CN207155785U - A kind of wearable load power assisting device of isomery - Google Patents
A kind of wearable load power assisting device of isomery Download PDFInfo
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- CN207155785U CN207155785U CN201720977437.XU CN201720977437U CN207155785U CN 207155785 U CN207155785 U CN 207155785U CN 201720977437 U CN201720977437 U CN 201720977437U CN 207155785 U CN207155785 U CN 207155785U
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Abstract
The utility model discloses a kind of wearable load power assisting device of isomery, including backrest and two groups of leg mechanisms, two groups of leg mechanisms to be symmetrically connected with backrest, and leg mechanism includes thigh, shank, foot, actuator, encoder and alignment sensor；The flexion/extension free degree of six-freedom degree altogether, respectively two hip joint flexion/extensions of simulation people, two knee joint flexion/extensions and two ankle-joints.The utility model is placed in wearer behind, load forces can be preferably delivered into ground.Control method of the present utility model is by alignment sensor, gathers human foot movement position and angle information, carries out motion control of the present utility model according to the information, and using encoder information as feedback, realize the utility model and the motion match of wearer.The utility model is simple in construction, power-assisted effect is good, control thinking is simple, available for enhancing wearer's walking load capacity, reduces human-body fatigue.
Description
Technical field
The utility model belongs to bionics techniques, and in particular to a kind of wearable load power assisting device of isomery.
Background technology
At present, wearable power assisting device is that a kind of exoskeleton-type syndrome that may be worn on human body is intelligently equipped, and is led to
Cross synchronous " following " human motion, auxiliary or replace human bearing and motor-driven, break through the human body physical agility limit, increase substantially human body
Heavy burden maneuverability/lasting fight capability.At present, it is mainly used in human body lower limbs rehabilitation training and auxiliary human body is loaded
Power-assisted, can be in the multi-field extensive use such as anti-terrorism stability maintenance, rescue and relief work, medical treatment and popularization.So far, although for similar
The research of wearable force aid system has achieved part progress, but also has very long stretch to walk apart from practicality.
Chinese patent application such as Application No. 201610520405.7 discloses lower limb power-assisted mechanical exoskeleton, is simulation
Human leg's structure, pedipulator is set at left and right sides of people's leg, but this anthropomorphic design method causes the effect masterpiece of load
Outside the supporting surface of vola, power transmission design is unreasonable, and power-assisted effect is general, while the patent application does not possess pedipulator also
Length regulatory function, it is poor to the adaptability of wearer；Also, be hinged mechanical joint structure can not meet human motion need
Ask, exist it is man-machine between movement interference；In addition, the knee joint driving machine of the lower limb power-assisted mechanical exoskeleton of above-mentioned patent application
Structure is driven using cable type, mechanism complex designing, and manufacture, assembly difficulty are big, and control accuracy is poor.
And for example the Chinese patent application of Application No. 201610614958.9 discloses a kind of Intelligent lower limb power assisting device
Online gait planning system and method, the Intelligent lower limb power assisting device gather according to myoelectricity collecting unit, inertia collecting unit
Information, extract feature, and match with gait pattern storehouse, obtain predicting joint angles, with On-line Control Intelligent lower limb power-assisted dress
The gait put；Its used number of sensors is numerous, and is arranged in wearer, and wearing is inconvenient, and comfort level is poor,
And to the acquisition process of human body information is complicated, time-consuming, while the control algolithm calculation process is tediously long, complicated, will cause
Man-machine interaction perception velocities are slow, control system process signal is grown to the instruction time is sent, and finally cause man machine exoskeleton system
Poor with the gait coordinative coherence of wearer, wearing effect is bad.
The content of the invention
The purpose of this utility model is to provide a kind of isomery wearable load power assisting device on the one hand solve anthropoid and wear
The problem of wearing the power-assisted effect difference of formula power assisting device, using the mechanical type of isomeric form, the load gravity that wearer is born
Ground is delivered to by the wearable load power assisting device of isomery, reduces human-body fatigue；The advantages of in combination with heterogeneous structure, it is only necessary to
The foot movement of wearer's foot and the wearable load power assisting device of isomery is matched, it is difficult to reduce apparatus structure design
Degree, in addition, the utility model by the output of adjusting actuator, can also realize the wearing of different height wearers；On the other hand,
Number of sensors needed for the wearable load power assisting device of isomery is few, species is simple, it can be controlled more conveniently, realize wearing
Motion match between person and the wearable load power assisting device of isomery.
The technical solution for realizing the utility model purpose is：A kind of wearable load power assisting device of isomery, including the back of the body
Frame and two groups of leg mechanisms, two groups of leg mechanisms are symmetrically connected in backrest, the leg mechanism include thigh, shank, foot,
Hip actuator, knee actuator, ankle actuator, hip encoder, knee encoder, ankle encoder and alignment sensor, thigh, shank and
Foot is sequentially connected, and thigh top is rotatablely connected with backrest, and hip actuator both ends are rotatablely connected with backrest and thigh respectively, and knee is held
Row device both ends are connected with thigh and shank respectively, and ankle actuator both ends are connected with shank and foot respectively, and hip encoder is arranged on
Backrest and thigh junction, knee encoder are arranged on thigh and shank junction, and ankle encoder is arranged on shank and connected with foot
Place, alignment sensor are arranged on foot.
Compared with prior art, its remarkable advantage is the utility model：
（1）With human synovial without corresponding relation, achievable human body multi-motion will not be because of device in joint of the present utility model
The single hinge format in joint produces movement interference to human body；（2）By the way of isomery, limbs are rearmounted, and load gravity falls
In the supporting surface that mechanism is formed with actuator, load weight transfer to ground can be improved load power-assisted ability by mechanism, and reduction is worn
Wearer's fatigue；（3）Structure type is simple, can by control actuator collapsing length realization device and different height wearers it
Between matching；（4）The use of a small amount of sensor can accurately obtain required human foot movable information, and it is difficult that and can reduces control
Degree；（5）The load to wearer can be achieved and carry out power-assisted, assist soldier, fireman etc. to carry out personnel's motion of walking with load,
Human-body fatigue is reduced, the utility model operation strategies are extensive, are applicable to different occasions, have bright prospects.
Brief description of the drawings
Fig. 1 is the integrated model schematic diagram of the wearable load power assisting device of the utility model isomery.
Fig. 2 is wearing schematic diagram of the present utility model.
Fig. 3 is the power-assisted principle schematic of the wearable load power assisting device of the utility model isomery.
Fig. 4 is the wearable load power assisting device control method flow chart of the utility model isomery.
1- backrests, 2- thighs, 3- shanks, 4- foots, 5- hip actuators, 6- knee actuators, 7- ankle actuators, 8- hips coding
Device, 9- knee encoders, 10- ankle encoders, 11- alignment sensors.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As Figure 1-Figure 4, the wearable load power assisting device of a kind of isomery described in the utility model, including the He of backrest 1
Two groups of leg mechanisms, two groups of leg mechanisms are symmetrically connected in backrest 1, the leg mechanism include thigh 2, shank 3, foot 4,
Hip actuator 5, knee actuator 6, ankle actuator 7, hip encoder 8, knee encoder 9, ankle encoder 10 and alignment sensor 11, greatly
Leg 2, shank 3 and foot 4 are sequentially connected, and the top of thigh 2 is rotatablely connected with backrest 1, the both ends of hip actuator 5 respectively with backrest 1 and
Thigh 2 is rotatablely connected, and the both ends of knee actuator 6 are connected with thigh 2 and shank 3 respectively, the both ends of ankle actuator 7 respectively with shank 3 and
Foot 4 connects, and hip encoder 8 is arranged on backrest 1 and the junction of thigh 2, and knee encoder 9 is arranged on thigh 2 and shank 3 connects
Place, ankle encoder 10 are arranged on shank 3 and the junction of foot 4, and alignment sensor 11 is arranged on foot 4.
The backrest 1 includes backboard link 1-1 and pallet 1-2, and backboard link 1-1 and pallet 1-2 are angled
It is connected, pallet 1-2 bottoms are fixed with two groups of drive installation seats of hip first and the connecting seat of hip first；Pallet 1-2 passes through hip with thigh 2
First connecting seat is rotatablely connected, and forms hip joint, and hip encoder 8 is arranged on hip joint, fixing end and hip the first connecting seat phase
Even, the drive installation seat of hip first and one end of hip actuator 5 are rotatablely connected.In addition, be provided with backboard link 1-1 for
Shoulder belt, the waistband of wearer's interaction, control system can be positioned in backrest 1, and backrest 1 can also arrange other things according to being actually needed
Product and heavy burden.
The thigh 2 includes the connecting seat of hip second, thigh connecting rod, the drive installation seat of hip second, the drive installation of knee first
Seat and the connecting seat of knee first, the connecting seat of hip second are connected in the top of thigh connecting rod, the drive installation seat of hip second, knee the
One drive installation seat is respectively fixedly connected is connected in thigh connecting rod bottom in the both sides of thigh connecting rod, the connecting seat of knee first；Hip
Two connecting seats are rotatablely connected with backrest 1, and are connected with the round end of hip encoder 8, and the other end of hip actuator 5 drives with hip second
Mounting seat is rotatablely connected, and the one end of knee actuator 6 and the drive installation seat of knee first are rotatablely connected, 3 turns of the connecting seat of knee first and shank
Dynamic connection, forms knee joint, and knee encoder 9 is set on knee joint, and fixing end is connected with the connecting seat of knee first.
The shank 3 includes the connecting seat of knee second, shank connecting rod, the drive installation seat of knee second, the drive installation of ankle first
Seat and the connecting seat of ankle first, the connecting seat of knee second are connected in the top of shank connecting rod, the drive installation seat of knee second, ankle the
One drive installation seat is respectively fixedly connected is connected in shank connecting rod bottom in the both sides of shank connecting rod, the connecting seat of ankle first；Knee
Two connecting seats are rotatablely connected with thigh 2, and are connected with the round end of knee encoder 9, and the other end of knee actuator 6 drives with knee second
Mounting seat is rotatablely connected, and the one end of ankle actuator 7 and the drive installation seat of ankle first are rotatablely connected, 4 turns of the connecting seat of ankle first and foot
Dynamic connection, forms ankle-joint, and ankle encoder 10 is arranged on ankle-joint, and fixing end is connected with the connecting seat of ankle first.
The foot 4 includes vola connecting plate, the connecting seat of ankle second and the drive installation seat of ankle second, and the connecting seat of ankle second is consolidated
It is connected in the middle part of the connecting plate of vola, the drive installation seat of ankle second is connected in vola connecting plate end, and vola connecting plate half sole is provided with
Elastic bands, alignment sensor 11 is provided with elastic bands；The connecting seat of ankle second is rotatablely connected with shank 3, and is encoded with ankle
The round end of device 10 is connected；The other end of ankle actuator 7 is rotatablely connected with the drive installation seat of ankle second.
Hip actuator 5, knee actuator 6 and ankle actuator 7 can be but not limited to hydraulic cylinder, pneumatic linear actuator, linear electric motors, gas
Dynamic muscle.Hip encoder 8, knee encoder 9 and ankle encoder 10 are same model encoder, can improve device device utilization rate,
Reduce equipment mechanism design and manufacture and assembly difficulty.
Fig. 2 is that wearer dresses schematic diagram of the present utility model, passes through the shoulder belt and waist set on backboard link 1-1
Band, the upper trunk of wearer is connected with the utility model backrest 1, while using being set on the utility model device foot 4
Elastic bands, connect the foot of wearer and the foot 4 of the utility model device；By the connection at above-mentioned two, wearing is realized
Person's load power assisting device rapid and convenient wearing wearable to isomery.
Fig. 3 is the wearable load power assisting device power-assisted principle schematic of the utility model isomery, when wearer dresses this reality
With it is new carry out load and bear when, load gravity G position（Dotted line shown in Fig. 3）Fall in leg mechanism institute of the present utility model
In the plane of composition, i.e., the utility model can be preferably by the weight transfer of load to ground, so as to reduce the suffered of wearer
Gravity, reduce its sense of fatigue.
A kind of control method based on the wearable load power assisting device of isomery, flow is as shown in figure 4, method and step is as follows：
The mechanism mathematical modeling of the wearable load power assisting device of step 1, structure isomery, is transferred to step 2；
After step 2, wearer have dressed the wearable load power assisting device of isomery, start, if keeping standing inactive state
The dry time, each joint actuator of leg mechanism is adjusted, it is synchronous to carry out each joint encoders and positioning to adapt to wearer's height
The collection of sensor initial information, is transferred to step 3；
Step 3, wearer are moved, and pass through the alignment sensor 11 in the elastic bands of foot 4, collection wearer's foot
Portion position and angle information, are transferred to step 4；
Step 4, the mechanism mathematical modeling using structure, the foot position of wearer and angle information are subjected to reverse movement
Learn and solve, obtain the wearable load hip of power assisting device of the isomery, movable information needed for SCID Mice, be transferred to step 5；
Step 5, according to movable information needed for above-mentioned hip, SCID Mice, control corresponding joint actuator is exported, and
Whether correct the movement angle information of leg mechanism is monitored in real time using encoder, to ensure the wearable load power assisting device of isomery
Foot 4 it is identical with the motion state of wearer's foot, be transferred to step 6；
Step 6, return to step 3, realize the continuous motion between wearer and the wearable load power assisting device of the isomery.
Claims (5)
1. a kind of wearable load power assisting device of isomery, including backrest（1）With two groups of leg mechanisms, two groups of leg mechanisms symmetrically connect
It is connected on backrest（1）On, it is characterised in that：The leg mechanism includes thigh（2）, shank（3）, foot（4）, hip actuator（5）、
Knee actuator（6）, ankle actuator（7）, hip encoder（8）, knee encoder（9）, ankle encoder（10）And alignment sensor（11）,
Thigh（2）, shank（3）And foot（4）It is sequentially connected, thigh（2）Top and backrest（1）Rotation connection, hip actuator（5）Both ends
Respectively with backrest（1）And thigh（2）Rotation connection, knee actuator（6）Both ends respectively with thigh（2）And shank（3）Connection, ankle are held
Row device（7）Both ends respectively with shank（3）And foot（4）Connection, hip encoder（8）It is arranged on backrest（1）And thigh（2）Connection
Place, knee encoder（9）It is arranged on thigh（2）And shank（3）Junction, ankle encoder（10）It is arranged on shank（3）And foot（4）
Junction, alignment sensor（11）It is arranged on foot（4）On.
2. the wearable load power assisting device of isomery according to claim 1, it is characterised in that：The backrest（1）Including the back of the body
Plate link（1-1）And pallet（1-2）, backboard link（1-1）With pallet（1-2）It is angled to be connected, pallet（1-2）Bottom
Portion is fixed with two groups of drive installation seats of hip first and the connecting seat of hip first；Pallet（1-2）With thigh（2）Pass through the connecting seat of hip first
Rotation connection, form hip joint, hip encoder（8）It is arranged on hip joint, fixing end is connected with the connecting seat of hip first, hip first
Drive installation seat and hip actuator（5）One end rotation connection.
3. the wearable load power assisting device of isomery according to claim 1, it is characterised in that：The thigh（2）Including hip
Second connecting seat, thigh connecting rod, the drive installation seat of hip second, the drive installation seat of knee first and the connecting seat of knee first, the hip
Second connecting seat is connected in the top of thigh connecting rod, and the drive installation seat of hip second, the drive installation seat of knee first are respectively fixedly connected
The both sides of thigh connecting rod, the connecting seat of knee first are connected in thigh connecting rod bottom；The connecting seat of hip second and backrest（1）The company of rotation
Connect, and with hip encoder（8）Round end be connected, hip actuator（5）The other end is rotatablely connected with the drive installation seat of hip second, knee
Actuator（6）One end is rotatablely connected with the drive installation seat of knee first, the connecting seat of knee first and shank（3）Rotation connection, form knee
Joint, knee encoder（9）Set on knee joint, fixing end is connected with the connecting seat of knee first.
4. the wearable load power assisting device of isomery according to claim 1, it is characterised in that：The shank（3）Including knee
Second connecting seat, shank connecting rod, the drive installation seat of knee second, the drive installation seat of ankle first and the connecting seat of ankle first, the knee
Second connecting seat is connected in the top of shank connecting rod, and the drive installation seat of knee second, the drive installation seat of ankle first are respectively fixedly connected
The both sides of shank connecting rod, the connecting seat of ankle first are connected in shank connecting rod bottom；The connecting seat of knee second and thigh（2）The company of rotation
Connect, and with knee encoder（9）Round end be connected, knee actuator（6）The other end is rotatablely connected with the drive installation seat of knee second, ankle
Actuator（7）One end is rotatablely connected with the drive installation seat of ankle first, the connecting seat of ankle first and foot（4）Rotation connection, form ankle
Joint, ankle encoder（10）It is arranged on ankle-joint, fixing end is connected with the connecting seat of ankle first.
5. the wearable load power assisting device of isomery according to claim 1, it is characterised in that：The foot（4）Including foot
Bottom connecting plate, the connecting seat of ankle second and the drive installation seat of ankle second, the connecting seat of ankle second are connected in the middle part of vola connecting plate, ankle the
Two drive installation seats are connected in vola connecting plate end, and vola connecting plate half sole is provided with elastic bands, set in elastic bands
There is alignment sensor（11）；The connecting seat of ankle second and shank（3）Rotation connection, and with ankle encoder（10）Round end be connected；
Ankle actuator（7）The other end and the drive installation seat of ankle second be rotatablely connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720977437.XU CN207155785U (en) | 2017-08-07 | 2017-08-07 | A kind of wearable load power assisting device of isomery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720977437.XU CN207155785U (en) | 2017-08-07 | 2017-08-07 | A kind of wearable load power assisting device of isomery |
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| CN207155785U true CN207155785U (en) | 2018-03-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107322569B (en) * | 2017-08-07 | 2023-08-22 | 南京理工大学 | Heterogeneous wearable load power assisting device and control method thereof |
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