of gravity. There is a high necessity for a method and apparatus for balancing human body movement, which can simply realize bidirectional human body movement balance and can ensure balance at any position.
Through search, no relevant patent technical literature reports are found, and the most similar patent literatures comprise the following:
1. chinese patent application No. CN202111070572.3 entitled "an industrial robot with gravity balance device", which discloses an industrial robot with gravity balance device, comprising: the base is used for installing the industrial robot; the first driving part is arranged in the base and used for driving the first arm body to rotate at the top of the base; the second driving part is arranged in the first arm body and used for driving the second arm body to rotate on the first arm body; the third driving part is arranged in the second arm body and used for driving the third arm body to rotate on the second arm body; the fourth driving part is arranged in the third arm body and used for driving the fourth arm body to rotate on the third arm body; and the gravity balancing device is used for offsetting torque generated by gravity when the second arm body rotates to different angles.
2. Patent No. CN200780031686.9 entitled "robot with compressed air supply in balancing device", which discloses an industrial robot comprising a first robot arm and a second robot arm arranged to move relative to each other and a balancing device arranged between the first robot arm and the second robot arm. The balancing device is arranged to balance against the body when the robot arms are moved relative to each other. The balancing device comprises a mechanical spring member and a spring housing enclosing the spring member, the spring housing comprising at least one air inlet connected to a compressed air supply device, whereby the spring housing is filled with compressed air. During operation of the robot, the compressed air supply fills the empty space inside the spring housing with compressed air to prevent any moisture or liquid/water from entering anywhere inside the balancing cylinder through the sealing opening for the draw rod, for example, as described above. Therefore, the industrial robot is suitable for environments with high humidity and temperature variation. Although a small vacuum is created during the temperature reduction, no moisture or water is sucked into the spring housing of the balancing device.
3. The patent number is CN202010417971.1, the name is 'the pitch joint of a medical robot', the patent discloses a pitch joint of a medical robot, which comprises a cylindrical joint seat, a main arm connecting seat and a main balance block driving device; a pitching shaft is rotatably arranged on the joint seat; the rotation central axes of the pitching axis and the joint seat are collinear; the main arm connecting seat is fixed at the rear end of the pitching shaft; one end of the main arm connecting seat is connected with the main arm, and the other end of the main arm connecting seat is formed into a balance seat; the balance seat is formed with a translational moving groove which is arranged along the length direction in a penetrating way; a main balance block is elastically arranged in the translational moving groove in a moving way; the moving direction of the main balance block passes through the rotating central shaft of the joint seat; the end surface of the main balance block, which is far away from the joint seat, is detachably connected with a plurality of auxiliary balance blocks; the main balance weight driving device is arranged on the joint seat and is used for driving the main balance weight.
Through the description of the above published materials, it can be seen that the current gravity influence elimination involves many aspects, the methods are many, and some improvements are made, but most of them adopt many external force operation modes, and there are many simple non-external power driven self-help human body motion balances, but they are difficult to accurately balance, or the structure is complex, and the occupied space is large, for example, the comparison document 3 proposes a self-help human body motion balance method without external force action, but the method adopts a rear balance hammer type balance method, which needs a space for arranging a balance hammer behind the rotation center, and is easy to interfere with other motions, and the problems mentioned above still exist; it is therefore necessary to investigate this problem.
Disclosure of Invention
The invention provides a human body skeleton motion auxiliary balancing method and a human body balancing device aiming at the problem of eliminating the influence of gravity on the existing swing arm type object; the human body skeletal motion auxiliary balance method and the device not only can solve the problem that the existing swing arm type human body balance is difficult to realize the bidirectional balance in a narrow space, but also can complete the balance of the human body balance without external force.
In order to achieve the purpose, the invention provides a human body skeleton exercise auxiliary balancing method, wherein a balancing force acting cylinder for human body exercise balance is arranged on a thigh skeleton of a human body exercise skeleton, and the balancing force acting cylinder is connected with a balancing flexible traction device; when the thigh bone of the human motion skeleton swings, the balance force acting cylinder is dragged by the balance flexible traction device to generate balance force, so that the human body is always in a balance state when the skeleton thigh swings due to the human motion or squat.
Furthermore, the balance force acting cylinder is of a cylinder body structure and is provided with a cylinder body, and the cylinder body is fixed with the thighs of the human skeleton and swings together with the thighs of the human skeleton; the piston is arranged in the cylinder body, the cylinder body is divided into two cavities through the piston, the piston is connected with the piston rod and is arranged in the cylinder body together, when the cylinder body swings along with thighs of human bones, the piston rod drives the piston to move back and forth in the cylinder body, and balance force is generated through the back and forth movement.
Further, the balance force acting cylinder comprises a pneumatic cylinder and a hydraulic cylinder; control valves are arranged at two ends of the cylinder body, the control valves are respectively communicated with the cavities at two ends of the cylinder body, different pressures in the cavities at two ends of the cylinder body are formed by opening or closing the control valves, and the balance force is adjusted by controlling the pressures at two ends.
Furthermore, the balance force acting cylinder is connected with the balance flexible traction device in such a way that the piston rod in the balance force acting cylinder body extends out of the rod body and is connected with the balance flexible traction device, the piston rod is driven to move up and down through the traction of the balance flexible traction device, so that the piston is driven to move up and down, and the balance force is generated in the cylinder body through the movement of the piston.
Furthermore, the balance force generated in the cylinder body by the piston moving is that the piston rod is pulled in the cylinder body by the human body movement balance flexible traction device, so that two ends of the piston rod in the cylinder body are vacuum at one end and compressed at the other end, and the human body movement balance force is formed by matching the vacuum and the compressed gas; the balance force acting cylinder is characterized in that an auxiliary electric cylinder is further arranged outside the cylinder body, a piston rod of the auxiliary electric cylinder is connected with a piston rod of the balance force acting cylinder, and when the balance force of the balance force acting cylinder is insufficient, the auxiliary force is provided through the auxiliary electric cylinder to help a human body to move.
Furthermore, the flexible traction device is connected with the piston rod and generates a traction device for driving the piston rod to move through flexible deformation; the flexible traction device is provided with a deformable traction rope or a deformable traction belt, the traction rope or the traction belt of the flexible traction device is connected with the end of the piston rod, and when the piston rod swings along with thighs of human bones, the piston rod is pulled to move through the change of the traction rope or the traction belt, so that human motion balance force required by the thighs of the human bones is formed.
Furthermore, the piston rod is drawn to move through the change of the drawing rope or the drawing belt, one end of the drawing rope or the drawing belt of the flexible drawing device is fixed at a fixed position outside thighs of human bones, the other end of the drawing rope or the drawing belt is connected with the piston rod, and a limiting device is arranged in the middle of the drawing rope or the drawing belt which is connected with the piston rod and the flexible drawing device; when the thighs of the human skeleton swing, the traction rope or the traction belt is forced to change in shape through the limiting device, so that the distance between the end point of the piston rod connected with the traction rope or the traction belt and the end point of the traction rope or the traction belt at the other end of the flexible traction device changes, the piston rod is driven to move back and forth, and balance force is generated through movement.
Furthermore, the traction rope or the traction belt is forced to change in shape through the limiting device, the limiting roller is arranged on the thigh of the human skeleton, and the traction rope or the traction belt penetrates through the limiting roller to be connected with the piston rod; the limiting roller swings on the thighs of the human skeleton along with the thighs of the human skeleton, the shape of the traction rope or the traction belt connected with the piston rod is changed by controlling the contact position change of the limiting roller and the traction rope or the traction belt in the swinging process, the traction rope or the traction belt is kept at any swinging position through the change of the shape of the traction rope or the traction belt, the stress direction of the traction rope or the traction belt connected with the piston rod is unchanged, the distance between the piston rod and the traction rope or the traction belt at the end point position of the flexible traction device is adjusted to be changed through the change of the shape of the traction rope or the traction belt, the distance change is met through the back-and-forth movement of the traction piston rod, the back-and-forth movement of the piston rod is formed, and the human movement balance force is generated through the back-and-forth movement of the piston rod.
Furthermore, the end point position of the flexible traction device is the starting point position of the traction rope or the traction belt, and the starting point position is positioned on a vertical line passing through the thigh rotating center of the human skeleton, namely on a vertical line consistent with the gravity direction passing through the thigh rotating center of the human skeleton; the human body movement balance force is generated by the traction balance force acting cylinder when the thigh bone of the human body movement bone swings in two directions through the flexible connecting device.
A human skeleton exercise auxiliary balancing device comprises human skeleton including thigh skeleton, shank skeleton, foot skeleton, and trunk skeleton; wherein, the thigh skeleton and the shank skeleton are connected through a rotary joint, the shank skeleton is connected with the foot skeleton through a rotary pin shaft, and the thigh skeleton is connected with the trunk skeleton through a movable hinge pin; human skeleton is formed by interconnecting thigh skeleton, shank skeleton, foot skeleton and trunk skeleton; the human body skeleton motion auxiliary balancing device 1 is arranged on the thigh skeleton, the human body skeleton motion auxiliary balancing device 1 comprises a human body motion balance force generating device and a human body motion balance force traction device, and the human body motion balance force generating device is pulled by the human body motion balance force traction device to generate a human body motion balance force to assist the human body skeleton motion balance.
Furthermore, the human body movement balancing force generating device is a balancing force acting cylinder which is provided with a cylinder body, and the cylinder body is fixed with the thighs of the human body bones and swings together with the thighs of the human body bones; the piston is arranged in the cylinder body, the cylinder body is divided into two cavities through the piston, the piston is connected with the piston rod and is arranged in the cylinder body together, when the cylinder body swings along with thighs of human bones, the piston rod drives the piston to move back and forth in the cylinder body, and balance force is generated through the back and forth movement; the human body motion balance force traction device is a traction device which generates traction piston rod displacement through flexible deformation; the human body motion balance force traction device is provided with a deformable traction rope or a deformable traction belt, the traction rope or the deformable traction belt of the human body motion balance force traction device is connected with the end of the piston rod, and when the piston rod swings along with the thigh of the human body skeleton, the piston rod is driven to move through the change of the traction rope or the traction belt, so that the human body motion balance force required by the thigh of the human body skeleton is formed.
Furthermore, the balance force acting cylinder is provided with an auxiliary electric cylinder, and a piston rod of the auxiliary electric cylinder is connected with a piston rod of the balance force acting cylinder.
The invention has the advantages that:
the fixed human motion balance force acting cylinder is arranged on the thigh bone of the human motion skeleton, the flexible traction device is arranged outside the thigh of the human motion skeleton, and the human motion balance force acting cylinder arranged on the thigh of the human motion skeleton is pulled by the flexible traction device to generate the human motion balance force, so that the bidirectional human motion balance operation can be realized, and the human motion balance can be automatically carried out under the passive condition; the method mainly has the following advantages:
1. in order to generate displacement, the traditional human body motion balance of thighs of human bones is realized by placing the traction end of a human body balance device at a position outside a rotation center to form a triangular distribution mode consisting of the thighs of the human bones, the rotation center and the human body balance device, so that a displacement difference can be formed when the thighs of the human bones rotate around the rotation center, and the human body balance device is driven to generate human body motion balance force through the displacement difference, but the human body motion balance device is only suitable for the situation that the thighs of the human bones rotate to one side; the existing bidirectional swinging needs to be carried out in many places, such as human robot joints, and the existing unidirectional human skeleton motion auxiliary balancing device 1 cannot be adopted; the invention provides a bidirectional swinging human body motion balance device which can carry out bidirectional swinging according to the requirement, and effectively solves the defect that the prior bidirectional human body skeleton motion auxiliary balance device 1 lacks self-service non-external force operation;
2. the invention is connected with the human body motion balance force acting cylinder through a flexible traction device, so that the characteristics of the flexible traction device can be skillfully utilized, the human body motion balance force acting cylinder is pulled to generate human body motion balance force through the flexible position change of the flexible traction device, and the connection mode of the flexible traction device and the human body motion balance force acting cylinder can be arbitrarily changed according to the requirement;
3. the human body motion balance force acting cylinder is directly arranged on the thigh of a human body skeleton to be balanced by the human body and is arranged in a fixed mode, so that the structure of the human body motion balance force acting cylinder can be effectively simplified, and the human body motion balance force acting cylinder is beneficial to miniaturization and simplification;
4. the invention provides a method for matching vacuum and compression in the human motion balance force acting cylinder body, which can meet various balance requirements by adjusting the pressure difference between two ends of a piston in the human motion balance force acting cylinder body.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a balance force apparatus of the present invention;
FIG. 3 is a schematic diagram of an uphill balance state of a human skeletal motion according to an embodiment;
FIG. 4 is a diagram illustrating a squat balance state of a human skeletal exercise in accordance with an exemplary embodiment;
FIG. 5 is a schematic cross-sectional view of an embodiment of a human bone balance force device;
FIG. 6 is a schematic view showing the configuration of a balance force acting cylinder combined with an electric cylinder according to the embodiment;
FIG. 7 is a cross-sectional view of a balance force acting cylinder combined with an electric cylinder according to an embodiment.
Detailed Description
The inventor finds that in order to achieve the bidirectional human body motion balance of thighs of human bones, the balance force acting cylinder for human body balance is required to be simplified on the one hand, and the balance force acting cylinder is simple, small and reliable; the conventional human skeleton exercise auxiliary balancing device 1 is mostly configured on the thighs of human skeletons by adopting a movable structure, so that the structure of the human skeleton exercise auxiliary balancing device 1 is complicated, and bidirectional human body balance is not convenient to realize; on the other hand, in order to achieve bidirectional human body balance, a reliable force application point capable of balancing must be found, so that when the thighs of the human skeleton swing in two directions, a proper human body motion balance force can be found. For this purpose, the invention provides that a human skeleton motion auxiliary balancing device 1 (shown as an attached figure 1) is adopted to carry out balancing and assistance in human motion; the human body skeleton motion auxiliary balancing device 1 is connected with a human body motion balancing force generating device 5 fixedly arranged on a thigh skeleton 4 of a human body skeleton 3 through a human body motion balancing force traction device 2, and the human body motion balancing force generating device 5 generates human body motion balancing force through the form change of the human body motion balancing force traction device 2, so that the bidirectional human body motion balance is achieved.
The invention is further illustrated with reference to the following figures and specific examples.
Example one
A human body skeleton movement auxiliary balancing device 1 is arranged on a thigh skeleton 4 of a human body skeleton 3; human skeleton 3 includes thigh skeleton 4, shank skeleton 7, foot skeleton 8, trunk skeleton 6; wherein, the thigh skeleton 4 is connected with the shank skeleton 7 through a rotary joint, the shank skeleton 7 is connected with the foot skeleton 8 through a rotary pin shaft 9, and the thigh skeleton 4 is connected with the trunk skeleton 6 through a movable hinge pin 10; the human skeleton 3 is formed by interconnecting a thigh skeleton 4, a shank skeleton 7, a foot skeleton 8 and a trunk skeleton 7; the human body skeleton motion auxiliary balancing device 1 is arranged on the thigh skeleton 4, the human body skeleton motion auxiliary balancing device 1 comprises a human body motion balance force generating device 5 and a human body motion balance force traction device 2, and the human body motion balance force generating device 5 is dragged by the human body motion balance force traction device 2 to generate human body motion balance force to assist human body skeleton motion balance.
The human body motion balance force generating device 5 is a balance force acting cylinder, the balance force acting cylinder is provided with a cylinder body 11, and the cylinder body 11 is fixed with the thigh bone 4 of the human body bone and swings together with the thigh bone 4 of the human body bone; a piston 12 is arranged in the cylinder body 11, and the cylinder body is divided into two cavities, namely an upper cavity 21 and a lower cavity 22, by the piston 12; the piston 12 is connected with the piston rod 13 and arranged in the cylinder body 11 together, when the cylinder body swings along with the thigh bones 4 of human bones, the piston rod 12 drives the piston 12 to move back and forth in the cylinder body 11, and balance force is generated through the back and forth movement; the human body motion balance force traction device 2 is a traction device which generates traction piston rod displacement through flexible deformation; the human body motion balance force traction device is provided with a deformable traction rope or traction belt 14, the traction rope or traction belt 14 of the human body motion balance force traction device is connected with the end head 15 of the piston rod 13, and when the piston rod 13 swings along with the thigh bones 4 of the human body bones, the piston rod 13 is driven to move through the change of the traction rope or traction belt 14, so that the human body motion balance force required by the thigh bones 4 of the human body bones is formed.
In order to further solve the auxiliary force required by the human body when ascending, an auxiliary electric cylinder 16 is arranged outside the balance force acting cylinder, an electric cylinder piston rod 17 of the auxiliary electric cylinder 16 is connected with a piston rod 13 of the balance force acting cylinder through a connecting block 18, and the two piston rods lift together.
The invention is characterized in that a human body skeleton motion auxiliary balancing device 1 is arranged on a thigh skeleton 4 of a human body skeleton, the human body skeleton motion auxiliary balancing device 1 comprises a human body motion balance force generating device 5 and a human body motion balance force traction device 2, and the human body motion balance force generating device 5 is dragged by the human body motion balance force traction device 2 to generate a human body motion balance force.
The human body movement balance force generating device 5 is characterized in that a human body balance air cylinder (as shown in figure 2) is arranged on a thigh skeleton 4 of a human body skeleton, the balance air cylinder is fixedly arranged on the thigh skeleton 4, and the balance air cylinder follows the thigh skeleton 4 in the swinging process of the thigh skeleton 4 and provides a human body balance force for the thigh skeleton 4.
The balance cylinder comprises a cylinder body 11, a piston 12 and a piston rod 13, wherein the cylinder body 11 can be a single cylinder or double cylinders; preferably a single cylinder construction is employed to prevent rotation of the piston within the cylinder; in the embodiment, a single-cylinder structure is adopted, and an inner groove for preventing rotation is arranged outside the extending rod at the tail part of the piston rod 13; the cylinder body is fixedly arranged on the thigh skeleton 4 and can also be integrated with the thigh skeleton 4 into an integral structure; a piston 12 is arranged in the cylinder body 11, and the piston 12 is connected with a piston rod 13; the piston rod 13 extends out from two ends or one end of the cylinder body, a connecting block 15 connected with the traction device is arranged at one end of the piston rod 13 extending out of the cylinder body 11, and the connecting block 15 connects the piston rods extending out of the two cylinder bodies together and then is connected with the traction device.
In the cylinder body 11, the piston 12 divides the inner cavity of the cylinder body into two cavities, namely an upper cavity 21 and a lower cavity 22, wherein the upper cavity 21 and the lower cavity 22 are respectively connected with control valves 19 and 20; the control valves 19 and 20 are used for controlling the conduction and the closing of the upper cavity 21 and the lower cavity 22 and controlling the pressure of the two cavities to form a balance force; when the valves on the two sides are closed, the cavities on the two sides are closed cavities, the cavity on one side is vacuumized under the traction of the human skeleton motion auxiliary balancing device 1, the cavity on the other side is compressed, and a human motion balancing force opposite to the gravity is formed through the synergistic effect of the vacuum and the compression of the piston 12 on the two ends in the cylinder body 11; of course, according to the requirement of the balance force, only one valve of two closed cavities at two ends of the piston 12 in the cylinder 11 is opened, so that the piston 12 forms the balance force of the human body in a vacuum or compression state at a single side in the cylinder 11. In order to ensure the balance effect, the size of the balance force of the human body balance can be adjusted by controlling the diameter of the inner cavity of the cylinder body, the number of the cylinder bodies, the vacuum degree and the compression force so as to meet the human body motion balance force required by the swing of the thigh bones 4.
The human body movement balance force traction device 2 is a human body movement balance flexible traction device (as shown in figure 2), and the human body movement balance flexible traction device is a flexible connecting piece which is connected with a piston rod 13 of an air cylinder, can be transversely bent and changed, and does not change the traction longitudinal size; the flexible connecting piece can be a rope or a connecting belt 14, one end of the rope or the connecting belt 14 is fixed on a mounting disc 25 of the traction device, the other end of the rope or the connecting belt is connected with a connecting piece of a piston rod 13 of the cylinder, a limiting roller 21 is arranged on the thigh skeleton 4 and is mounted on the thigh skeleton 4 through a rotating shaft, and the limiting roller swings together with the thigh skeleton 4; the rope or connecting belt 14 of the flexible connecting piece is clamped by the limiting roller 21, and when the limiting roller 26 swings along with the thigh bone 4, the position and the shape of the rope or connecting belt 14 of the flexible connecting piece are continuously changed in the swinging process through rolling force, so that the rope or connecting belt 14 driving the flexible connecting piece is always connected with the piston rod 13 along the axial direction of the piston rod 13, and only traction force is generated on the piston rod 13.
The mounting disc 25 of the traction device is mounted on the rotating shaft 9 of the rotation center of the thigh skeleton 4 and fixed together with the thigh skeleton 4, the mounting disc 25 clamps the rope or the connecting belt 14 of the flexible connecting piece, the starting point of the flexible connecting piece from the mounting disc 25 to the connecting piece of the cylinder piston rod 13 is a fixed point 27, and the fixed point 27 is positioned on a gravity vertical line passing through the upper center of the thigh skeleton 4, so that the requirement of human body motion balance of bidirectional swing of the thigh skeleton 4 is met.
The human motion balance force device has the following human motion balance mode in operation:
when the thigh bone 4 is erected (as shown in figure 1), the gravity center of the thigh bone 4 just passes through the rotation center, and the moment generated by the gravity center to the rotation center is zero, so that the human body balance is not needed; at the moment, the piston in the cylinder is in an unstressed state, and no balance force is generated; at this time, the piston in the cylinder is located at the uppermost position in the cylinder, both ends of the piston 12 are in the initial state, and both the upper end and the lower end are in the stressed normal pressure state, so that the balance force is not generated.
When the human skeleton walks downhill, the thigh skeleton 4 inclines forwards (as shown in figure 7), the gravity center of the thigh skeleton 4 changes along with the forward inclining and swinging angle, the position of the gravity center also changes, and a torque to the rotation center is formed; in order to prevent the standing instability, the air cylinder fixed on the thigh skeleton 4 moves along with the thigh skeleton 4, so that the position of the starting point of the flexible connecting part of the air cylinder and the traction device is changed; the piston in the cylinder body is connected with the piston rod 13 because the piston 12 is connected with the piston rod 13, the piston rod 13 is connected with the flexible connecting piece of the traction device, and the flexible connecting piece is limited by the limiting roller 26 arranged on the thigh skeleton 4, when the cylinder body 11 moves along with the forward tilting of the thigh skeleton 4, the limiting roller 26 forces the flexible connecting piece of the traction device to change the shape so as to ensure that the flexible connecting piece is connected with the piston rod 13 along the axial direction of the piston rod 13 at any time when the thigh skeleton 4 deflects, so that the piston rod 13 is only subjected to axial force by the traction device; meanwhile, in order to meet the requirement that the starting point position of the flexible connecting piece of the cylinder and the traction device changes, the flexible connecting piece stretches the traction piston rod outwards so as to drive the piston 12 in the cylinder body to move downwards; because the cavities at the two ends of the piston 12 are in a closed state, when the piston 12 moves downwards, vacuum is generated in the cavity at the upper end of the piston 12, compression is formed in the cavity at the lower end of the piston, the piston is forced to move in the opposite direction, and therefore a balance force for eliminating the influence of the gravity of the thigh skeleton 4 is formed, the balance force is converted by taking the limiting roller 26 as a force acting point to form a human body motion balance moment relative to a rotation center, the leg is forced to be straight, and the balance of the human body motion is achieved.
When the human skeleton walks uphill and the thigh skeleton 4 leans backwards from the vertical state (as shown in figure 3), the human motion balance method is the same as that of forward leaning, but the direction is opposite; in order to achieve the balance in both directions, the starting position of the flexible connecting element must be arranged on a vertical line passing through the rotation center of the thigh skeleton 4, and simultaneously, the axis of the piston rod of the air cylinder always keeps at any swing position and passes through the rotation center of the thigh skeleton 4, so as to realize the balance of the human body movement in the forward and backward swinging directions. When the human skeleton goes up a slope, the required auxiliary force is larger, which is the balance force of the human motion balance force device is insufficient, auxiliary measures for increasing the auxiliary force are required to be added, active auxiliary (hydraulic cylinder, electric cylinder or other active power traction) is arranged outside the balance force acting cylinder, and a piston rod of the auxiliary cylinder is connected with a piston rod of the balance force acting cylinder. The active auxiliary device and the human body motion balance force device are combined to assist the human body skeleton to walk uphill so as to straighten the legs. Whether the active assistance works or not is judged by providing signals by a sensor 24 arranged in a shoe with a foot skeleton 8, and whether the active assistance works or not is in an upper-section state, wherein the sensor 24 is a pressure sensor with a pressure-sensitive power generation device and supplies power to the sensor; active assisted actuation is supplied by a battery pack 23 located in the trunk skeleton of the human skeleton.
When human skeleton squats down, the human motion balance force device carries out balance energy storage when the human skeleton squats down, and provides balance force to assist the human skeleton to rise when the human skeleton rises.
In addition, the skeleton of the human body can also avoid danger in the walking movement process (for example, the air cylinder and the hydraulic cylinder do not work when walking on a normal flat ground), an environment detection sensor is added and has the function, when dangerous conditions such as tunnels are detected, once walking steps step to a dangerous area, the electromagnetic valve seals the air cylinder to prevent the leg from bending to move forward or backward in the dangerous movement direction, the exoskeleton robot can be applied to self-navigation and blind-guiding exoskeleton robots, and when normal people use the exoskeleton robot at night, the walking movement can be prevented from moving to the dangerous area when detecting and sensing dangerous terrain.
Through the embodiment, the invention can be seen to also relate to a human body skeleton exercise auxiliary balancing method, wherein a balancing force acting cylinder for human body exercise balance is arranged on a thigh skeleton of a human body exercise skeleton, and is connected with a balancing flexible traction device; when the thigh bone of the human motion skeleton swings, the balance force acting cylinder is dragged by the balance flexible traction device to generate balance force, so that the human body is always in a balance state when the thigh bone of the skeleton swings due to the human motion or squat.
Furthermore, the balance force acting cylinder is of a cylinder body structure and is provided with a cylinder body, and the cylinder body is fixed with thigh bones of human bones and swings together with the thigh bones of the human bones; the piston is arranged in the cylinder body, the cylinder body is divided into two cavities through the piston, the piston is connected with the piston rod and is arranged in the cylinder body together, when the cylinder body swings along with thigh bones of human bones, the piston rod drives the piston to move back and forth in the cylinder body, and balance force is generated through the back and forth movement.
Further, the balance force acting cylinder comprises a pneumatic cylinder and a hydraulic cylinder; control valves are arranged at two ends of the cylinder body, the control valves are respectively communicated with the cavities at two ends of the cylinder body, different pressures in the cavities at two ends of the cylinder body are formed by opening or closing the control valves, and the balance force is adjusted by controlling the pressures at two ends.
Furthermore, the balance force acting cylinder is connected with the balance flexible traction device in such a way that the piston rod in the balance force acting cylinder body extends out of the rod body and is connected with the balance flexible traction device, the piston rod is driven to move up and down through the traction of the balance flexible traction device, so that the piston is driven to move up and down, and the balance force is generated in the cylinder body through the movement of the piston.
Furthermore, the balance force generated in the cylinder body by the piston moving is that the piston rod is pulled in the cylinder body by the human body movement balance flexible traction device, so that two ends of the piston rod in the cylinder body are vacuum at one end and compressed at the other end, and the human body movement balance force is formed by matching the vacuum and the compressed gas; the balance force acting cylinder is characterized in that an auxiliary electric cylinder is further arranged outside the cylinder body, a piston rod of the auxiliary electric cylinder is connected with a piston rod of the balance force acting cylinder, and when the balance force of the balance force acting cylinder is insufficient, the auxiliary force is provided through the auxiliary electric cylinder to help a human body to move.
Furthermore, the flexible traction device is connected with the piston rod and generates a traction device for driving the piston rod to move through flexible deformation; the flexible traction device is provided with a deformable traction rope or a deformable traction belt, the traction rope or the deformable traction belt of the flexible traction device is connected with the end of the piston rod, and when the piston rod swings along with the thigh bones of the human bones, the piston rod is driven to move through the change of the traction rope or the traction belt, so that the human motion balance force required by the thigh bones of the human bones is formed.
Furthermore, the piston rod is drawn to move through the change of the drawing rope or the drawing belt, one end of the drawing rope or the drawing belt of the flexible drawing device is fixed at a fixed position outside thigh bones of human bones, the other end of the drawing rope or the drawing belt is connected with the piston rod, and a limiting device is arranged in the middle of the drawing rope or the drawing belt connecting the piston rod and the flexible drawing device; when thigh bones of human bones swing, the traction rope or the traction belt is forced to change in shape through the limiting device, so that the distance between the end point of the piston rod connected with the traction rope or the traction belt and the end point of the traction rope or the traction belt at the other end of the flexible traction device changes, the piston rod is driven to move back and forth, and balance force is generated through movement.
Furthermore, the traction rope or the traction belt is forced to change in shape through the limiting device, the limiting roller is arranged on a thigh bone of a human skeleton, and the traction rope or the traction belt penetrates through the limiting roller to be connected with the piston rod; the limiting roller swings on the thigh bone of the human skeleton along with the thigh bone of the human skeleton, the connection state of the traction rope or the traction belt and the piston rod is changed by controlling the contact position change of the limiting roller and the traction rope or the traction belt in the swinging process, the traction rope or the traction belt is kept at any swinging position through the change of the state of the traction rope or the traction belt, the stress direction of the connection of the traction rope or the traction belt and the piston rod is unchanged, the distance between the piston rod and the traction rope or the traction belt at the end point position of the flexible traction device is changed through the change of the state of the traction rope or the traction belt, the distance change is met through the back-and-forth movement of the traction piston rod, the back-and-forth movement of the piston rod is formed, and the human movement balance force is generated through the back-and-forth movement of the piston rod.
Furthermore, the end point position of the flexible traction device is the starting point position of the traction rope or the traction belt, and the starting point position is positioned on a vertical line passing through the rotation center of the thigh bone of the human skeleton, namely on a vertical line consistent with the gravity direction of the rotation center of the thigh bone of the human skeleton; the human body movement balance force is generated by the traction balance force acting cylinder when the thigh bone of the human body movement bone swings in two directions through the flexible connecting device.
The above listed embodiments are only for clear and complete description of the technical solution of the present invention with reference to the accompanying drawings; it should be understood that the embodiments described are only a part of the embodiments of the present invention, and not all embodiments, and the terms such as "upper", "lower", "front", "back", "middle", etc. used in this specification are for clarity of description only, and are not intended to limit the scope of the invention, which can be implemented, and the changes or modifications of the relative relationship thereof are also regarded as the scope of the invention without substantial technical changes. Meanwhile, the structures, the proportions, the sizes, and the like shown in the drawings are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used for limiting the conditions under which the present invention can be implemented, so that the present invention has no technical essence, and any structural modification, changes in proportion relation, or adjustments of the sizes, can still fall within the range covered by the technical contents disclosed in the present invention without affecting the effects and the achievable purposes of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention has the advantages that:
the human motion balance force acting cylinder is fixedly arranged on the thigh bone of the human motion skeleton, the flexible traction device is arranged outside the thigh bone of the human motion skeleton, and the human motion balance force acting cylinder arranged on the thigh bone of the human motion skeleton is pulled by the flexible traction device to generate the human motion balance force, so that the bidirectional human motion balance operation can be realized, and the human motion balance can be automatically carried out under the passive condition; the method mainly has the following advantages:
1. in order to generate displacement, the traction end of a human body balancing device is placed at a position outside a rotation center to form a triangular distribution mode consisting of three parts, namely a thigh bone, a rotation center and the human body balancing device, of a human body bone, so that a displacement difference can be formed when the thigh bone of the human body bone rotates around the rotation center, the human body balancing device is driven to generate human body motion balancing force through the displacement difference, but the human body motion balancing device is only suitable for the situation that the thigh bone of the human body bone rotates towards one side; the existing bidirectional swinging needs to be carried out in many places, such as human robot joints, and the existing unidirectional human skeleton motion auxiliary balancing device 1 cannot be adopted; the invention provides a bidirectional swinging human body motion balance device which can carry out bidirectional swinging according to the requirement, and effectively solves the defect that the prior bidirectional human body skeleton motion auxiliary balance device 1 lacks self-service non-external force operation;
2. the invention is connected with the human body motion balance force acting cylinder through a flexible traction device, so that the characteristics of the flexible traction device can be skillfully utilized, the human body motion balance force acting cylinder is pulled to generate human body motion balance force through the flexible position change of the flexible traction device, and the connection mode of the flexible traction device and the human body motion balance force acting cylinder can be arbitrarily changed according to the requirement;
3. the human body motion balance force acting cylinder is directly arranged on the thigh bone of the human body bone to be balanced by the human body and is arranged in a fixed mode, so that the structure of the human body motion balance force acting cylinder can be effectively simplified, and the human body motion balance force acting cylinder is beneficial to miniaturization and simplification;
4. the invention provides a method for matching vacuum and compression in the human motion balance force acting cylinder body, which can meet various balance requirements by adjusting the pressure difference between two ends of a piston in the human motion balance force acting cylinder body.
Claims (10)
1. A human skeleton auxiliary balancing method is characterized in that: a balance force acting cylinder for human body movement balance is arranged on a thigh bone of a human body movement bone and is connected with a balance flexible traction device; when the thigh bone of the human motion skeleton swings, the balance force acting cylinder is dragged by the balance flexible traction device to generate balance force, so that the human body is always in a balance state when the skeleton thigh swings due to the human motion or squat.
2. The human skeletal motion-assisted balancing method of claim 1, characterized in that: the balance force acting cylinder is of a cylinder body structure and is provided with a cylinder body, and the cylinder body is fixed with the thighs of the human skeleton and swings together with the thighs of the human skeleton; the piston is arranged in the cylinder body, the cylinder body is divided into two cavities through the piston, the piston is connected with the piston rod and is arranged in the cylinder body together, when the cylinder body swings along with thighs of human bones, the piston rod drives the piston to move back and forth in the cylinder body, and balance force is generated through the back and forth movement.
3. The human skeletal motion-assisted balancing method of claim 2, characterized in that: the balance force acting cylinder comprises a pneumatic cylinder and a hydraulic cylinder; control valves are arranged at two ends of the cylinder body, the control valves are respectively communicated with the cavities at two ends of the cylinder body, different pressures in the cavities at two ends of the cylinder body are formed by opening or closing the control valves, and the balance force is adjusted by controlling the pressures at two ends.
4. The human skeletal motion-assisted balancing method of claim 1, characterized in that: the balance force acting cylinder is connected with the balance flexible traction device in such a way that a piston rod in the balance force acting cylinder body extends out of a rod body and is connected with the balance flexible traction device, the piston rod is driven to move up and down through the traction of the balance flexible traction device, so that the piston is driven to move up and down, and the balance force is generated in the cylinder body through the movement of the piston.
5. The human skeletal motion-assisted balancing method of claim 4, characterized in that: the balance force generated in the cylinder body by the piston moving is that the piston rod is pulled in the cylinder body of the cylinder body through the human body motion balance flexible traction device, so that two ends of the piston rod in the cylinder body are vacuum at one end and compressed at the other end, and the human body motion balance force is formed by matching of the vacuum and compressed gas; the balance force acting cylinder is characterized in that an auxiliary electric cylinder is further arranged outside the cylinder body, a piston rod of the auxiliary electric cylinder is connected with a piston rod of the balance force acting cylinder, and when the balance force of the balance force acting cylinder is insufficient, the auxiliary force is provided through the auxiliary electric cylinder to help a human body to move.
6. The human skeletal motion-assisted balancing method of claim 1, characterized in that: the flexible traction device is connected with the piston rod and generates traction for driving the piston rod to move through flexible deformation; the flexible traction device is provided with a deformable traction rope or a deformable traction belt, the traction rope or the traction belt of the flexible traction device is connected with the end of the piston rod, and when the piston rod swings along with thighs of human bones, the piston rod is pulled to move through the change of the traction rope or the traction belt, so that human motion balance force required by the thighs of the human bones is formed.
7. The human skeletal motion-assisted balancing method of claim 6, characterized in that: the piston rod is drawn to move through the change of the drawing rope or the drawing belt, one end of the drawing rope or the drawing belt of the flexible drawing device is fixed at a fixed position outside thighs of human bones, the other end of the drawing rope or the drawing belt is connected with the piston rod, and a limiting device is arranged in the middle of the drawing rope or the drawing belt which is connected with the piston rod and the flexible drawing device; when thighs of human bones swing, the traction rope or the traction belt is forced to change in shape through the limiting device, so that the distance between the end point of the piston rod connected with the traction rope or the traction belt and the end point of the traction rope or the traction belt at the other end of the flexible traction device changes, the piston rod is driven to move back and forth, and balance force is generated through movement; the traction rope or the traction belt is forced to change in shape through the limiting device, the limiting idler wheel is arranged on the thigh of the human skeleton, and the traction rope or the traction belt penetrates through the limiting idler wheel to be connected with the piston rod; the limiting roller swings on the thighs of the human skeleton along with the thighs of the human skeleton, the shape of the traction rope or the traction belt connected with the piston rod is changed by controlling the contact position change of the limiting roller and the traction rope or the traction belt in the swinging process, the traction rope or the traction belt is kept at any swinging position through the change of the shape of the traction rope or the traction belt, the stress direction of the traction rope or the traction belt connected with the piston rod is unchanged, the distance between the piston rod and the traction rope or the traction belt at the end point position of the flexible traction device is adjusted to be changed through the change of the shape of the traction rope or the traction belt, the distance change is met through the back-and-forth movement of the traction piston rod, the back-and-forth movement of the piston rod is formed, and the human movement balance force is generated through the back-and-forth movement of the piston rod.
8. A human skeleton exercise auxiliary balancing device comprises human skeleton including thigh skeleton, shank skeleton, foot skeleton, and trunk skeleton; wherein, the thigh skeleton and the shank skeleton are connected through a rotary joint, the shank skeleton is connected with the foot skeleton through a rotary pin shaft, and the thigh skeleton is connected with the trunk skeleton through a movable hinge pin; human skeleton is formed by interconnecting thigh skeleton, shank skeleton, foot skeleton and trunk skeleton; the human body skeleton motion auxiliary balancing device 1 is arranged on the thigh skeleton, the human body skeleton motion auxiliary balancing device 1 comprises a human body motion balance force generating device and a human body motion balance force traction device, and the human body motion balance force generating device is pulled by the human body motion balance force traction device to generate a human body motion balance force to assist the human body skeleton motion balance.
9. The human skeletal motion-assisted balancing method of claim 8, characterized in that: the human body motion balancing force generating device is a balancing force acting cylinder which is provided with a cylinder body, and the cylinder body is fixed with the thighs of the human body bones and swings together with the thighs of the human body bones; the piston is arranged in the cylinder body, the cylinder body is divided into two cavities through the piston, the piston is connected with the piston rod and is arranged in the cylinder body together, when the cylinder body swings along with thighs of human bones, the piston rod drives the piston to move back and forth in the cylinder body, and balance force is generated through the back and forth movement; the human body motion balance force traction device is a traction device which generates traction piston rod displacement through flexible deformation; the human body motion balance force traction device is provided with a deformable traction rope or a deformable traction belt, the traction rope or the deformable traction belt of the human body motion balance force traction device is connected with the end of the piston rod, and when the piston rod swings along with the thigh of the human body skeleton, the piston rod is driven to move through the change of the traction rope or the traction belt, so that the human body motion balance force required by the thigh of the human body skeleton is formed.
10. The human skeletal motion-assisted balancing method of claim 8, characterized in that: the balance force acting cylinder is provided with an auxiliary electric cylinder, and a piston rod of the auxiliary electric cylinder is connected with a piston rod of the balance force acting cylinder.
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