WO2021197256A1 - Parallel elastic driver of power-assisted exoskeleton, and control method therefor - Google Patents

Parallel elastic driver of power-assisted exoskeleton, and control method therefor Download PDF

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Publication number
WO2021197256A1
WO2021197256A1 PCT/CN2021/083556 CN2021083556W WO2021197256A1 WO 2021197256 A1 WO2021197256 A1 WO 2021197256A1 CN 2021083556 W CN2021083556 W CN 2021083556W WO 2021197256 A1 WO2021197256 A1 WO 2021197256A1
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WIPO (PCT)
Prior art keywords
elastic
driver
power
wire
pawl
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PCT/CN2021/083556
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French (fr)
Chinese (zh)
Inventor
袁博
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袁博
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Application filed by 袁博 filed Critical 袁博
Priority to CN202180024503.0A priority Critical patent/CN115348851A/en
Publication of WO2021197256A1 publication Critical patent/WO2021197256A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention relates to the technical field of an exoskeleton booster device, and in particular to a parallel elastic driver, a series-parallel elastic driver, a control method of the driver and a booster exoskeleton with the driver.
  • the power-assisted exoskeleton is a new type of modern wearable device. This device integrates a variety of information, control systems and sensing systems. It provides corresponding control functions for the wearer of the power-assisted exoskeleton and can assist the wearer. Complete various tasks more efficiently (for example, load-bearing, handling, etc.).
  • the driving methods of exoskeleton assist include hydraulic assist and motor assist.
  • motor assist technology is currently the most commonly used driving method.
  • most of the existing motor drive methods are to directly install the drive motor at the actuator that needs assistance.
  • the drive mechanism is often installed at the leg corresponding to the assisted joint mechanism.
  • This will inevitably cause the exoskeleton device to increase the swing inertia of the wearer’s legs (even with micro-motors), resulting in the wearer’s need to exert more force during walking to overcome the increase in leg inertia to produce The same movement acceleration as without wearing an exoskeleton.
  • the exoskeleton in the prior art not only cannot provide obvious assistance to the wearer during walking, but may also make the wearer feel the device bulky, restricting their freedom of movement, and also That reduces the user experience of the wearer.
  • the purpose of the present invention is to provide a parallel elastic actuator for assisting exoskeleton and its control method, which partially solves or alleviates the above-mentioned shortcomings in the prior art, realizes the separation of the driving mechanism and the actuator, and reduces the self-weight of the assisted exoskeleton system. , Thereby reducing the negative impact of the exoskeleton's own weight on the wearer's walking gait.
  • the first aspect of the present invention is to provide a parallel elastic driver for boosting exoskeleton, which includes: a driving mechanism for providing boosting, and a wire for transmitting the boosting to at least one actuator of the boosting exoskeleton Mechanism, and an elastic mechanism for providing recovery force to the wire pulling mechanism to tighten the wire pulling in the wire pulling mechanism when the driving mechanism stops providing assistance, wherein the elastic power mechanism is arranged in parallel with the driving mechanism At the input end of the pulling mechanism.
  • the driving mechanism includes a motor.
  • the wire pulling mechanism includes: a wire for transmitting the assist force, and a winch for winding the wire, wherein the winch is connected to the motor for synchronous rotation, and the wire The fixed end is fixed on the winch, and at least one force output end of the pull wire is connected with the at least one actuator.
  • the parallel elastic driver further includes: a clutch locking mechanism arranged between two adjacent actuators, and the clutch locking mechanism is connected to the pulling wire in the pulling wire mechanism respectively.
  • the two actuators are connected; when the wearer's assisted joint is in a straight or nearly straight state, the clutch and locking mechanism is in an engaged state, so that the boost output from the drive mechanism is transmitted to the wire pulling mechanism
  • the two actuators connected to the clutch locking mechanism; and when the assisted joint is in a bent state, the clutch locking mechanism is in a non-engaged state, so that the boost output from the driving mechanism passes through the The wire pulling mechanism is transmitted to the actuator which is close to the driving mechanism.
  • the elastic mechanism includes: an elastic energy storage member installed on the wire pulling mechanism, and when the power mechanism provides assistance to the wire pulling mechanism, the The elastic energy storage member stores energy; when the power mechanism stops providing assistance to the wire pulling mechanism, the elastic energy storage member releases energy to provide the recovery force to the wire pulling mechanism.
  • the elastic energy storage component is a coil spring
  • the outer ear of the coil spring is fixed on the wire pulling mechanism
  • the inner ear of the coil spring is fixed on the rotating shaft of the coil spring.
  • the cable in the cable pulling mechanism is divided into three branches through the three cable channels in the power-assisted exoskeleton, wherein the two branches are symmetrically arranged in the power-assisted exoskeleton and the corresponding power-assisted joints On the left and right sides of the mechanism, another branch is arranged directly in front of or directly behind the power-assisted joint mechanism.
  • the cable in the cable mechanism is divided into two branches through the two cable channels in the power-assisted exoskeleton, and the two branches are symmetrically arranged in the power-assisted exoskeleton.
  • the corresponding power-assisted joint mechanism On the left and right sides.
  • the second aspect of the present invention is to provide a parallel elastic driver without motion damping in the booster exoskeleton, which includes: a driving mechanism for providing booster for transmitting the booster force to at least the booster exoskeleton
  • a wire-drawing mechanism of an actuator is used to provide recovery force to the wire-drawing mechanism to tighten the wire-drawing elastic mechanism in the wire-drawing mechanism when the drive mechanism stops providing assistance
  • a centrifugal clutch wherein the drive mechanism In parallel with the elastic mechanism and at the input end of the wire pulling mechanism, the centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and when the driving mechanism provides assist, the centrifugal clutch will The driving mechanism is connected to the wire pulling mechanism. When the driving mechanism stops providing power assistance, the centrifugal clutch disconnects the connection between the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the wire pulling mechanism The recovery force.
  • the driving mechanism includes a motor.
  • the centrifugal clutch includes: at least one pawl, at least one elastic reset member, a pawl seat connected in rotation with the motor, and a ratchet wheel connected in rotation with the winch in the wire pulling mechanism.
  • at least one of the pawls is evenly distributed on the pawl seat in a rotatable manner relative to the pawl seat, the first end of the elastic reset member is fixed on the pawl seat, and The two ends are connected with the pawl; when the motor provides assistance, the motor drives the pawl base to rotate synchronously, so that the pawl moves away from the center axis of the pawl base under the action of centrifugal force It expands outwards and gradually engages with the ratchet, thereby connecting the motor with the wire pulling mechanism; when the motor stops assisting, the pawl moves closer to the The pawl seat gathers in the direction of the central axis and gradually separates from the ratchet wheel, thereby disconnecting the
  • the centrifugal clutch further includes: a synchronization gear disposed in the center of the pawl seat, and correspondingly, each pawl corresponding to the synchronization gear is provided with a side that can interact with each other.
  • the incomplete gear meshed with the synchronous gear; and when the pawl rotates around the rotating shaft, at least one of the pawls rotates synchronously.
  • the centrifugal clutch further includes: at least one pawl limiting block provided on the pawl seat, the pawl limiting block is used to limit the pawl edge away from the The maximum angle of rotation of the pawl seat in the center direction.
  • the third aspect of the present invention is to provide a series-parallel elastic actuator for boosting exoskeleton, which includes: a driving mechanism for providing boost; A wire pulling mechanism; an elastic mechanism for providing a recovery force to the wire pulling mechanism when the drive mechanism stops providing assistance; and an elastic buffer member for providing a buffer to the wire pulling mechanism, wherein the drive mechanism and the The elastic mechanism is connected in parallel to the input end of the wire pulling mechanism, a centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and the elastic buffer member is connected in series with the input/output end of the wire pulling mechanism;
  • the centrifugal clutch is engaged to connect the driving mechanism with the wire pulling mechanism, and the elastic buffer member reduces the impact force caused by the centrifugal clutch meshing moment; when the driving When the mechanism stops providing assistance, the centrifugal clutch disconnects the drive mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
  • the fourth aspect of the present invention is to provide a power-assisted exoskeleton, which includes at least one actuator and any of the above-mentioned actuators, wherein the output end of the actuator is connected to the input end of the at least one actuator.
  • the current working state of the driver is set from the ready state to the assist state, and the output torque of the driver is set to the preset threshold T ref .
  • control method further includes the steps:
  • the knee joint flexion angle and the preset failure threshold angle or the knee joint extension angular velocity and the preset maximum extension angular velocity, or the knee joint flexion angular velocity and the preset flexion threshold angular velocity, it is judged whether cancellation is currently needed Assist, if yes, set the current working state of the driver from the assist state to the follow-up state, and set the output torque of the driver to zero.
  • the working state of the driver further includes: follow-up; correspondingly, the control method further includes the steps:
  • the joint bending angle and the joint bending angular velocity as well as the preset assisting threshold angle and bending threshold angular velocity, it is judged whether the assisting is currently needed, and if so, the current working state of the driver is set from the following state to the ready state , And set the output torque of the driver to 0.
  • a technical solution of the present invention is a parallel elastic actuator, which combines a flexible transmission mechanism of a steel wire tube and an exoskeleton rigid actuator of the joint.
  • it includes a motor, a steel wire winch, a wire tube fixing seat, and a steel wire.
  • the steel wire winch is fixedly installed at the output end of the motor, and the wire tube fixing seat is fixedly installed on the outer casing of the motor.
  • the end is placed in the wire end installation groove set on the wire winch, the coil spring is installed inside the wire winch, the outer ear of the coil spring is placed in the outer ear installation groove of the wire winch, and the coil spring
  • the central inner ear is fixed with the outer shell of the motor through a slot on the end cover of the central shaft.
  • the steel wire winch includes a steel wire winch body, a mounting hole is opened in the middle of the steel wire winch body, the steel wire winch body is connected to the output end of the motor through the mounting hole, and the steel wire winch body
  • a steel wire winch wall is provided on one side of the steel wire winch wall, and a steel wire end mounting groove for installing the steel wire end and an outer ear mounting groove for installing the outer ear of the coil spring are installed on the steel wire winch wall;
  • It also includes a coil spring end cover, which cooperates and closes with the steel wire winch wall to protect the coil spring.
  • the upper end of the steel wire winch wall is provided with a plurality of threaded holes
  • the coil spring end cover is correspondingly provided with a plurality of end cover mounting holes
  • a plurality of bolts pass through the plurality of mounting holes and the plurality of mounting holes.
  • the threaded hole is matched to fix the coil spring end cover on the wall of the steel wire winch.
  • a plurality of central shaft end cover installation grooves are periodically provided on the fixed wall of the line pipe, and the central shaft end cover cooperates with the installation grooves to close the protection station through a plurality of installation blocks on the central shaft end cover.
  • a steel wire tube is installed corresponding to the steel wire outlet groove.
  • a tightness fine-tuning knob is provided in the steel wire emergence groove.
  • Another technical solution of the present invention is a method for detecting the driving state of a parallel elastic driver, which judges the driving state in the following manner:
  • a technical solution of the present invention is an exoskeleton driver, characterized in that the exoskeleton driver includes a motor and an elastic mechanism, and the motor and the elastic mechanism are connected in parallel with the first end of the steel wire, and are connected to the first end of the steel wire in parallel.
  • the steel wire exerts tensile force; the second end of the steel wire is connected to the knee assist joint mechanism through a steel wire tube mechanism; in use, the exoskeleton driver is installed at the waist and above the wearer.
  • the elastic mechanism is a coil spring.
  • the third end of the steel wire is connected to the ankle booster joint mechanism through the steel wire tube mechanism.
  • a clutch locking mechanism is provided between the second end and the third end of the steel wire.
  • the clutch The locking mechanism is in an engaged state, allowing the pulling force exerted by the exoskeleton driver to be transmitted to the ankle assist joint mechanism; when the wearer’s knee joint is in a bent state, the clutch locking mechanism is in a separated state, and the The pulling force exerted by the exoskeleton driver is transmitted to the ankle booster joint mechanism.
  • the second end of the steel wire passes through the knee assist joint mechanism through at least three wire channels located in the knee assist joint mechanism, and the at least three wire channels include one located at the wearer’s knee joint.
  • the steel wire is coiled multiple times at the power-assisted joint pulley of the knee power-assisted joint mechanism through a movable pulley mechanism to change the transmission ratio of the steel wire from the exoskeleton drive to the knee power-assisted joint mechanism , To realize the boosting torque amplification at the knee booster joint mechanism.
  • a driving mechanism and an elastic mechanism are arranged in parallel through the input end of the wire pulling mechanism, so that the power assist provided by the driving mechanism and/or the recovery force provided by the elastic mechanism can be transmitted to at least one actuator through the wire pulling mechanism, thereby realizing a boosted exoskeleton
  • the separation of the middle driver and the actuator makes it possible to place a certain weight, such as the drive mechanism, the winch in the pulling mechanism, the battery control system, etc., on the wearer’s waist or above the waist, thus avoiding the problems in the prior art.
  • the present invention realizes that one driver can drive multiple actuators, avoiding the need for each actuator in the prior art.
  • the installation of a driving mechanism for each actuator leads to an increase in the self-weight of the assisted exoskeleton system, thereby affecting the negative impact of the wearer’s walking gait.
  • the system itself reduces the negative impact of the weight of the exoskeleton device on the walking gait of the wearer's lower limbs, thereby improving the user experience of the wearer.
  • an elastic mechanism is connected in parallel with the driving mechanism at the input end of the wire pulling mechanism, so that when the driving mechanism is working (that is, assisting is provided), the driving mechanism (such as a motor) and the elastic mechanism (such as a coil spring) At the same time, pull the cable in the cable mechanism (such as steel wire or braided belt, etc.) to transmit power to the various actuators in the power-assisted exoskeleton (for example, knee power joint mechanism, ankle power joint mechanism); when the drive mechanism stops working (that is, it stops When assisting is provided, such as when the battery is exhausted or the motor is intentionally stopped), the elastic mechanism provides recovery force to the cable to tighten the cable, that is, under the action of the elastic mechanism, even if the wearer wears the assisted exoskeleton during exercise, the cable mechanism is The cable is always in a tight state, thereby avoiding the free and slack state of the cable, causing the cable at the winch (or reel) to be entangled with each other,
  • the present invention can transmit the power assist generated by the exoskeleton driver to multiple actuators in the exoskeleton (such as knee assist joint mechanism, ankle assist joint mechanism) through the wire tube mechanism, and realizes that one drive mechanism can assist multiple places: For example, when the wearer’s thigh knee joint has a large degree of curvature (for example, when the wearer is on a step), the power assist generated by the exoskeleton driver mainly acts on the knee power joint mechanism (at this time, the knee joint power demand is large, and the ankle The need for power assistance of the joint is small), but as the thigh and knee joints gradually return to upright (the power demand of the knee joint decreases and the power demand of the ankle joint increases), the power generated by the exoskeleton drive gradually moves down from the knee joint to the ankle joint. The boost provided to the ankle joint gradually increases.
  • the power assist generated by the exoskeleton driver mainly acts on the knee power joint mechanism (at this time, the knee joint power demand is large, and the ankle The need for power assistance of the joint is small
  • a clutch and locking mechanism is also provided between two adjacent actuators, and it is connected to the two actuators by a cable, so that it can be better connected between the two actuators. Distribute the power assist, thereby improving the power assist efficiency of the drive.
  • a clutch locking mechanism is added between the knee power-assisted joint mechanism and ankle power-assisted joint mechanism, and when the knee joint is bent to a greater degree, the clutch and locking mechanism can enter the separated state (or unlocked state, or non-engaged state) , So that the pulling force of the cable mechanism stops the pulling force and transfers the boost to the ankle booster joint mechanism (that is, the actuator away from the driver), so that the boost generated by the exoskeleton driver is concentrated on the knee booster joint mechanism to help the wearer go up the stairs and climb the slope; After the knee joint bending degree is reduced to a certain angle, the clutch locking mechanism enters the engaged state (or locked state, or engaged state), so that the pulling mechanism can not only transfer power to the knee joint mechanism, but also to the ankle.
  • the joint mechanism transfers power, so as to realize the power of the knee joint and ankle joint.
  • the assisting force can be better distributed between the knee joint and the ankle joint, and the efficiency of the exoskeleton driver of the present invention in providing assisting to the lower limbs is improved.
  • the parallel drive without motion damping of the present invention provides a centrifugal clutch between the drive mechanism and the wire drawing mechanism, and when the drive mechanism provides power assistance, the drive mechanism and the wire drawing mechanism are connected through the centrifugal clutch, and when the drive mechanism stops When assisting is provided, the centrifugal clutch disconnects the connection between the drive mechanism and the wire pulling mechanism, thereby avoiding that when the drive mechanism stops assisting, the drive mechanism is converted into a damping member, causing the wearer to wear the assisted exoskeleton to move (and does not provide When assisting), the problem of continuous motion damping is felt, thereby ensuring the smoothness of the free movement of the wearer's corresponding joints when no assisting is needed.
  • the series-parallel driver of the present invention reduces the impact force caused by the centrifugal clutch meshing moment by connecting an elastic buffer component in series with the input end/output end of the cable mechanism, which not only gives the wearer a smoother power-assisting force change trend, but also slows down When the centrifugal clutch is engaged, the impact of the pawl wears.
  • Fig. 1a is an exploded view of a parallel elastic driver in a first perspective in an exemplary embodiment of the present invention
  • Figure 1b is an exploded view from a second perspective of a parallel elastic driver in an exemplary embodiment of the present invention
  • Fig. 2a is a three-dimensional structural diagram reflecting the internal structure of a parallel elastic driver in an exemplary embodiment of the present invention
  • Fig. 2b is a schematic diagram showing the installation of the elastic mechanism and the wire pulling mechanism of the parallel elastic driver in an exemplary embodiment of the present invention
  • Fig. 3 is a three-dimensional structural view of a wire tube fixing seat of a parallel elastic driver in an exemplary embodiment of the present invention
  • Fig. 4 is a three-dimensional structural diagram of a winch in a parallel flexible drive in an exemplary embodiment of the present invention
  • Fig. 5a is a schematic diagram of the structural layout of the exoskeleton when being worn in an exemplary embodiment of the present invention
  • 5b is a schematic diagram of the structural layout of the exoskeleton when being worn in an exemplary embodiment of the present invention.
  • Fig. 5c is a schematic diagram of the structural layout of the exoskeleton when being worn in another exemplary embodiment of the present invention.
  • 5d is a schematic diagram of the structure of the exoskeleton when being worn in another exemplary embodiment of the present invention.
  • Figure 5e is a schematic diagram of the exoskeleton knee joint structure in Figure 5d;
  • Figure 5f is a schematic diagram of the exoskeleton knee joint structure in Figure 5d;
  • Figure 5g is a schematic structural diagram of a parallel elastic driver in an exemplary embodiment of the present invention when the clutch and locking mechanism is in a non-engaged state;
  • Figure 5h is a schematic structural diagram of a parallel elastic driver in an exemplary embodiment of the present invention when the clutch and locking mechanism is in an engaged state;
  • Fig. 5i is an exploded view of a clutch locking mechanism in a parallel elastic driver in an exemplary embodiment of the present invention
  • Figure 5j is a cross-sectional view of the clutch locking mechanism in the parallel elastic actuator shown in Figure 5i;
  • Fig. 6 is a detection principle diagram of the driving state detection method of the parallel elastic driver in the present invention.
  • FIG. 7 is a detection flow chart of the driving state detection method of the parallel elastic driver in the present invention.
  • Figure 8a is a driving principle diagram reflecting that the motor is directly connected to the wire pulling mechanism
  • Figure 8b is a schematic diagram of the driving principle of the elastic buffer member in series between the wire pulling mechanism and the actuator;
  • Fig. 8c is a diagram reflecting the driving principle of the parallel elastic driver in an exemplary embodiment of the present invention.
  • Fig. 8d is a diagram showing the driving principle of a parallel elastic driver without movement resistance in an exemplary embodiment of the present invention.
  • Fig. 8e is a diagram showing the driving principle of a series-parallel elastic driver without movement resistance in an exemplary embodiment of the present invention
  • Fig. 9a is a perspective view of a parallel elastic driver without movement resistance according to an exemplary embodiment of the present invention.
  • Figure 9b is a partial cross-sectional view of the parallel elastic driver in Figure 9a;
  • 9c is a schematic structural diagram of a centrifugal clutch in a non-engaged state in a parallel elastic driver with no movement resistance according to an exemplary embodiment of the present invention.
  • Fig. 9d is a schematic structural diagram of a centrifugal clutch in an engaged state in a parallel elastic driver with no movement resistance according to an exemplary embodiment of the present invention.
  • Fig. 9e is a schematic structural diagram of an embodiment of a centrifugal clutch in a parallel elastic driver with no movement resistance according to another exemplary embodiment of the present invention.
  • Fig. 10 is a schematic structural diagram of a series-parallel elastic actuator without movement resistance according to an exemplary embodiment of the present invention.
  • Drive mechanism In this article, the drive mechanism refers to a mechanism that can provide power to at least one actuator in the power-assisted exoskeleton, for example, a motor.
  • the elastic power mechanism refers to the elastic mechanism that provides recovery force to the wire pulling mechanism of the booster exoskeleton to tighten the wire of the wire pulling mechanism when the driving mechanism stops providing assistance.
  • the elastic power mechanism refers to the elastic mechanism that provides recovery force to the wire pulling mechanism of the booster exoskeleton to tighten the wire of the wire pulling mechanism when the driving mechanism stops providing assistance.
  • coil spring/mainspring for example, coil spring/mainspring.
  • the actuator refers to a mechanism that performs corresponding actions or realizes corresponding functions under the drive of a driving mechanism, for example, a mechanism used to assist the wearer's joints, and it moves under the drive of the driving mechanism , Specifically, such as knee joints, ankle joints, hip joints, etc. in power-assisted exoskeleton devices.
  • Parallel refers to the force (for example, boost or recovery force) of the above-mentioned drive mechanism and the above-mentioned elastic mechanism.
  • the output ends are connected to the input end of the pulling mechanism to provide a certain force to the pulling wire in the pulling mechanism. (Such as boost or recovery).
  • boost or recovery For example, the motor and the coil spring as the elastic mechanism are connected in synchronous rotation with the winch that winds the cable.
  • the motor and the coil spring pull the cable at the same time to apply power to the knee assist joint mechanism and ankle assist joint mechanism; when the motor stops working (Such as when the battery is exhausted or the motor is intentionally stopped), the coil spring can still pull the cable, so that the cable is always tight during the operation of the exoskeleton mechanism, thereby preventing the cable from being in a free and slack state, causing the cable at the winch The risk of mechanical failure caused by mutual entanglement, thereby greatly reducing the probability of safety accidents.
  • pull wire In this article, pull wire refers to various mechanisms used to transfer assist/pull force, such as wire or tubular steel wire, rope, or wire, or ribbon or strip woven belt, etc.
  • Line tube In this article, the line tube refers to the pipeline that is covered or sleeved outside the cable, its two ends are fixed, and it is not compressible, it provides a path for the cable to move, so as to realize the transmission of power/tension .
  • the input terminal refers to the end of each component receiving force, also called the force input terminal.
  • the wire pulling mechanism receives the end of the power assist output by the driving mechanism, or the end that receives the recovery force generated/output by the elastic mechanism; or the actuator receives the end of the assist power transmitted by the wire pulling mechanism.
  • Output terminal In this article, the output terminal refers to the end of the output force of each component, also known as the force output terminal.
  • the end of the wire pulling mechanism connected to the actuator which outputs the assist provided by the driving mechanism to the input end of the actuator (that is, the end that receives the assist).
  • the initial state refers to the current natural state of each component without any external force or external interference.
  • the initial state of the motor refers to the state when the motor is not energized or not rotating.
  • the initial state of the centrifugal clutch is that the motor does not drive the pawl seat to rotate, and (i) the pawl does not expand outward under the action of centrifugal force, or (ii) because of the elastic reset member (at this time, the elastic reset The part is in the state of being close to the center of the pawl seat under the action of the factory pre-tightening force, as shown in Figure 9c and Figure 9d.
  • the initial state of the elastic mechanism refers to the state where the coil spring is not tightened by the winch or the pull wire, nor is it relaxed by other external forces.
  • the present invention provides a parallel elastic driver 12, which includes:
  • the drive mechanism used to provide assistance is the drive mechanism used to provide assistance
  • a wire pulling mechanism for transmitting the boost provided by the drive mechanism to at least one actuator
  • the driving mechanism stops providing power assistance, it provides a recovery force to the wire pulling mechanism to tighten the elastic mechanism of the wire pulling mechanism, wherein:
  • the elastic mechanism and the drive mechanism are arranged in parallel at the input end of the wire drawing mechanism (that is, the force output end of the elastic mechanism and the force output end of the drive mechanism are both connected with the force input end of the wire drawing mechanism).
  • the driving mechanism includes: a motor 1; for example, a pseudo-direct drive torque motor.
  • the wire pulling mechanism includes: a wire 4 for transmitting the output power of the driving mechanism, and a winch 2 for winding the wire 4, wherein the winch 2 rotates synchronously with the motor 1 Connected (for example, the winch 2 is fixed on the output end 6 of the torque motor, see Figures 1a and 1b), and the fixed end of the pull wire 4 is fixed on the winch 2 (for example, the fixed end of the pull wire 4 41 is placed in the end mounting slot 201 on the winch 2), and the end (or force output end) of the pull wire 4 is connected to the actuator.
  • the elastic mechanism includes: an elastic energy storage component mounted on the wire pulling mechanism; when the above-mentioned drive mechanism (such as a torque motor) provides assistance to the wire pulling mechanism, the elastic The energy storage component stores energy; and when the above-mentioned drive mechanism (such as a torque motor) stops providing assistance to the wire drawing mechanism, the elastic energy storage member releases energy to provide recovery force to the wire drawing mechanism.
  • an elastic energy storage component mounted on the wire pulling mechanism; when the above-mentioned drive mechanism (such as a torque motor) provides assistance to the wire pulling mechanism, the elastic The energy storage component stores energy; and when the above-mentioned drive mechanism (such as a torque motor) stops providing assistance to the wire drawing mechanism, the elastic energy storage member releases energy to provide recovery force to the wire drawing mechanism.
  • the elastic energy storage component may adopt a coil spring 5, the outer ear 501 of which is fixed on the pulling mechanism (for example, the outer ear 501 of the coil spring 5 is fixed in the outer ear mounting groove 202 on the winch 2), and the inner ear 502 Fixed on the rotating shaft of the coil spring 5 (for example, by providing a coil spring cover 7, and the coil spring cover 7 can be fixed on the wire tube fixing seat 3 in the wire drawing mechanism by a fixing member such as a bolt, and it corresponds to the coil
  • One side of the spring 5 is provided with a central shaft, the central shaft is the rotating shaft when the coil spring 5 is tightened or loosened, and the central shaft is provided with a slot 701 that can be used to fix the inner ear 502 of the coil spring 5. See Figure 1b).
  • the direction of the coil spring 5 and the selection of the outlet of the winch 2 need to be consistent with the winding direction of the cable 4, so that when the driving mechanism provides assistance to the cable mechanism, the coil spring 5 is retracted when the cable 4 is pulled out of the winch 2.
  • the coil spring 5 releases its energy and provides recovery force to the winch 2 in the wire drawing mechanism, so that even if the drive mechanism is not working, the wire 4 can After the corresponding joint (ie, the actuator) is bent and stretched, it is automatically wound back on the winch 2 under the action of the coil spring 5, and is always in a tight state (ie, a tightened state).
  • the installation position of the elastic mechanism can be adjusted according to actual needs, or it can be installed on the motor, as long as it is connected in parallel with the motor, and it can achieve the following technical functions: when the drive mechanism stops working (also That is to stop assisting; for example, when the battery is exhausted or the motor is intentionally stopped), it can still pull the cable, so that the cable in the cable mechanism is in a tight state (ie, tightened state) during the operation of the exoskeleton mechanism, thereby preventing the cable ( For example, steel wire or braided belt) is in a freely relaxed state.
  • a parallel flexible drive including a motor 1, a steel wire winch 2, a wire tube fixing seat 3, and a steel wire 4;
  • the steel wire winch 2 is fixedly installed on the The output end 6 of the motor 1,
  • the wire tube fixing seat 3 is fixedly installed on the outer shell of the motor 1, and the end of the steel wire 4 is placed in the steel wire end installation groove 201 provided on the steel wire winch 2
  • the coil spring 5 is installed inside the wire winch 2
  • the outer ear 501 of the coil spring 5 is placed in the outer ear mounting groove 202 of the wire winch 2
  • the center inner ear 502 of the coil spring 5 passes through the central shaft end cover 7.
  • a slot 701 on the rotating shaft at the center position is fixed to the outer casing of the motor 1.
  • the steel wire winch 2 is fixed on the output end 6 of the motor 1, the wire tube fixing seat 3 is fixed on the outer casing of the motor 1, and the aluminum end of the steel wire 4 is placed on the steel wire winch 2.
  • the coil spring 5 is placed inside the wire winch 2
  • the outer ear 501 of the coil spring 5 is placed in the outer ear installation groove 202 of the wire winch 2
  • the center inner ear 502 of the coil spring 5 passes through the central shaft end
  • the slot 701 on the cover 7 is fixed in position with the housing of the motor 1.
  • the end cover of the coil spring 5 is assembled with the steel wire winch 2 to serve as the outer cover of the coil spring 5 and the outer wall of the steel wire groove.
  • the steel wire 4 needs to be wound several times on the steel wire winch 2 so that when the assisted joint mechanism (or the assisted joint of the wearer) is bent, the driver has enough redundant wires to be pulled out.
  • the direction of the coil spring 5 and the selection of the outlet of the winch need to be consistent with the winding direction of the wire 4, when the wire 4 is pulled out of the wire winch 2, the coil spring 5 tightens and accumulates energy. In this way, even if the motor 1 is not working, the steel wire 4 can be automatically wound back onto the steel wire winch 2 under the action of the coil spring 5 after the joint is bent and stretched, and is always in a tight state.
  • the exoskeleton drive 12 can use a pseudo-direct drive torque motor (including a planetary gear train with a 6:1 reduction ratio). Reducer), parallel coil spring mechanism to jointly wind the flexible steel wire, and flexibly transmit the wire tension to the exoskeleton knee joint through the steel wire tube mechanism (ie, the wire drawing mechanism 13), so as to realize the separation design of the driver and the actuator (that is, without Set the driver directly at the exoskeleton knee joint). Place larger drives, winches, batteries, control systems, etc. above the wearer's waist to reduce the system's own weight of the exoskeleton in the limb position.
  • the parallel elastic driver 12 is installed on the waist and abdomen, and the steel wire is connected to the knee joint steel wire assist mechanism 15 (ie, the actuator) through the wire tube transmission mechanism.
  • the above technical solution can efficiently transmit the torque of the exoskeleton driver to the exoskeleton joint with a rigid actuator through the flexible transmission mechanism of the steel wire tube.
  • the wire tube pulley and binding device of the rigid mechanism further convert the torque of the exoskeleton drive into the torque of the exoskeleton joint mechanism (for example, knee assist joint mechanism, ankle assist joint mechanism) and effectively act on the vicinity of the wearer's corresponding joint Physically, and then achieve efficient assistance.
  • a single motor can simultaneously drive more than two exoskeleton joint mechanisms (for example, two knee-assisted joint mechanisms for two legs, and two ankle-assisted joint mechanisms).
  • the wire tube fixing seat 3 includes a wire tube fixing body 301, the wire tube fixing body 301 is provided with a wire tube through hole 302, the wire tube body 301 and A wire tube fixing wall 303 is provided on the side in contact with the motor 1, the wire winch 2 is installed at the output end of the motor 1 through the wire tube through hole 302, and a wire outlet is provided on the lower side of the wire tube fixing wall 303.
  • the groove 304, the central shaft end cover 7 and the line pipe fixing wall 303 are matched and closed, and is used to protect the steel wire winch 2.
  • the steel wire winch 2 includes a steel wire winch body 203.
  • the steel wire winch body 203 is provided with three mounting holes 204 near the middle position, and the steel wire winch body 203 passes through the
  • the mounting hole 204 is connected to the output end 6 of the motor 1, and a wire winch wall 205 is provided on one surface of the wire winch body 203 (that is, the wire winch wall 205 is enclosed to form a space for placing the coil spring 5)
  • the steel wire winch wall 205 is equipped with a steel wire end mounting groove 201 for installing the steel wire end and an outer ear mounting groove 202 for installing the outer ear 501 of the coil spring 5;
  • a coil spring end cover 8 may be further included, and the coil spring end cover 8 cooperates and closes with the wire winch wall 205 to protect the coil spring 5.
  • the upper end of the steel wire winch wall 205 is provided with a plurality of threaded holes 206
  • the coil spring end cover 8 is provided with a plurality of end cover mounting holes 9 correspondingly
  • a plurality of bolts are installed through the plurality of end covers.
  • the hole 9 cooperates with the plurality of threaded holes 206 to fix the coil spring end cover 8 on the steel wire winch wall 205.
  • a plurality of central shaft end cover mounting grooves 307 are periodically provided on the wire tube fixing wall 303, and the central shaft end cover 7 is connected to the central shaft through a plurality of mounting feet 10 on the central shaft end cover 7
  • the end cover installation groove 307 cooperates to seal and protect the steel wire winch 2.
  • a steel wire tube 305 is installed corresponding to the steel wire outlet groove 304.
  • a tightness fine adjustment knob 306 is provided in the steel wire emergence groove 304.
  • the exoskeleton lower limb power-assisted mechanism includes a driving mechanism, a thigh support 31, a calf support 36 (including an upper leg support 3601 and a lower leg support 3602), and a thigh support 31 and calf support 36 are rotatably connected by knee joint shaft 21, calf lower support is connected to exoskeleton shoe cover 28 by ankle joint shaft 29, thigh support 31 and calf support 36 can be tied by thigh 20 and calf 22, respectively Fix to the wearer's leg.
  • the exoskeleton driving mechanism, battery, control circuit, etc. can be placed on the wearer's waist (back side) through the waist tie 30, and the parallel elastic driver is located in the exoskeleton driving mechanism.
  • One end of the thigh wire tube 305a is connected to the exoskeleton drive mechanism (that is, the first end of the wire), and the other end is downward along the thigh, and is stabilized on the thigh support 31 by the thigh wire tube end fixing seat 32 and other mechanisms, and then passes through the knee joint
  • the shaft 21 that is, the second end of the wire
  • the wire can be pressed on the knee joint shaft 21 through the knee joint wire cap 34 to prevent the wire from shifting
  • down the calf and pass the end of the calf wire tube 305b to the fixed seat 35 and other mechanisms are stabilized on the upper leg bracket 3601, and then the end of the wire is fixed to the shoe cover cantilever 27 (that is, the third end of the wire) downward.
  • the wire can be fixed on, for example, the upper part of the upper leg bracket 3601 after passing through the knee joint shaft 21.
  • Middle that is, there is no third end of the wire.
  • the calf support 36 further includes a calf length adjustment mechanism 23, which can adjust the length of the calf support 36 to adapt to wearers of different heights.
  • a clutch locking mechanism can also be set between two adjacent actuators (such as two power-assisted joint mechanisms) 37, and the clutch locking mechanism is respectively connected to the aforementioned two actuators through a cable, and when the corresponding assisted joint mechanism in the assisted exoskeleton (or the wearer’s assisted joint) is in a state of straightening or close to straightening, the The clutch locking mechanism 37 is in an engaged state, so that the power output from the driving mechanism is transmitted to the two actuators connected to the clutch locking mechanism 37 through the above-mentioned pulling mechanism; and when the assisted joint (or assisted joint mechanism) is in bending In the state, the clutch and locking mechanism 37 is in the non-engaged state, so
  • the clutch locking mechanism 37 can be provided between the knee joint and the ankle joint, so that the knee joint and the ankle joint constitute a linkage joint, and/or the clutch locking mechanism 37 can be provided between the hip joint and the knee joint. , So that the hip joint and knee joint constitute a linkage joint.
  • the clutch locking mechanism 37 includes: a clutch locking base 371, which is connected to the cables of two actuators and is provided with a cable slider 372 with ratchet teeth 372-1; A sliding pawl 374 that can be engaged with the ratchet teeth on the cable slider 372; and a clutch push rod 373 for pushing the sliding pawl 374 to slide to engage with the cable slider 372, wherein the clutch push rod 373 and the cable slider 372 are both installed in the clutch locking base 371 in a manner that can slide up and down along the height direction of the clutch locking base 371, and the sliding pawl 374 can be moved along the width direction of the clutch locking base 371.
  • corresponding cable end mounting slots 3720 can be opened at both ends of the cable slider 372 to install the cable ends of the cables connected to the two actuators (such as those close to the actuator).
  • the wire end 41a of the upper end wire 4a of the mechanism and the wire end 41b) of the lower end wire 4b of the actuator far away from the actuator are connected to the two actuators, that is, the two ends of the wire slider 372 are connected to the two The respective ends of the cables of the two actuators are connected.
  • the cable slider 372 is installed on one side of the clutch locking base 371, such as the right side, so as to be slidable up and down with respect to the height direction of the clutch locking base 371.
  • a slider chute 3711 can be opened along the height direction on the right side of the clutch locking base 371, and corresponding slider end caps 3711 are provided at the upper and lower ends of the slider chute 3711.
  • the slider end cover 3711-1 is provided with a cable through hole 3711-2 through which the cable 4 can pass, and a cable tube installation groove 3711-3 for installing the end of the cable tube 305.
  • the slider slides The height dimension of the groove 3711 is greater than the height dimension of the cable slider 372, so as to provide the cable slider 372 with a space for sliding up and down.
  • the sliding pawl 374 is installed on the other side of the clutch locking base 371, such as the left side, so as to be slidable to the left and right relative to the width of the clutch locking base 371.
  • a pawl slide groove 3712 can be opened in the width direction on the left side of the clutch locking base 371, and the rightmost end of the pawl slide groove 3712 is in communication with the slider slide groove 3711.
  • the elastic reset element mounting groove 3741 of the element 376 is provided with a first mounting end cover 377-1 that can seal the pawl sliding groove 3712 at the notch of the pawl sliding groove 3712, and the first mounting end cover 376-
  • a first guide post 376-2 for installing the second elastic reset element 376 is provided at a position corresponding to the second elastic element 376, and at least one limiting protrusion 3740 is provided on the sliding pawl 374.
  • the clutch push rod 373 is also mounted on the clutch locking base 371 in a manner that can slide up and down along the height direction of the clutch locking base 371.
  • a push rod slide groove 3713 that penetrates the right side of the pawl slide groove 3712 can be opened on the clutch locking base 371 near the slider slide groove 3711, and a push rod slide groove 3713 can be installed at the bottom of the push rod slide groove 3713.
  • the first elastic reset element 375 (specifically, a second guide post 375-1 can be fixedly installed at the bottom of the push rod chute 3713 for installing the first elastic reset element 375 while sealing the push rod chute The bottom of the 3713), and the clutch push rod 373 is provided with at least one convex chute 3730 for providing a movement path to the above-mentioned limiting convex 3740, see Fig. 5i and Fig. 5j.
  • the first elastic return element 375 (such as a spring) located at the bottom of the clutch push rod 373 and installed in the clutch locking base 371 turns the clutch push rod 373 toward Tighten up, and at this time, the limit protrusion 3740 on the sliding pawl 374 is located at the first limit position of the movement path provided by the protrusion chute 3730 on the clutch push rod 373 (for example, the leftmost position of the protrusion chute 3730) Side, see Figure 5g), so that the sliding pawl 374 is compressed on the side of the sliding pawl 374 and installed in the clutch locking base 371 in the second elastic return element 376 (such as a spring), that is, the sliding pawl
  • the pawl 374 is located in the unlocked position of the clutch locking base 371, so that the sliding pawl 374 is separated from the cable slider 372, and the clutch locking device is in a loose state.
  • the cable slider 372 can freely move up and down along the height of the clutch locking base 371. Therefore, when the driver provides power assistance, the cable 4a at the upper end of the clutch locking base 371 transmits the power provided by the driver To the cable slider 372, and transmitted by the cable slider 372 to the lower end cable 4b, the lower end cable 4b is driven to move up and down, and the power is transferred to the actuator connected to the lower end cable 4b (such as ankle booster joint mechanism).
  • the sliding pawls 374 are in two
  • the second elastic reset member 376 slides to the right to the engaged position, so that the pawl on the sliding pawl 374 engages with the ratchet on the cable slider 372, that is, the clutch locking mechanism is engaged/locked. .
  • the cable slider 372 can no longer move upward, that is, the power provided by the drive mechanism is only transmitted to the actuator connected to the upper cable 4a (that is, the actuator close to the driver), but not to the lower cable. 4b The connected actuator (that is, the actuator far from the drive).
  • the ratchet teeth 372-1 on the above-mentioned cable slider 372 are wedge-shaped, so that when the cable slider 372 receives the pulling force of the lower end cable 4b, the wedge surface of the ratchet teeth 372-1 can still slide
  • the pawl 374 moves in a direction close to the first limit position, such as pushing and sliding to the left, so that the cable slider 372 can move in the direction of the lower end cable 4b.
  • a solenoid valve control method can also be used.
  • a battery valve is set above the clutch push rod 373, and at least one is embedded on the top of the clutch push rod 373.
  • the pull line between the knee joint power-assisted joint mechanism and the ankle joint power-assisted joint mechanism (hereinafter referred to as the knee power-assisted joint mechanism and the ankle power-assisted joint mechanism) is set
  • the clutch locking mechanism specifically, a clutch locking mechanism 37 is also provided between the second end of the steel wire (or upper end pull wire 4a) and the third end of the steel wire (or lower end pull wire 4b).
  • the clutch locking mechanism can allow When the knee joint is bent to a large extent, the clutch locking mechanism enters the separated state and stops the transmission of tensile force to the ankle assist joint mechanism, so that the power generated by the exoskeleton driver is concentrated on the knee assist joint mechanism, helping the wearer to climb the stairs, Climbing; and when the bending degree of the knee joint is reduced to a certain angle, the clutch and locking mechanism enters the engaged state again, restoring the transmission of the pulling force to the ankle booster joint mechanism, and realizes the boosting of the ankle joint.
  • the assisting force can be better distributed between the knee joint and the ankle joint, which improves the exoskeleton driver of the present invention to provide lower limbs.
  • Boost efficiency by adding a clutch and locking mechanism between the end of the cable between two adjacent actuators, the assisting force can be better distributed between the knee joint and the ankle joint, which improves the exoskeleton driver of the present invention to provide lower limbs.
  • the cable in the cable mechanism can be divided into three branches through the three cable channels in the power-assisted exoskeleton, wherein the two branches are symmetrically arranged in the power-assisted exoskeleton and the corresponding power-assisted joints On the left and right sides of the mechanism, another branch is arranged directly in front of or directly behind the power-assisted joint mechanism.
  • the cable can also be divided into two branches or more branches according to actual needs. Referring to Figures 5d to 5f, a knee joint assist mechanism is taken as an example for description.
  • the knee assist joint mechanism includes at least three wire channels (ie cable channels), including a left shaft 21a on the left side of the wearer’s knee joint, a right shaft 21b on the right side of the wearer’s knee joint, and one Knee joint wire chute 38 located on the front of the wearer's knee joint.
  • the steel wire (or braided belt 4) passes through the knee joint in three ways.
  • the wires on the left shaft 21a and the right shaft 21b can provide the wearer's knee joint with left and right balanced assistance.
  • the wire on the front of the knee joint can provide greater assistance to the rotation of the wearer’s knee joint.
  • the steel wire channel of the knee power-assisted joint mechanism is provided on the front of the knee joint (including the knee joint steel wire chute 38), and the left and right shafts 21a of the knee power-assisted joint mechanism 21b adopts a gear mechanism, and the wire channel from the thigh bracket 31 to the knee joint wire chute 38 to the calf bracket 36 can be covered with a cover 40 to prevent the wire from shifting.
  • the wire is coiled multiple times at the assist joint pulley 39 of the knee assist joint mechanism through a movable pulley mechanism to change the transmission ratio of the wire from the exoskeleton drive to the knee assist joint mechanism to realize the knee
  • the boosting torque is amplified at the power-assisted joint mechanism.
  • Embodiment 2 Method for detecting the driving state of parallel elastic drivers
  • the present invention also provides a driver control method of a power-assisted exoskeleton, wherein the driver is any of the above-mentioned drivers.
  • the control method includes the steps:
  • the current working status type of the drive can be directly obtained from the controller, specifically follow-up, or ready, or assist;
  • the current working state of the driver is power assist
  • obtain the current knee bending angle, or knee extension angular velocity, or knee bending angular velocity of the power-assisted joint mechanism and according to the knee bending angle and the preset failure threshold angle, or Knee joint extension angular velocity and preset maximum extension angular velocity, or knee flexion angular velocity and preset flexion threshold angular velocity, determine whether the current assistance needs to be cancelled, if so, set the current working state of the driver from the assist state to the follow-up state, and Set the output torque of the drive to 0.
  • the working state of the motor in the drive is controlled by the controller. Therefore, the current working state can be obtained directly from the storage module of the controller, and the specific type can be identified, for example, follow-up, ready and Boost.
  • the embodiment of the present invention is a method for detecting the driving state of a parallel elastic driver. Please refer to FIG. 6 and FIG. 7 to determine the driving state in the following manner:
  • this detection method can be implemented by installing a controller and motor state monitoring to achieve the above detection method. Refer to the flow chart as shown in the figure. Before starting, initialize the motor so that the motor state is follow-up and the torque is 0. During the follow-up process, it gradually becomes ready, then assists, and finally returns to follow-up.
  • FIG. 7 is a simple control scheme of the knee joint assisted exoskeleton mechanism in some embodiments of the present invention.
  • the exoskeleton evaluates and judges the working state of the exoskeleton through the angle sensor embedded in the torque motor (the angular velocity and angular acceleration are obtained after the difference) and the armature current sensor (the motor output torque is obtained after the formula conversion).
  • the controller sets three working states for the motor, namely: follow-up, ready, and assist.
  • the judgment variables of the control system include: knee joint angle (obtained from the motor angle converted by the system total transmission ratio), knee bending angular velocity (obtained from the motor rotation angular velocity converted by the system total transmission ratio, pay attention to the knee joint bending angular velocity and knee joint
  • the extension angular velocity is actually the same parameter, and the two are just opposite in the direction of movement.
  • two positive and negative values representing the motor rotation angular velocity are used. ).
  • the assist threshold angle, the failure threshold angle, the bending threshold angular velocity, the extension threshold angular velocity, and the maximum extension angular velocity are the judgment threshold parameters set by the control system, and T ref is the output torque of the motor set by the control system.
  • the advanced initialization operations include setting the knee joint angle to 0 degrees, setting the motor status to follow-up, and setting the motor torque to 0Nm, and then the system enters the main loop.
  • the state of the motor is first judged:
  • the motor follows the wearer’s knee joint freely.
  • the knee joint bending angle is greater than the set assist threshold angle, and the knee bending angular velocity is greater than the set bending threshold angular velocity, it indicates that the degree of knee bending has been reached.
  • set the motor state to "ready” and set the motor torque to 0Nm.
  • the extension angular velocity of the knee joint is greater than the extension threshold angular velocity, it means that the knee joint has been converted from bending motion to extension motion at this time, and the previous bending motion has exceeded the set assist threshold angle (so it enters the "preparation” Status), as long as the knee joint bending angle is greater than the failure threshold angle at this time, the motor status is set to “assistance” and the motor outputs the assist torque of T ref.
  • the failure threshold angle is a set value that is greater than 0 degrees and less than the assist threshold angle.
  • the motor In the “assist” state, the motor is continuously outputting the torque of T ref to the knee joint.
  • the knee joint angle is less than the failure threshold angle, it means that the wearer’s knee joint is close to upright under the assisting action, and the motor assist is cancelled at this time; if the knee joint extension angular velocity is greater than the maximum extension angular velocity, it indicates that the knee joint load may be at this time It is lighter (or the exoskeleton is not properly worn on the wearer’s knee joints, which is an idling exercise), the knee joint of the exoskeleton has quickly reached the maximum angular velocity of extension with the help of the motor.
  • the motor state is reset to the "follow-up" state, and the motor torque is set to 0Nm.
  • the system will judge the knee joint bending angle through the statement in the follow-up state in the next cycle. Whether it is still greater than the assist threshold angle, if it is, the motor resets the “ready” assist state. In this way, the wearer changes his motion intention after assisting, and continues to bend his leg.
  • the motor will be in the state of "assisted” -> "follow-up” -> “ready”, and it can provide assistance to the knee joint during the next stretching exercise.
  • the "maximum angular velocity of extension" is used to determine whether the system is in a light-load state, and to avoid excessive extension exercises caused by the knee joint extension speed.
  • the advanced control strategy can also obtain the load state of the system through the angular velocity difference, that is, the angular acceleration, and dynamically adjust the T ref of the motor torque during each assist process through the change of the load state. In this way, the system dynamically changes the maximum assist torque of each gait according to different load states, making the exoskeleton's assist strategy more intelligent.
  • the system After judging the state of the motor, the system will further judge whether the user changes T ref or each threshold parameter through keyboard or remote control input. If so, adjust the corresponding values of the above various threshold parameters, otherwise it will Enter the next cycle.
  • the technical solution proposed by the present invention is mainly to solve the technical problem that most active assisted exoskeletons in the prior art are "too rigid” or “too flexible".
  • “Too rigid” refers to placing the hydraulic push rod or geared motor directly at the joint.
  • this layout can efficiently transmit the driving torque to the wearer’s joints, it severely increases the swing inertia of the wearer’s lower limbs and deteriorates the gait dynamics of the human-machine coupling system. It makes people feel that the joints are assisted when used. , But the bulkiness of the exoskeleton may drag the wearer more.
  • “Too flexible” means that all the drivers are placed above the waist, and a large number of flexible binding and wire drive methods are used in the wearer's lower limbs to convert the torque of the motor into wire tension to act on the wearer's joints.
  • this layout can reduce the inertia of the wearer's lower limbs, the too soft binding leads to the low equivalent stiffness of the human-computer interaction interface, and the motor output torque is more converted into binding deformation and excessive pulling force. It may also cause slippage of the flexible binding on the limbs, which obviously limits the peak output of the booster.
  • the technical scheme adopted by the present invention combines a steel wire flexible transmission mechanism and a joint rigid actuator, which is a rigid-flexible knee joint assisted exoskeleton, which can take into account the advantages of the flexible exoskeleton to reduce the limb swing inertia and the rigid exoskeleton to efficiently drive.
  • the wire is a non-linear element that can efficiently transmit tension but cannot transmit thrust
  • the wire may be in a state of free relaxation when the motor is not assisted or not working, which is not conducive to active exoskeleton Judging the current motion state of the joint may also cause the steel wire at the reel to entangle with each other and cause mechanical failure. Therefore, the present invention proposes the applicant's proposal to connect the drives in parallel ( Figure 8) with an elastic mechanism (ie, "parallel elastic drives"). By adding elastic elements in the mechanism, the steel wire rope can be tightened by the elastic elements at any time. In order to avoid the uncertainty of the system caused by the slack of the wire.
  • the driver without elastic mechanism when the motor is not working, the steel wires at the joint end and the reel end are in a slack state
  • the driver series elastic mechanism scheme the addition of a series spring makes the steel wire divided into two independent segments, which increases the system Complexity; the compression spring is connected in series between the motor reel and the knee joint wire pulley, although the steel wire at the joint end can always be in tension, but the wire at the reel end is still in a free and relaxed state when the motor is not working
  • the mechanism can always keep the excess steel wire tightly wound on the reel when the motor is not assisted or working, thereby avoiding the system uncertainty introduced by the flexibility of the steel wire, and the exoskeleton
  • the actuator is simplified as much as possible, thereby reducing the impact on the swing inertia of the lower limbs and improving the motion sensitivity of the man-machine system.
  • the parallel elastic element and the motor torque are superimposed to pull the wire, thereby increasing the peak output torque of the driver .
  • Embodiment 3 Non-motion damping parallel elastic drive based on centrifugal clutch
  • the human body is assisted in daily exercise, apart from a small number of exercise opportunities that require a lot of assistance, there are also many exercise opportunities that do not require assistance.
  • the human knee joint needs greater assistance when climbing steps and squats. More often, the human body is walking on flat roads. At this time, the exoskeleton is not needed to provide obvious assistance, and it is less desirable that the exoskeleton will bring greater damping to the wearer's walking.
  • the winch 2 in the wire drawing mechanism is always connected to the output end 6 of the torque motor 1 (for example, the output disk of the torque motor), that is, the driving mechanism is directly connected to the winch 2 in the wire drawing mechanism, therefore,
  • the pull wire will also reciprocate with the torque motor 1.
  • the torque motor 1 since the torque motor 1 is not energized, it is transformed into a damping member. In other words, when the wearer's joints are not assisted, they will feel continuous movement damping.
  • this motion damping can allow driving mechanisms such as motors to charge the battery in reverse, the negative effect of the exercise experience of the wearer wearing the booster exoskeleton is more, that is, it has continuous motion damping, thereby reducing the wearer's exercise experience.
  • the present invention also provides a parallel elastic driver with no motion damping in the booster exoskeleton, which can avoid or relieve the drive mechanism (such as a torque motor) from being caused by the pulling mechanism when the parallel elastic driver is not assisted.
  • the drive mechanism such as a torque motor
  • the present invention provides a parallel elastic driver without movement damping, including: each component in the above parallel elastic driver, such as a driving mechanism, a wire pulling mechanism, and an elastic mechanism, and the connection relationship between the various components can refer to each of the above parallel elastic drivers.
  • the connection relationship of the components will not be repeated here, see Figure 9a and Figure 9b; the difference is that the parallel elastic driver without motion damping also includes: a centrifugal clutch 47 arranged between the wire pulling mechanism and the driving mechanism, when the driving mechanism (For example, when the torque motor 1 is described above), the centrifugal clutch is engaged to connect the drive mechanism and the wire pulling mechanism (for example, the winch 2 in the wire pulling mechanism is connected to the output end 6 of the torque motor 1 for synchronous rotation); When the driving mechanism (such as the above-mentioned torque motor 1) stops providing assistance, the centrifugal clutch 47 is released, thereby disconnecting the connection between the above-mentioned driving mechanism and the above-mentioned cable mechanism, avoiding the conversion of the driving mechanism into a
  • the winch 2 in the wire drawing mechanism can freely pull out and retract the wire under the action of the coil spring 5 (ie, elastic mechanism); and, Since the centrifugal clutch 47 is not engaged (that is, in a loose state), that is, the connection between the torque motor 1 and the winch 2 of the pulling mechanism is disconnected. Therefore, the winch 2 will not be affected by the damping of the motor. Accordingly, the wearer After wearing the power-assisted exoskeleton, it will feel like wearing a passive power-assisted joint mechanism with elastic energy storage elements (such as parallel springs), which greatly improves the user experience.
  • elastic energy storage elements such as parallel springs
  • the centrifugal clutch 47 includes a pawl seat 60, a ratchet wheel 208, at least one pawl 59 and at least one elastic reset member 58, wherein the ratchet wheel 208 is coaxially rotatably connected with the winch 2 in the cable mechanism (for example, , The ratchet wheel 208 can be directly fixed on the winch 2, or a pawl groove can be directly arranged on the inner circumferential surface of the winch 2 to obtain a winch ratchet); the pawl seat 60 is synchronized with the output end 6 of the torque motor 1 Rotation connection (for example, the pawl base 60 can be fixed to the output end of the torque motor 1 by a fixing member such as a screw); the first end of each elastic reset member 58 is fixed on the pawl base 60, and the second The end is connected to the pawl 59 (that is, each elastic reset member 58 corresponds to a pawl 59); the at least one pawl 59
  • each pawl 59 since the rotation axis of each pawl 59 is not coaxial with the central axis of the pawl seat 60, that is, the pawl 59 is installed with an eccentric structure. Therefore, when the torque motor 1 provides assistance, that is, When the torque motor 1 drives the pawl seat 60 to rotate synchronously, a certain centrifugal force will be generated, and when the rotation speed of the torque motor 1 reaches a certain threshold, each pawl 59 will move away from the pawl under the action of the centrifugal force.
  • the central axis of the seat 60 expands outwards and gradually meshes with the above-mentioned ratchet 208, thereby connecting the motor and the wire pulling mechanism; and, as the pawl 59 expands outwards, the pawl 59 will stretch the elastic reset member 59 (In the initial state, the elastic resetting member 59 has a certain pre-tightening force), so that the elastic resetting member 59 can accumulate energy; and when the torque motor 1 stops assisting, that is, when the motor stops rotating, due to the absence of centrifugal force, the pawl Under the action of the elastic reset member 59, the pawl Under the action of the elastic reset member 59, the pawl 59 will be gathered in the direction close to the central axis of the pawl seat 60, so that the pawl 59 will gradually separate from the ratchet wheel 208, thereby disconnecting the motor and the wire pulling mechanism.
  • centrifugal clutch 47 between the wire pulling mechanism and the driving mechanism, and the centrifugal clutch 47 is always in a clutch loose (that is, not engaged) state when the motor is not energized, the winch is rotated forward and backward.
  • the movement will not be affected by the motor damping, that is, the disconnection between the pulling mechanism and the driving mechanism, which avoids the driving mechanism, such as the motor being transformed into a damping part, so that the wearer feels that the free movement of the joint is not restricted, and the centrifugal clutch
  • the work reliability is high, the structure is simple, and the system cost and control complexity are reduced; but when the motor starts to be energized/starts to assist, because the clutch is originally in a loose state, the motor will accelerate and rotate without load, and the centrifugal clutch It is this accelerated rotation movement that allows the pawl to open under the centrifugal force and lock the ratchet groove on the winch (that is, the pawl meshes with the ratchet wheel), thereby connecting the pulling mechanism with the driving mechanism and connecting the drive mechanism
  • the output torque is transmitted to the winch of the wire drawing mechanism to drive the actuator to move and achieve power assistance.
  • the parallel elastic driver without motion damping in this embodiment not only inherits the advantages of the parallel elastic driver in the above embodiment, such as: firstly, the driver and the actuator are separated, so that the heavier driver controller and battery can be separated The driver is integrated into the wearer’s back through a cable drawing mechanism such as a cable tube or braided belt, that is, a flexible transmission form, which reduces the weight of the actuator, thereby reducing the increase in the swing inertia of the wearer’s limbs, and the wearer feels the limbs.
  • a cable drawing mechanism such as a cable tube or braided belt, that is, a flexible transmission form
  • the second aspect when power is needed, the torque of the motor can be quickly transmitted to the joint execution end, the power delay is small;
  • the pulling wire in the pulling mechanism such as a steel wire or a woven bag, is assisted in the driving mechanism
  • the tension is always maintained, so as to avoid mechanical failures caused by the winding of the cable, and even safety accidents; and it can also prevent the driving mechanism (such as a motor) from turning into
  • the damping element follows the movement of the winch in the cable mechanism, which leads to the problem of more obvious damping force for the free movement of the wearer's joints, thereby ensuring the smoothness of the free movement of the wearer's joints when no assistance is required.
  • the pawl seat 60 is in the shape of a ring. Synchronous rotation connection; and on the front side of the pawl seat 60 opposite to the back, three pawl rotating shafts 6001 are evenly distributed along the circumferential direction at a position away from the central axis, and each pawl rotating shaft 6001 is provided with a pawl rotating shaft 6001 side Claw seat limit block 6002.
  • each pawl 59 is provided with a corresponding rotation hole 5901, so that when the rotation hole 5901 is matched with the pawl rotation shaft 6001, the pawl 59 can rotate around the pawl rotation shaft 6001 ( That is, the pawl 59 is mounted on the pawl seat 60 in a manner to rotate relative to the pawl seat 60); and the second end of the pawl 59 away from the pawl rotation shaft 6001 is provided with a second end that can be connected to the ratchet wheel 208
  • the ratchet tooth end surface (including the front end surface 5903 of the pawl tip and the second arc-shaped outer end surface 5905) that is matched with the ratchet groove 208-1.
  • the first end of the pawl 59 is also provided with a pawl limiting projection 5902 that can be matched with the pawl seat limiting block 6002 on the pawl seat 60 close to the pawl rotating shaft 6001, so that when When the pawl 59 expands outward in the direction away from the central axis of the pawl seat 60 under the action of centrifugal force, the pawl limiting protrusion 5902 on each pawl 59 is matched with the corresponding pawl seat limiting block 6002 At this time, the end surface of the ratchet tooth at the second end of the pawl 59 is also matched with the ratchet groove 208-1 on the ratchet wheel 208, that is, the pawl 59 meshes with the ratchet wheel 208, see FIG. 9d.
  • the three pawls 59 are arranged in the circumferential direction of the pawl seat 60, and there is a pawl seat protrusion between adjacent pawls 59 6002 (specifically, the front end surface 5903 of the second end of one of the pawls 59 is attached to the first side surface 6002-1 of the pawl seat limiting block 6002 away from the pawl rotation shaft 6001 nearby, and the other pawl 59 is the first side surface 6002
  • One end is close to the inner surface 5904 of the pawl limiting protrusion 5902, and then it is attached to the pawl seat limiting block 6002 close to the second side surface 6002-2) of the pawl rotating shaft 6001 nearby, and three
  • the envelope/boundary line formed by the boundary line of the pawl 59 is located in the range enclosed by the outer circle of the circular pawl seat 60 (preferably, the second end
  • a pawl limiting protrusion 5902 is provided at the first end of the pawl 59 close to the pawl rotating shaft 6001, and a pawl seat limiting block 6002 is provided on the side of the pawl rotating shaft 6001. , So that the pawl limiting projection 5902 and the pawl seat limiting block 6002 define the maximum angle of rotation of the pawl 59 (the maximum angle is when the pawl 59 is engaged with the ratchet wheel 208, the The maximum angle at which the pawl 59 rotates around the pawl rotation axis 6001).
  • each elastic reset member 58 is fixed on the pawl seat 60 and is close to the pawl rotation shaft 6001, and the other end is fixed on the pawl 59.
  • the winch 2 in the wire pulling mechanism is not directly connected to the output disc 6 of the motor 1, but the centrifugal clutch 47 is connected to the output disc 6 (that is, the output end) of the motor 1 and the input of the wire pulling mechanism respectively. End connected.
  • the winch mounting base is fixed on the main body of the motor 1, and then the winch 2 is mounted on the winch mounting base in a rotatable manner relative to the winch mounting base superior.
  • the winch mounting seat may adopt a second bearing seat 51 fixed on the main body of the motor 1, and the second bearing seat 51 is provided with a second bearing 61 that can be matched with the shoulder of the winch 2, and the second bearing seat 51 corresponding to the output disc 6 of the motor 1 is provided with a through hole for placing the pawl seat 60 in the centrifugal clutch, so that the pawl seat 60 can be installed in the center of the second bearing seat 51 and directly connected with the output of the motor 1
  • the disk 6 is connected in synchronous rotation; and the winch 2 of the cable mechanism is mounted on the second bearing seat 51 through a shaft shoulder (specifically, the bearing shoulder 207 of the second bearing 61 can be provided on the winch 2), and is located in the spine Above the claw seat 60.
  • a pawl end cover 57 can also be provided on the pawl seat 60.
  • a plurality of mounting posts/installation holes for installing the pawl end cover 57 may be provided on the pawl seat 60, so that the pawl end cover 57 can be installed on the pawl seat 60 by fixing parts such as screws; or , The pawl end cap 57 can also be fixed on the winch 2 in the cable mechanism.
  • the above-mentioned elastic mechanism is installed on the side of the winch 2 away from the centrifugal clutch (or above the winch 2).
  • the elastic mechanism includes: a coil spring mounting seat 50 and a center of the coil spring mounting seat 50 The coil spring 5, wherein the coil spring mounting seat 50 is fixed on the wire socket 3, and the inner ear of the coil spring 5 is installed in the inner ear mounting groove provided on the winch 2, and the outer ear is fixed on the coil spring mounting seat 50 In the mounting groove of the outer ear.
  • the elastic mechanism further includes: a coil spring end cover 8 arranged on the coil spring mounting seat 50 for protecting the coil spring 5.
  • the center of the coil spring end cover 8 is provided with a first bearing 55, that is, the coil spring end cover 8 can be mounted on the winch 2 through the first bearing 55, so that the winch 2 can be opposed to the coiled yellow end cover 8. Rotate.
  • the winch 2 When the motor 1 stops rotating, during the movement of the actuator, under the action of the pull wire 4, the winch 2 is rotated clockwise by a small amount of angle, so that the pawl 59 is retracted to the position under the pulling force of the elastic reset member 58 In the pawl seat 60, at this time, the centrifugal clutch is disengaged, that is, the connection between the winch 2 and the motor 1 is disconnected, and then the winch 2 can freely rotate clockwise or counterclockwise with the cable 4, that is, the centrifugal clutch 47 Back to the initial state.
  • the present invention also provides another parallel elastic driver, which includes the components of the above-mentioned various embodiments.
  • the ratchet in the centrifugal clutch of the parallel elastic driver of this embodiment A synchronizing gear is arranged in the center of the pawl base 60, and a first incomplete gear 76 that can mesh with the non-gear is arranged on the side of each pawl 59 corresponding to the synchronizing gear, so that when the pawl 59 rotates around it When the shaft 6001 rotates, each pawl 59 realizes synchronous movement through the corresponding first incomplete gear 76 and the synchronous gear, thereby ensuring that all the eccentric ratchet wheels 59 can mesh with the ratchet wheel 208 at the same time.
  • the synchronous gear includes three second incomplete gears 75 evenly distributed in the circumferential direction, and each second incomplete gear 75 corresponds to the first incomplete gear 76 on a pawl 59.
  • the centrifugal clutch may also be a multi-plate friction clutch that is actively controlled by a solenoid valve, or it may be a passive clutch that uses physical and mechanical principles to achieve engagement and disengagement.
  • the centrifugal clutch 47 when the driving mechanism, such as the motor 1, is not working, the centrifugal clutch 47 is not engaged, that is, the connection between the wire pulling mechanism and the driving mechanism is disconnected. , The cable 4 in the cable mechanism will only drive the winch 2 to rotate. At this time, since the drive mechanism, such as the motor 1 is not converted into a damping member, the winch 2 can be very flexible in both forward and reverse rotations; The parallel elastic mechanism, such as the coil spring 5, will retract the excess cable at any time; and when the driving mechanism, such as the motor 1 is working, the pawl 59 in the centrifugal clutch 47 will interact with the ratchet wheel 208 on the winch 2 under the action of centrifugal force. Engagement means connecting the driving mechanism with the wire pulling mechanism, so that the torque of the driving mechanism, such as the motor 1 can be directly transmitted to the winch 2, and then drag the wire to retract the drive, which not only has high transmission efficiency, but also has a short corresponding time.
  • the centrifugal clutch 47 since the engagement of the centrifugal clutch 47 is achieved by centrifugal force, that is, the centrifugal clutch 47 has a certain rotation speed for a certain period of time (such as a few seconds or a few milliseconds) before the engagement (or clutch).
  • the winch 2 is likely to be at rest or immobile, or even in the process of reverse rotation. Therefore, at the moment when the centrifugal clutch engages 47, both the motor 1 and the winch 2 will receive a greater impact, and the impact of the winch 2 will be affected.
  • the present invention also provides a series-parallel elastic driver, which includes the various components of the parallel elastic driver in the above embodiments, such as the centrifugal clutch 47, the wire pulling mechanism, the elastic mechanism and the driving mechanism; the difference is:
  • the series-parallel elastic driver of the embodiment of the present invention further includes: the input end of the wire-drawing mechanism in series (such as series connection between the wire tube 305 and the wire tube fixing seat 3 in the wire-drawing mechanism) or the output end (such as the wire-drawing mechanism in series) Between the end of the cable and the actuator) the elastic buffer component;
  • the centrifugal clutch engages to connect the drive mechanism with the wire pulling mechanism, and the elastic buffer component reduces the impact force caused by the moment of centrifugal clutch engagement;
  • the centrifugal clutch disconnects the connection between the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
  • the elastic buffer member is a compression spring 48.
  • the compression spring is arranged before the pull wire 4 enters the wire tube 305 (for example, by setting a compression spring container on the wire tube fixing seat 3). Slot 81), the end 80 of the wire tube 305 is assembled on a perforated plug that can slide along the compression direction of the compression spring 48, so that when the centrifugal clutch is engaged, an increased pull-back torque is suddenly applied to the winch 2, and the actuator When there is greater resistance (for example, the wearer’s gravitational potential energy needs to be lifted), the pull wire 4 will pass through the squeeze tube 305 to make it compress the compression spring 48 in series. As the compression stroke of the compression spring 48 increases, the compression spring 48 The reverse pressure of 48 to the line pipe 305 also gradually increases, thereby gradually increasing the boosting torque of the actuator.
  • the end 80 of the wire tube 305 is connected in series with the compression spring 48, which reduces the impact force caused by the centrifugal clutch at the moment of engagement, which can not only give the wearer a smoother power-assisting force change trend, but also slow down the centrifugal clutch The impact of pawl 59 in 47 wears.

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Abstract

Disclosed are a parallel elastic driver (12) of a power-assisted exoskeleton, and a control method therefor. The driver (12) comprises a driving mechanism, a wire pulling mechanism, and an elastic mechanism, which is used for providing, when the driving mechanism stops providing power, a recovery force for the wire pulling mechanism so as to tighten a pull wire (4) in the wire pulling mechanism, wherein the elastic mechanism and the driving mechanism are arranged in parallel at an input end of the wire pulling mechanism. The power provided by the driving mechanism and the recovery force provided by the elastic mechanism are flexibly transmitted to each actuating mechanism by means of the wire pulling mechanism, so as to realize the separate design of exoskeleton driving and the actuating mechanisms, such that mechanisms with a large mass, such as the driver, and which can be separated from the actuating mechanisms can be arranged at the waist or above of a wearer, thereby reducing the weight of the system itself of a power-assisted exoskeleton and thus reducing the negative influence of the weight of the exoskeleton itself on the walking of the wearer.

Description

一种助力外骨骼的并联弹性驱动器及其控制方法Parallel elastic driver for boosting exoskeleton and control method thereof
优先权申请Priority application
本申请要求2020年3月31日提交的中国发明专利申请CN 2020102424530“一种外骨骼驱动器及驱动状态监测方法”，和2021年3月28日提交的中国发明专利申请CN2021103293593“并联弹性驱动装置、串并联弹性驱动装置及外骨骼”的优先权，这两件优先权中国发明专利申请以引用方式全文并入。This application requires the Chinese invention patent application CN2020102424530 "An exoskeleton drive and drive condition monitoring method" filed on March 31, 2020, and the Chinese invention patent application CN2021103293593 "Parallel elastic drive device, The priority of “series-parallel elastic drive device and exoskeleton”, these two priority Chinese invention patent applications are incorporated by reference in their entirety.
技术领域Technical field
本发明涉及外骨骼助力装置技术领域，特别是涉及一种助力外骨骼的并联弹性驱动器、串并联弹性驱动器、该驱动器的控制方法以及具有该驱动器的助力外骨骼。The present invention relates to the technical field of an exoskeleton booster device, and in particular to a parallel elastic driver, a series-parallel elastic driver, a control method of the driver and a booster exoskeleton with the driver.
背景技术Background technique
助力外骨骼是一种新型的现代化可穿戴装置，这种装置融合了多种信息、控制***以及传感***集于一身,为助力外骨骼的穿戴者提供了相应的控制功能，能够协助穿戴者更高效地完成各项任务(例如，承重、搬运等)。The power-assisted exoskeleton is a new type of modern wearable device. This device integrates a variety of information, control systems and sensing systems. It provides corresponding control functions for the wearer of the power-assisted exoskeleton and can assist the wearer. Complete various tasks more efficiently (for example, load-bearing, handling, etc.).
目前，外骨骼助力的驱动方式有液压助力和电机助力等。其中，电机助力技术是目前采用最常用的驱动方式。然而，现有的电机驱动方式大都是直接将驱动电机安装在需要助力的执行机构处，例如，若对穿戴者的下肢关节进行助力时，常常是将驱动机构安装在腿部对应助力关节机构处，这将不可避免地会使外骨骼装置增加穿戴者腿部的摆动惯性(即使是微型电机)，从而导致穿戴者在行走过程中需要更多的发力来克服腿部惯性的增加，以产生与不穿戴外骨骼相同的运动加速度。正是因为此类原因，现有技术中的此类外骨骼不仅不能在人行走的过程中为穿戴者提供明显的助力，反而可能还会让穿戴者感觉装置笨重，限制了其运动自由，也即降低了穿戴者的用户体验。At present, the driving methods of exoskeleton assist include hydraulic assist and motor assist. Among them, motor assist technology is currently the most commonly used driving method. However, most of the existing motor drive methods are to directly install the drive motor at the actuator that needs assistance. For example, if the wearer’s lower limb joints are assisted, the drive mechanism is often installed at the leg corresponding to the assisted joint mechanism. , This will inevitably cause the exoskeleton device to increase the swing inertia of the wearer’s legs (even with micro-motors), resulting in the wearer’s need to exert more force during walking to overcome the increase in leg inertia to produce The same movement acceleration as without wearing an exoskeleton. For this reason, the exoskeleton in the prior art not only cannot provide obvious assistance to the wearer during walking, but may also make the wearer feel the device bulky, restricting their freedom of movement, and also That reduces the user experience of the wearer.
另一方面，大部分应用场景中，需要对穿戴者的多个关节进行助力，因此，若采用现有的电机驱动方式，当需要对下肢多个关节(例如，膝关节、踝关节)进行助力时，往往需要针对每个关节安装一个单独的电机，这将进一步增加外骨骼的重量，从而影响穿戴者行走的步态，即进一步降低了穿戴者的用户体验。On the other hand, in most application scenarios, multiple joints of the wearer need to be assisted. Therefore, if the existing motor drive method is used, multiple joints of the lower limbs (for example, knee joints, ankle joints) need to be assisted At times, it is often necessary to install a separate motor for each joint, which will further increase the weight of the exoskeleton, thereby affecting the walking gait of the wearer, that is, further reducing the user experience of the wearer.
发明内容Summary of the invention
本发明的目的在于提供一种助力外骨骼的并联弹性驱动器及其控制方法，部分地解决或缓解现有技术中的上述不足，实现驱动机构与执行机构的分离，同时降低助力外骨骼的***自重，从而降低外骨骼自重对穿戴者行走步态的负面影响。The purpose of the present invention is to provide a parallel elastic actuator for assisting exoskeleton and its control method, which partially solves or alleviates the above-mentioned shortcomings in the prior art, realizes the separation of the driving mechanism and the actuator, and reduces the self-weight of the assisted exoskeleton system. , Thereby reducing the negative impact of the exoskeleton's own weight on the wearer's walking gait.
为了解决上述所提到的技术问题，本发明具体采用以下技术方案：In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:
本发明的第一方面，在于提供一种助力外骨骼的并联弹性驱动器，其包括：用于提供助力的驱动机构，用于将所述助力传递至所述助力外骨骼的至少一个执行机构的拉线机构，以及用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力以收紧所述拉线机构中拉线的弹性机构，其中，所述弹性动力机构与所述驱动机构并联设置在所述拉线机构的输入端。The first aspect of the present invention is to provide a parallel elastic driver for boosting exoskeleton, which includes: a driving mechanism for providing boosting, and a wire for transmitting the boosting to at least one actuator of the boosting exoskeleton Mechanism, and an elastic mechanism for providing recovery force to the wire pulling mechanism to tighten the wire pulling in the wire pulling mechanism when the driving mechanism stops providing assistance, wherein the elastic power mechanism is arranged in parallel with the driving mechanism At the input end of the pulling mechanism.
在一些示例性实施例中，所述驱动机构包括：电机。In some exemplary embodiments, the driving mechanism includes a motor.
在一些示例性实施例中，所述拉线机构包括：用于传递所述助力的拉线，以及用于缠绕所述拉线的绞盘，其中，所述绞盘与所述电机同步转动连接，所述拉线的固定端固定在所述绞盘上，所述拉线的至少一个力输出端与所述至少一个执行机构相连。In some exemplary embodiments, the wire pulling mechanism includes: a wire for transmitting the assist force, and a winch for winding the wire, wherein the winch is connected to the motor for synchronous rotation, and the wire The fixed end is fixed on the winch, and at least one force output end of the pull wire is connected with the at least one actuator.
在一些示例性实施例中，所述并联弹性驱动器还包括：设置在相邻两个所述执行机构之间的离合锁死机构，所述离合所述机构通过所述拉线机构中的拉线分别与两个所述执行机构相连；当穿戴者的被助力关节处于伸直或接近伸直状态时，所述离合锁死机构处于啮合状态，使得所述驱动机构输出的助力通过所述拉线机构传递至与所述离合锁死机构相连的两个所述执行机构；而当所述被助力关节处于弯曲状态时，所述离合锁死机构处于未啮合状态，使得所述驱动机构输出的助力通过所述拉线机构传递至其中靠近所述驱动机构的所述执行机 构。In some exemplary embodiments, the parallel elastic driver further includes: a clutch locking mechanism arranged between two adjacent actuators, and the clutch locking mechanism is connected to the pulling wire in the pulling wire mechanism respectively. The two actuators are connected; when the wearer's assisted joint is in a straight or nearly straight state, the clutch and locking mechanism is in an engaged state, so that the boost output from the drive mechanism is transmitted to the wire pulling mechanism The two actuators connected to the clutch locking mechanism; and when the assisted joint is in a bent state, the clutch locking mechanism is in a non-engaged state, so that the boost output from the driving mechanism passes through the The wire pulling mechanism is transmitted to the actuator which is close to the driving mechanism.
在一些示例性实施例中，所述弹性机构包括：弹性蓄能部件，所述弹性蓄能部件安装在所述拉线机构上，且当所述动力机构向所述拉线机构提供助力时，所述弹性蓄能部件蓄能；当所述动力机构停止向所述拉线机构提供助力时，所述弹性蓄能部件释能，以向所述拉线机构提供所述回收力。In some exemplary embodiments, the elastic mechanism includes: an elastic energy storage member installed on the wire pulling mechanism, and when the power mechanism provides assistance to the wire pulling mechanism, the The elastic energy storage member stores energy; when the power mechanism stops providing assistance to the wire pulling mechanism, the elastic energy storage member releases energy to provide the recovery force to the wire pulling mechanism.
在一些示例性实施例中，所述弹性蓄能部件为卷簧，所述卷簧的外耳固定在所述拉线机构上，所述卷簧的内耳固定在所述卷簧的转轴上。In some exemplary embodiments, the elastic energy storage component is a coil spring, the outer ear of the coil spring is fixed on the wire pulling mechanism, and the inner ear of the coil spring is fixed on the rotating shaft of the coil spring.
在一些示例性实施例中，所述拉线机构中的拉线通过所述助力外骨骼中的三个拉线通道分为三路分支，其中，两路分支对称设置在所述助力外骨骼中相应助力关节机构的左右两侧，另外一路分支设置在所述助力关节机构的正前方或正后方。In some exemplary embodiments, the cable in the cable pulling mechanism is divided into three branches through the three cable channels in the power-assisted exoskeleton, wherein the two branches are symmetrically arranged in the power-assisted exoskeleton and the corresponding power-assisted joints On the left and right sides of the mechanism, another branch is arranged directly in front of or directly behind the power-assisted joint mechanism.
在一些示例性实施例中，所述拉线机构中的拉线通过所述助力外骨骼中的两个拉线通道分为两路分支，且两路分支对称设置在所述助力外骨骼中相应助力关节机构的左右两侧。In some exemplary embodiments, the cable in the cable mechanism is divided into two branches through the two cable channels in the power-assisted exoskeleton, and the two branches are symmetrically arranged in the power-assisted exoskeleton. The corresponding power-assisted joint mechanism On the left and right sides.
本发明的第二方面，在于提供一种助力外骨骼中无运动阻尼的并联弹性驱动器，其包括：用于提供助力的驱动机构，用于传递将所述助力传递至所述助力外骨骼中至少一个执行机构的拉线机构，用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力以收紧所述拉线机构中拉线的弹性机构，以及离心离合器，其中，所述驱动机构与所述弹性机构并联在所述拉线机构的输入端，所述离心离合器设置在所述驱动机构与所述拉线机构之间，且当所述驱动机构提供助力时，所述离心离合器将所述驱动机构与所述拉线机构连接，当所述驱动机构停止提供助力时，所述离心离合器断开所述驱动机构与所述拉线机构之间的连接，而所述弹性机构向所述拉线机构提供所述回收力。其中，所述驱动机构包括电机。The second aspect of the present invention is to provide a parallel elastic driver without motion damping in the booster exoskeleton, which includes: a driving mechanism for providing booster for transmitting the booster force to at least the booster exoskeleton A wire-drawing mechanism of an actuator is used to provide recovery force to the wire-drawing mechanism to tighten the wire-drawing elastic mechanism in the wire-drawing mechanism when the drive mechanism stops providing assistance, and a centrifugal clutch, wherein the drive mechanism In parallel with the elastic mechanism and at the input end of the wire pulling mechanism, the centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and when the driving mechanism provides assist, the centrifugal clutch will The driving mechanism is connected to the wire pulling mechanism. When the driving mechanism stops providing power assistance, the centrifugal clutch disconnects the connection between the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the wire pulling mechanism The recovery force. Wherein, the driving mechanism includes a motor.
在一些示例性实施例中，所述离心离合器包括：至少一个棘爪、至少一个弹性复位件，以及与所述电机同步转动连接的棘爪座、与所述拉线机构中绞盘同步转动连接的棘轮，其中，至少一个所述棘爪以可相对于所述棘爪座转动的方式均布在所述棘爪座上，所述弹性复位件的第一端固定在所述棘爪座上，第二端与所述棘爪相连；当所述电机提供助力时，所述电机带动所述棘爪座同步转动，使得所述棘爪在离心力的作用下沿远离所述棘爪座中心轴方向向外扩张，并逐渐与所述棘轮相啮合，从而将所述电机与所述拉线机构相连；当所述电机停止助力时，所述棘爪在所述弹性复位件的作用下，沿靠近所述棘爪座中心轴方向聚拢，并逐渐脱离所述棘轮，从而断开所述电机与所述拉线机构的连接。In some exemplary embodiments, the centrifugal clutch includes: at least one pawl, at least one elastic reset member, a pawl seat connected in rotation with the motor, and a ratchet wheel connected in rotation with the winch in the wire pulling mechanism. , Wherein at least one of the pawls is evenly distributed on the pawl seat in a rotatable manner relative to the pawl seat, the first end of the elastic reset member is fixed on the pawl seat, and The two ends are connected with the pawl; when the motor provides assistance, the motor drives the pawl base to rotate synchronously, so that the pawl moves away from the center axis of the pawl base under the action of centrifugal force It expands outwards and gradually engages with the ratchet, thereby connecting the motor with the wire pulling mechanism; when the motor stops assisting, the pawl moves closer to the The pawl seat gathers in the direction of the central axis and gradually separates from the ratchet wheel, thereby disconnecting the connection between the motor and the wire pulling mechanism.
在一些示例性实施例中，所述离心离合器还包括：设置在所述棘爪座中心的一同步齿轮，相应地，每个所述棘爪对应于所述同步齿轮的一侧设置有可与所述同步齿轮相啮合的不完整齿轮；且当所述棘爪绕所述旋转轴转动时，至少一个所述棘爪同步转动。In some exemplary embodiments, the centrifugal clutch further includes: a synchronization gear disposed in the center of the pawl seat, and correspondingly, each pawl corresponding to the synchronization gear is provided with a side that can interact with each other. The incomplete gear meshed with the synchronous gear; and when the pawl rotates around the rotating shaft, at least one of the pawls rotates synchronously.
在一些示例性实施例中，所述离心离合器还包括：设置在所述棘爪座上的至少一个棘爪限位块，所述棘爪限位块用于限定所述棘爪沿远离所述棘爪座中心方向转动的最大角度。In some exemplary embodiments, the centrifugal clutch further includes: at least one pawl limiting block provided on the pawl seat, the pawl limiting block is used to limit the pawl edge away from the The maximum angle of rotation of the pawl seat in the center direction.
本发明的第三方面，在于提供一种助力外骨骼的串并联弹性驱动器，其包括：用于提供助力的驱动机构；用于将所述助力传递至所述助力外骨骼的至少一个执行机构的拉线机构；用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力的弹性机构；以及用于向所述拉线机构提供缓冲的弹性缓冲部件，其中，所述驱动机构与所述弹性机构并联在所述拉线机构的输入端，且所述驱动机构和所述拉线机构之间设置有离心离合器，所述弹性缓冲部件串联在所述拉线机构的输入端/输出端；当所述驱动机构提供助力时，所述离心离合器啮合，以将所述驱动机构与所述拉线机构连接，而由所述弹性缓冲部件来减缓所述离心离合啮合瞬间引起的冲击力；当所述驱动机构停止提供助力时，所述离心离合器断开所述驱动机构与所述拉线机构之间的连接，而由所述弹性机构向所述拉线机构提供所述回收力。The third aspect of the present invention is to provide a series-parallel elastic actuator for boosting exoskeleton, which includes: a driving mechanism for providing boost; A wire pulling mechanism; an elastic mechanism for providing a recovery force to the wire pulling mechanism when the drive mechanism stops providing assistance; and an elastic buffer member for providing a buffer to the wire pulling mechanism, wherein the drive mechanism and the The elastic mechanism is connected in parallel to the input end of the wire pulling mechanism, a centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and the elastic buffer member is connected in series with the input/output end of the wire pulling mechanism; When the driving mechanism provides power assistance, the centrifugal clutch is engaged to connect the driving mechanism with the wire pulling mechanism, and the elastic buffer member reduces the impact force caused by the centrifugal clutch meshing moment; when the driving When the mechanism stops providing assistance, the centrifugal clutch disconnects the drive mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
本发明的第四方面，在于提供一种助力外骨骼，包括至少一个执行机构，以及上述任一种驱动器，其中，所述驱动器的输出端与所述至少一个执行机构的输入端相连。The fourth aspect of the present invention is to provide a power-assisted exoskeleton, which includes at least one actuator and any of the above-mentioned actuators, wherein the output end of the actuator is connected to the input end of the at least one actuator.
本发明的第五方面，在于提供一种助力外骨骼的驱动器控制方法，其中，该驱动器为上 述任一所述的驱动器，相应地，该控制方法具体包括步骤：获取并识别所述驱动器当前的工作状态，所述工作状态包括：准备和助力；The fifth aspect of the present invention is to provide a driver control method for assisted exoskeleton, wherein the driver is any one of the above-mentioned drivers. Correspondingly, the control method specifically includes the steps of: acquiring and identifying the current status of the driver Working status, the working status includes: preparation and assist;
若识别出所述驱动器的工作状态为准备，获取所述助力外骨骼中助力关节机构当前的关节伸展角速度和关节弯曲角度；If it is recognized that the working state of the driver is ready, obtain the current joint extension angular velocity and joint bending angle of the power-assisted joint mechanism in the power-assisted exoskeleton;
根据所述关节伸展角速度、所述关节弯曲角度和预设的伸展阈值角度、失效阈值角度判断所述助力关节机构是否需要助力；Judging whether the power-assisted joint mechanism needs power assistance according to the joint extension angular velocity, the joint bending angle, the preset extension threshold angle, and the failure threshold angle;
若需要助力，将所述驱动器当前的工作状态从准备状态置为助力状态，并将所述驱动器的输出转矩置为预设阈值T ref。 If assist is needed, the current working state of the driver is set from the ready state to the assist state, and the output torque of the driver is set to the preset threshold T ref .
在一些示例性实施例中，所述控制方法还包括步骤：In some exemplary embodiments, the control method further includes the steps:
若识别出所述驱动器的工作状态为助力，获取所述助力关节机构当前的膝关节弯曲角度，或膝关节伸展角速度，或膝关节弯曲角速度；If it is recognized that the working state of the driver is power assist, obtain the current knee bending angle, or knee extension angular velocity, or knee bending angular velocity of the power assist joint mechanism;
根据所述膝关节弯曲角度和预设的失效阈值角度，或所述膝关节伸展角速度和预设的最大伸展角速度，或所述膝关节弯曲角速度和预设的弯曲阈值角速度，判断当前是否需要取消助力，若是，将所述驱动器当前的工作状态从助力状态置为随动状态，并将所述驱动器的输出转矩置为0。According to the knee joint flexion angle and the preset failure threshold angle, or the knee joint extension angular velocity and the preset maximum extension angular velocity, or the knee joint flexion angular velocity and the preset flexion threshold angular velocity, it is judged whether cancellation is currently needed Assist, if yes, set the current working state of the driver from the assist state to the follow-up state, and set the output torque of the driver to zero.
在一些示例性实施例中，所述驱动器的工作状态还包括：随动；相应地，所述控制方法还包括步骤：In some exemplary embodiments, the working state of the driver further includes: follow-up; correspondingly, the control method further includes the steps:
若识别出所述驱动器的工作状态为随动，获取所述助力关节机构当前的关节弯曲角度和关节弯曲角速度；If it is recognized that the working state of the driver is follow-up, obtain the current joint bending angle and joint bending angular velocity of the power-assisted joint mechanism;
根据所述关节弯曲角度和所述关节弯曲角速度，以及预设的助力阈值角度和弯曲阈值角速度，判断当前是否需要准备助力，若是，将所述驱动器当前的工作状态从随动状态置为准备状态，并将所述驱动器的输出转矩置为0。According to the joint bending angle and the joint bending angular velocity, as well as the preset assisting threshold angle and bending threshold angular velocity, it is judged whether the assisting is currently needed, and if so, the current working state of the driver is set from the following state to the ready state , And set the output torque of the driver to 0.
本发明的一个技术方案是一种并联弹性驱动器，并结合钢丝线管柔性传动机构和关节部位的外骨骼刚性执行机构。具体包括电机、钢丝绞盘、线管固定座、钢丝，所述钢丝绞盘固定安装在所述电机的输出端，所述线管固定座固定安装在所述电机的***壳体上，所述钢丝的端头置于所述钢丝绞盘上设置的钢丝端头安装槽处，所述钢丝绞盘内部安装卷簧，所述卷簧的外耳置于所述钢丝绞盘的外耳安装槽内，所述卷簧的中心内耳通过中心轴端盖上的一字槽与所述电机的***壳体固定。A technical solution of the present invention is a parallel elastic actuator, which combines a flexible transmission mechanism of a steel wire tube and an exoskeleton rigid actuator of the joint. Specifically, it includes a motor, a steel wire winch, a wire tube fixing seat, and a steel wire. The steel wire winch is fixedly installed at the output end of the motor, and the wire tube fixing seat is fixedly installed on the outer casing of the motor. The end is placed in the wire end installation groove set on the wire winch, the coil spring is installed inside the wire winch, the outer ear of the coil spring is placed in the outer ear installation groove of the wire winch, and the coil spring The central inner ear is fixed with the outer shell of the motor through a slot on the end cover of the central shaft.
作为优选的技术方案，所述线管固定座包括线管固定本体，所述线管固定本体上开设线管通孔，所述线管固定本体和所述电机接触的一面设置线管固定壁，所述钢丝绞盘通过所述线管通孔安装在所述电机的输出端，所述线管固定壁下侧设置有钢丝出线槽，所述中心轴端盖与所述线管固定壁配合封闭，用于保护所述钢丝绞盘。As a preferred technical solution, the wire tube fixing seat includes a wire tube fixing body, a wire tube through hole is opened on the wire tube fixing body, and a wire tube fixing wall is provided on the side where the wire tube fixing body contacts the motor, and The steel wire winch is installed at the output end of the motor through the wire tube through hole, a wire outlet groove is provided on the lower side of the wire tube fixing wall, and the central shaft end cover is closed in cooperation with the wire tube fixing wall, Used to protect the steel wire winch.
作为优选的技术方案，所述钢丝绞盘包括钢丝绞盘本体，所述钢丝绞盘本体上中部开设安装孔，所述钢丝绞盘本体通过所述安装孔与所述电机的输出端连接，所述钢丝绞盘本体的一面上设置有钢丝绞盘壁，所述钢丝绞盘壁上安装有用于安装所述钢丝端头的钢丝端头安装槽以及用于安装所述卷簧的外耳的外耳安装槽；As a preferred technical solution, the steel wire winch includes a steel wire winch body, a mounting hole is opened in the middle of the steel wire winch body, the steel wire winch body is connected to the output end of the motor through the mounting hole, and the steel wire winch body A steel wire winch wall is provided on one side of the steel wire winch wall, and a steel wire end mounting groove for installing the steel wire end and an outer ear mounting groove for installing the outer ear of the coil spring are installed on the steel wire winch wall;
还包括卷簧端盖，所述卷簧端盖与所述钢丝绞盘壁配合封闭，用于保护所述卷簧。It also includes a coil spring end cover, which cooperates and closes with the steel wire winch wall to protect the coil spring.
作为优选的技术方案，所述钢丝绞盘壁上端开设多个螺纹孔，所述卷簧端盖上对应开设多个端盖安装孔，多个螺栓穿过所述多个安装孔与所述多个螺纹孔配合将所述卷簧端盖固定安装在所述钢丝绞盘壁上。As a preferred technical solution, the upper end of the steel wire winch wall is provided with a plurality of threaded holes, the coil spring end cover is correspondingly provided with a plurality of end cover mounting holes, and a plurality of bolts pass through the plurality of mounting holes and the plurality of mounting holes. The threaded hole is matched to fix the coil spring end cover on the wall of the steel wire winch.
作为优选的技术方案，所述线管固定壁上周期设置多个中心轴端盖安装槽，所述中心轴端盖通过中心轴端盖上的多个安装块与所述安装槽配合封闭保护所述钢丝绞盘。As a preferred technical solution, a plurality of central shaft end cover installation grooves are periodically provided on the fixed wall of the line pipe, and the central shaft end cover cooperates with the installation grooves to close the protection station through a plurality of installation blocks on the central shaft end cover. The wire winch.
作为优选的技术方案，对应所述钢丝出线槽安装有一钢丝线管。As a preferred technical solution, a steel wire tube is installed corresponding to the steel wire outlet groove.
作为优选的技术方案，所述钢丝出现槽内设置有松紧微调旋钮。As a preferred technical solution, a tightness fine-tuning knob is provided in the steel wire emergence groove.
本发明的另一技术方案是一种并联弹性驱动器的驱动状态检测方法，按照以下方式判断 驱动状态：Another technical solution of the present invention is a method for detecting the driving state of a parallel elastic driver, which judges the driving state in the following manner:
若膝关节角度>助力阈值角度且膝关节弯曲角速度>弯曲阈值角速度，则判断驱动状态为准备，电机力矩＝0；If the knee joint angle>the assisting threshold angle and the knee joint bending angular velocity>the bending threshold angular velocity, then it is judged that the driving state is ready, and the motor torque=0;
若膝关节伸展角速度>伸展阈值角速度且膝关节角度>失效阈值角度，则判断驱动状态为助力，电机力矩＝T ref； If knee joint extension angular velocity> extension threshold angular velocity and knee joint angle> failure threshold angle, it is judged that the driving state is assisted, and the motor torque = T ref ;
若膝膝关节角度<失效阈值角度或膝关节伸展角速度>最大伸展角速度或膝关节弯曲角速度>弯曲阈值角速度，则判断驱动状态为随动，电机力矩＝0。If the knee joint angle <failure threshold angle or knee extension angular velocity> maximum extension angular velocity or knee bending angular velocity> bending threshold angular velocity, then it is judged that the driving state is follow-up, and the motor torque=0.
进一步，在判断完驱动状态后，判断用户是否修改Tref或各阈值参数；Further, after judging the driving state, judge whether the user modifies Tref or each threshold parameter;
若是，则调整相关阈值后判断***是否异常；If yes, judge whether the system is abnormal after adjusting the relevant threshold;
若否，则直接判断***是否异常；If not, directly judge whether the system is abnormal;
若***异常，则重启或报警；If the system is abnormal, restart or alarm;
若***不异常，则继续按照所述方式判断驱动状态。If the system is not abnormal, continue to determine the driving state in the manner described.
本发明的一个技术方案是一种外骨骼驱动器，其特征在于，所述外骨骼驱动器包括电机和弹性机构，所述电机和所述弹性机构以并联方式与钢丝的第一端连接，向所述钢丝施加拉力；所述钢丝的第二端通过钢丝线管机构与膝助力关节机构相连接；在使用时，所述外骨骼驱动器被安装在穿戴者腰部及以上的位置。A technical solution of the present invention is an exoskeleton driver, characterized in that the exoskeleton driver includes a motor and an elastic mechanism, and the motor and the elastic mechanism are connected in parallel with the first end of the steel wire, and are connected to the first end of the steel wire in parallel. The steel wire exerts tensile force; the second end of the steel wire is connected to the knee assist joint mechanism through a steel wire tube mechanism; in use, the exoskeleton driver is installed at the waist and above the wearer.
作为优选的技术方案，所述弹性机构为卷簧。As a preferred technical solution, the elastic mechanism is a coil spring.
作为优选的技术方案，所述钢丝的第三端通过所述钢丝线管机构与踝助力关节机构相连接。As a preferred technical solution, the third end of the steel wire is connected to the ankle booster joint mechanism through the steel wire tube mechanism.
作为优选的技术方案，所述钢丝的所述第二端和所述第三端之间设置有离合锁死机构，在使用时，当穿戴者膝关节处于直立或接近直立状态时，所述离合锁死机构处于接合状态，让所述外骨骼驱动器施加的所述拉力传递到所述踝助力关节机构；当穿戴者膝关节处于弯曲状态时，所述离合锁死机构处于分离状态，切断所述外骨骼驱动器施加的所述拉力向所述踝助力关节机构的传递。As a preferred technical solution, a clutch locking mechanism is provided between the second end and the third end of the steel wire. In use, when the wearer’s knee joint is in an upright or nearly upright state, the clutch The locking mechanism is in an engaged state, allowing the pulling force exerted by the exoskeleton driver to be transmitted to the ankle assist joint mechanism; when the wearer’s knee joint is in a bent state, the clutch locking mechanism is in a separated state, and the The pulling force exerted by the exoskeleton driver is transmitted to the ankle booster joint mechanism.
作为优选的技术方案，所述钢丝的所述第二端通过位于所述膝助力关节机构至少三个钢丝通道通过所述膝助力关节机构，所述至少三个钢丝通道包括一个位于穿戴者膝关节左侧的左侧转轴、一个位于所述穿戴者膝关节右侧的右侧转轴，以及一个位于所述穿戴者膝关节正面的正面钢丝滑槽。As a preferred technical solution, the second end of the steel wire passes through the knee assist joint mechanism through at least three wire channels located in the knee assist joint mechanism, and the at least three wire channels include one located at the wearer’s knee joint. The left shaft on the left side, a right shaft on the right side of the wearer's knee joint, and a front steel wire slide groove on the front of the wearer's knee joint.
作为优选的技术方案，所述钢丝通过动滑轮机构在所述膝助力关节机构的助力关节滑轮处多次盘绕，以改变所述钢丝从所述外骨骼驱动器到所述膝助力关节机构处的传动比，实现所述膝助力关节机构处助力转矩放大。As a preferred technical solution, the steel wire is coiled multiple times at the power-assisted joint pulley of the knee power-assisted joint mechanism through a movable pulley mechanism to change the transmission ratio of the steel wire from the exoskeleton drive to the knee power-assisted joint mechanism , To realize the boosting torque amplification at the knee booster joint mechanism.
本发明有益效果在于：The beneficial effects of the present invention are:
本发明通过拉线机构的输入端并联设置驱动机构和弹性机构，使得可通过该拉线机构将驱动机构提供的助力和/或该弹性机构提供的回收力传递至至少一个执行机构，实现了助力外骨骼中驱动器与执行机构的分离，从而使得可将具有一定重量，例如驱动机构，以及拉线机构中的绞盘、电池控制***等置于穿戴者腰部，或者腰部以上，进而避免了现有技术中，因直接将驱动电机安装在执行机构上，而导致穿戴者感觉装置笨重，甚至限制穿戴者运动自由的问题；并且，本发明实现了一个驱动器驱动多个执行机构，避免了现有技术中，针对每个执行机构安装一个驱动机构而导致助力外骨骼***自重增加，从而影响穿戴者行走步态的负面影响，也即是说本发明的该并联弹性驱动器不仅结构更加简单，也降低了助力外骨骼的***自身，从而减轻了外骨骼装置自重对穿戴者下肢行走步态的负面影响，进而提高了穿戴者的用户体验。In the present invention, a driving mechanism and an elastic mechanism are arranged in parallel through the input end of the wire pulling mechanism, so that the power assist provided by the driving mechanism and/or the recovery force provided by the elastic mechanism can be transmitted to at least one actuator through the wire pulling mechanism, thereby realizing a boosted exoskeleton The separation of the middle driver and the actuator makes it possible to place a certain weight, such as the drive mechanism, the winch in the pulling mechanism, the battery control system, etc., on the wearer’s waist or above the waist, thus avoiding the problems in the prior art. Mounting the drive motor directly on the actuator causes the wearer to feel that the device is bulky and even restricts the wearer’s freedom of movement; moreover, the present invention realizes that one driver can drive multiple actuators, avoiding the need for each actuator in the prior art. The installation of a driving mechanism for each actuator leads to an increase in the self-weight of the assisted exoskeleton system, thereby affecting the negative impact of the wearer’s walking gait. The system itself reduces the negative impact of the weight of the exoskeleton device on the walking gait of the wearer's lower limbs, thereby improving the user experience of the wearer.
另一方面，本发明通过在拉线机构的输入端，与驱动机构并联了一个弹性机构，使得当驱动机构工作(即提供助力)时，驱动机构(如电机)和弹性机构(例如，卷簧)同时拉动拉线机构中的拉线(如钢丝或编织带等)，以向助力外骨骼中的各个执行机构(例如，膝助 力关节机构、踝助力关节机构)传递助力；当驱动机构停止工作(即停止提供助力，例如电池耗尽或者有意停止电机)时，由弹性机构向拉线提供回收力以收紧拉线，即在弹性机构的作用下，即使穿戴者穿戴该助力外骨骼运动过程中，拉线机构中的拉线也是始终处于紧绷状态，从而避免了因拉线处于自由松弛的状态，而引起绞盘(或绞线盘)处的拉线相互缠绕，进而造成机械故障，甚至出现安全事故的风险。On the other hand, in the present invention, an elastic mechanism is connected in parallel with the driving mechanism at the input end of the wire pulling mechanism, so that when the driving mechanism is working (that is, assisting is provided), the driving mechanism (such as a motor) and the elastic mechanism (such as a coil spring) At the same time, pull the cable in the cable mechanism (such as steel wire or braided belt, etc.) to transmit power to the various actuators in the power-assisted exoskeleton (for example, knee power joint mechanism, ankle power joint mechanism); when the drive mechanism stops working (that is, it stops When assisting is provided, such as when the battery is exhausted or the motor is intentionally stopped), the elastic mechanism provides recovery force to the cable to tighten the cable, that is, under the action of the elastic mechanism, even if the wearer wears the assisted exoskeleton during exercise, the cable mechanism is The cable is always in a tight state, thereby avoiding the free and slack state of the cable, causing the cable at the winch (or reel) to be entangled with each other, thereby causing mechanical failures and even the risk of safety accidents.
另外，本发明通过钢丝线管机构可以将外骨骼驱动器产生的助力传递给外骨骼中的多个执行机构(例如膝助力关节机构、踝助力关节机构)，实现了一个驱动机构向多处助力：例如，当穿戴者大腿膝关节弯曲度较大时(例如，穿戴者在上台阶时)，外骨骼驱动器产生的助力主要作用在膝助力关节机构处(此时，膝关节的助力需求大、踝关节的助力需求小)，但随着大腿膝关节逐渐恢复直立(膝关节的助力需求减小、踝关节的助力需求增大)，外骨骼驱动器产生的助力逐渐从膝关节下移到踝关节，为踝关节提供的助力逐渐增大。In addition, the present invention can transmit the power assist generated by the exoskeleton driver to multiple actuators in the exoskeleton (such as knee assist joint mechanism, ankle assist joint mechanism) through the wire tube mechanism, and realizes that one drive mechanism can assist multiple places: For example, when the wearer’s thigh knee joint has a large degree of curvature (for example, when the wearer is on a step), the power assist generated by the exoskeleton driver mainly acts on the knee power joint mechanism (at this time, the knee joint power demand is large, and the ankle The need for power assistance of the joint is small), but as the thigh and knee joints gradually return to upright (the power demand of the knee joint decreases and the power demand of the ankle joint increases), the power generated by the exoskeleton drive gradually moves down from the knee joint to the ankle joint. The boost provided to the ankle joint gradually increases.
进一步地，本发明的驱动器，还在相邻两个执行机构之间设置一个离合锁死机构，且其通过拉线与该两个执行机构相连，从而使得可更好地在两个执行机构之间分配助力，进而提高驱动器的助力效率。例如，在膝助力关节机构和踝助力关节机构之间增加离合锁死机构，而当膝关节弯曲程度较大的时候，可使得离合锁死机构进入分离状态(或解锁状态，或未啮合状态)，使得拉线机构停止拉力向踝助力关节机构(即远离驱动器的执行机构)传递助力，从而让外骨骼驱动器产生的助力都集中在膝助力关节机构处，帮助穿戴者上台阶、爬坡；而当膝关节弯曲程度减小到一定角度后，使得离合锁死机构再进入接合状态(或锁死状态，或啮合状态)，使得拉线机构不仅可向膝助力关节机构传递助力，也可向向踝助力关节机构传递助力，从而实现对膝关节和踝关节的助力。换句话说，通过增加离合机构，可以更好地在膝关节和踝关节之间分配助力，提升了本发明外骨骼驱动器对下肢提供助力的效率。Further, in the driver of the present invention, a clutch and locking mechanism is also provided between two adjacent actuators, and it is connected to the two actuators by a cable, so that it can be better connected between the two actuators. Distribute the power assist, thereby improving the power assist efficiency of the drive. For example, a clutch locking mechanism is added between the knee power-assisted joint mechanism and ankle power-assisted joint mechanism, and when the knee joint is bent to a greater degree, the clutch and locking mechanism can enter the separated state (or unlocked state, or non-engaged state) , So that the pulling force of the cable mechanism stops the pulling force and transfers the boost to the ankle booster joint mechanism (that is, the actuator away from the driver), so that the boost generated by the exoskeleton driver is concentrated on the knee booster joint mechanism to help the wearer go up the stairs and climb the slope; After the knee joint bending degree is reduced to a certain angle, the clutch locking mechanism enters the engaged state (or locked state, or engaged state), so that the pulling mechanism can not only transfer power to the knee joint mechanism, but also to the ankle. The joint mechanism transfers power, so as to realize the power of the knee joint and ankle joint. In other words, by adding a clutch mechanism, the assisting force can be better distributed between the knee joint and the ankle joint, and the efficiency of the exoskeleton driver of the present invention in providing assisting to the lower limbs is improved.
本发明的无运动阻尼的并联驱动器，通过在驱动机构和拉线机构之间设置了一个离心离合器，且当驱动机构提供助力时，通过该离心离合器将驱动机构与拉线机构相连，而当驱动机构停止提供助力时，通过该离心离合器断开驱动机构与拉线机构之间的连接，从而避免了当驱动机构停止助力时，驱动机构转换为阻尼件，而导致穿戴者穿戴助力外骨骼运动(且未提供助力)时感到持续的运动阻尼的问题，进而保证了在不需要助力时，穿戴者相应关节***的顺畅性。The parallel drive without motion damping of the present invention provides a centrifugal clutch between the drive mechanism and the wire drawing mechanism, and when the drive mechanism provides power assistance, the drive mechanism and the wire drawing mechanism are connected through the centrifugal clutch, and when the drive mechanism stops When assisting is provided, the centrifugal clutch disconnects the connection between the drive mechanism and the wire pulling mechanism, thereby avoiding that when the drive mechanism stops assisting, the drive mechanism is converted into a damping member, causing the wearer to wear the assisted exoskeleton to move (and does not provide When assisting), the problem of continuous motion damping is felt, thereby ensuring the smoothness of the free movement of the wearer's corresponding joints when no assisting is needed.
本发明的串并联驱动器，通过在拉线机构的输入端/输出端串联一个弹性缓冲部件，来减缓离心离合啮合瞬间引起的冲击力，不仅给穿戴者肢体更顺滑的助力力度变化趋势，也减缓了离心离合器啮合时，棘爪的冲击磨损。The series-parallel driver of the present invention reduces the impact force caused by the centrifugal clutch meshing moment by connecting an elastic buffer component in series with the input end/output end of the cable mechanism, which not only gives the wearer a smoother power-assisting force change trend, but also slows down When the centrifugal clutch is engaged, the impact of the pawl wears.
附图说明Description of the drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍。在所有附图中，类似的元件或部分一般由类似的附图标记标识。附图中，各元件或部分并不一定按照实际的比例绘制。In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to actual scale.
图1a为本发明一示例性实施例中的并联弹性驱动器第一视角的***视图；Fig. 1a is an exploded view of a parallel elastic driver in a first perspective in an exemplary embodiment of the present invention;
图1b为本发明一示例性实施例中的并联弹性驱动器第二视角的***视图；Figure 1b is an exploded view from a second perspective of a parallel elastic driver in an exemplary embodiment of the present invention;
图2a为反映本发明一示例性实施例中的并联弹性驱动器内部结构的立体结构图；Fig. 2a is a three-dimensional structural diagram reflecting the internal structure of a parallel elastic driver in an exemplary embodiment of the present invention;
图2b为反映本发明一示例性实施例中的并联弹性驱动器的弹性机构与拉线机构的安装示意图；Fig. 2b is a schematic diagram showing the installation of the elastic mechanism and the wire pulling mechanism of the parallel elastic driver in an exemplary embodiment of the present invention;
图3为本发明一示例性实施例中的并联弹性驱动器的线管固定座立体结构图；Fig. 3 is a three-dimensional structural view of a wire tube fixing seat of a parallel elastic driver in an exemplary embodiment of the present invention;
图4为本发明一示例性实施例中的并联弹性驱动器中绞盘立体结构图；Fig. 4 is a three-dimensional structural diagram of a winch in a parallel flexible drive in an exemplary embodiment of the present invention;
图5a为本发明一示例性实施例中外骨骼被穿戴时的结构布局示意图；Fig. 5a is a schematic diagram of the structural layout of the exoskeleton when being worn in an exemplary embodiment of the present invention;
图5b为本发明一示例性实施例中外骨骼被穿戴时的结构布局示意图；5b is a schematic diagram of the structural layout of the exoskeleton when being worn in an exemplary embodiment of the present invention;
图5c为本发明另一示例性实施例中外骨骼被穿戴时的结构布局示意图；Fig. 5c is a schematic diagram of the structural layout of the exoskeleton when being worn in another exemplary embodiment of the present invention;
图5d为本发明再一示例性实施例中外骨骼被穿戴时的结构示意图；5d is a schematic diagram of the structure of the exoskeleton when being worn in another exemplary embodiment of the present invention;
图5e为图5d中外骨骼膝关节结构示意图；Figure 5e is a schematic diagram of the exoskeleton knee joint structure in Figure 5d;
图5f为图5d中外骨骼膝关节结构示意图；Figure 5f is a schematic diagram of the exoskeleton knee joint structure in Figure 5d;
图5g为本发明一示例性实施例中的并联弹性驱动器中离合锁死机构处于未啮合状态时结构示意图；Figure 5g is a schematic structural diagram of a parallel elastic driver in an exemplary embodiment of the present invention when the clutch and locking mechanism is in a non-engaged state;
图5h为本发明一示例性实施例中的并联弹性驱动器中离合锁死机构处于啮合状态时结构示意图；Figure 5h is a schematic structural diagram of a parallel elastic driver in an exemplary embodiment of the present invention when the clutch and locking mechanism is in an engaged state;
图5i为本发明一示例性实施例中的并联弹性驱动器中离合锁死机构的***图；Fig. 5i is an exploded view of a clutch locking mechanism in a parallel elastic driver in an exemplary embodiment of the present invention;
图5j为图5i所示并联弹性驱动器中离合锁死机构的剖视图；Figure 5j is a cross-sectional view of the clutch locking mechanism in the parallel elastic actuator shown in Figure 5i;
图6为本发明中的并联弹性驱动器的驱动状态检测方法的检测原理图；Fig. 6 is a detection principle diagram of the driving state detection method of the parallel elastic driver in the present invention;
图7为本发明中的并联弹性驱动器的驱动状态检测方法检测流程图；FIG. 7 is a detection flow chart of the driving state detection method of the parallel elastic driver in the present invention;
图8a为反映电机直接与拉线机构相连的驱动原理图；Figure 8a is a driving principle diagram reflecting that the motor is directly connected to the wire pulling mechanism;
图8b为反映在拉线机构与执行机构之间串联弹性缓冲件的驱动原理图；Figure 8b is a schematic diagram of the driving principle of the elastic buffer member in series between the wire pulling mechanism and the actuator;
图8c为反映本发明的一示例性实施例中并联弹性驱动器的驱动原理图；Fig. 8c is a diagram reflecting the driving principle of the parallel elastic driver in an exemplary embodiment of the present invention;
图8d为反映本发明的一示例性实施例中无运动阻力的并联弹性驱动器的驱动原理图；Fig. 8d is a diagram showing the driving principle of a parallel elastic driver without movement resistance in an exemplary embodiment of the present invention;
图8e为反映本发明的一示例性实施例中无运动阻力的串并联弹性驱动器的驱动原理图；Fig. 8e is a diagram showing the driving principle of a series-parallel elastic driver without movement resistance in an exemplary embodiment of the present invention;
图9a为本发明一示例性实施例的无运动阻力的并联弹性驱动器的立体图；Fig. 9a is a perspective view of a parallel elastic driver without movement resistance according to an exemplary embodiment of the present invention;
图9b为图9a中并联弹性驱动器的局部剖视图；Figure 9b is a partial cross-sectional view of the parallel elastic driver in Figure 9a;
图9c为本发明一示例性实施例的无运动阻力的并联弹性驱动器中的离心离合器处于未啮合状态的结构示意图；9c is a schematic structural diagram of a centrifugal clutch in a non-engaged state in a parallel elastic driver with no movement resistance according to an exemplary embodiment of the present invention;
图9d为本发明一示例性实施例的无运动阻力的并联弹性驱动器中的离心离合器处于啮合状态的结构示意图；Fig. 9d is a schematic structural diagram of a centrifugal clutch in an engaged state in a parallel elastic driver with no movement resistance according to an exemplary embodiment of the present invention;
图9e为本发明另一示例性实施例的无运动阻力的并联弹性驱动器中的离心离合器实施例的结构示意图；Fig. 9e is a schematic structural diagram of an embodiment of a centrifugal clutch in a parallel elastic driver with no movement resistance according to another exemplary embodiment of the present invention;
图10为本发明一示例性实施例的无运动阻力的串并联弹性驱动器的结构示意图。Fig. 10 is a schematic structural diagram of a series-parallel elastic actuator without movement resistance according to an exemplary embodiment of the present invention.
具体实施方式Detailed ways
下面将对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
需要说明的是，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that all the directional indicators (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the difference between the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the relative positional relationship between the two, the movement situation, etc., the directional indication will also change accordingly.
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
名词释义：Noun definition:
“驱动机构”：在本文中，驱动机构指的是能够向助力外骨骼中的至少一个执行机构提供助力的机构，例如，电机。"Drive mechanism": In this article, the drive mechanism refers to a mechanism that can provide power to at least one actuator in the power-assisted exoskeleton, for example, a motor.
“弹性动力机构”：在本文中，弹性动力机构指的是当驱动机构停止提供助力时，向该助力外骨骼中传递助力的拉线机构提供回收力，以收紧拉线机构中拉线的弹性机构，例如，卷簧/发条。"Elastic power mechanism": In this article, the elastic power mechanism refers to the elastic mechanism that provides recovery force to the wire pulling mechanism of the booster exoskeleton to tighten the wire of the wire pulling mechanism when the driving mechanism stops providing assistance. For example, coil spring/mainspring.
“执行机构”：在本文中，执行机构指的是在驱动机构的驱动下执行相应动作或实现相应功能的机构，例如，用于助力穿戴者关节的机构，且其在驱动机构的驱动下运动，具体地，如助力外骨骼装置中的膝关节、踝关节、髋关节等。"Actuator": In this article, the actuator refers to a mechanism that performs corresponding actions or realizes corresponding functions under the drive of a driving mechanism, for example, a mechanism used to assist the wearer's joints, and it moves under the drive of the driving mechanism , Specifically, such as knee joints, ankle joints, hip joints, etc. in power-assisted exoskeleton devices.
“并联”：本文中,并联是指上述驱动机构和上述弹性机构的力(例如，助力或回收力) 输出端均与该拉线机构的输入端相连，以向拉线机构中的拉线提供一定作用力(如助力或回收力)。例如，将电机和作为弹性机构的卷簧与缠绕拉线的绞盘同步转动连接，当电机工作时，电机和卷簧同时拉动拉线，向膝助力关节机构、踝助力关节机构施加助力；当电机停止工作(如电池耗尽或者有意停止电机工作)时，卷簧依然可以拉住拉线，使拉线在外骨骼机构的运行中始终处于紧绷状态，从而防止了拉线处于自由松弛的状态，引起绞盘处的拉线相互缠绕造成机械故障的风险，进而大大降低了安全事故的发生机率。"Parallel": In this article, parallel refers to the force (for example, boost or recovery force) of the above-mentioned drive mechanism and the above-mentioned elastic mechanism. The output ends are connected to the input end of the pulling mechanism to provide a certain force to the pulling wire in the pulling mechanism. (Such as boost or recovery). For example, the motor and the coil spring as the elastic mechanism are connected in synchronous rotation with the winch that winds the cable. When the motor works, the motor and the coil spring pull the cable at the same time to apply power to the knee assist joint mechanism and ankle assist joint mechanism; when the motor stops working (Such as when the battery is exhausted or the motor is intentionally stopped), the coil spring can still pull the cable, so that the cable is always tight during the operation of the exoskeleton mechanism, thereby preventing the cable from being in a free and slack state, causing the cable at the winch The risk of mechanical failure caused by mutual entanglement, thereby greatly reducing the probability of safety accidents.
“拉线”：本文中,拉线是指各种用于传递助力/拉力的机构，例如线状或管状的钢丝、绳索，或者丝状，或带状或条状的编织带等等。"Pull wire": In this article, pull wire refers to various mechanisms used to transfer assist/pull force, such as wire or tubular steel wire, rope, or wire, or ribbon or strip woven belt, etc.
“线管”：在本文中，线管指的是包覆或套设在拉线外的管路，其两端固定，且其不可压缩，其为拉线提供运动路径，从而实现动力/拉力的传递。"Line tube": In this article, the line tube refers to the pipeline that is covered or sleeved outside the cable, its two ends are fixed, and it is not compressible, it provides a path for the cable to move, so as to realize the transmission of power/tension .
“输入端”：在本文中，输入端指的是各部件接收力的末端，也称之为力输入端。例如，拉线机构接收驱动机构输出的助力的末端，或者接收弹性机构产生/输出的回收力的一端；或者执行机构接收拉线机构传递来的助力的末端。"Input terminal": In this article, the input terminal refers to the end of each component receiving force, also called the force input terminal. For example, the wire pulling mechanism receives the end of the power assist output by the driving mechanism, or the end that receives the recovery force generated/output by the elastic mechanism; or the actuator receives the end of the assist power transmitted by the wire pulling mechanism.
“输出端”：在本文中，输出端指的是各部件输出力的一端，也称之为力输出端。例如，拉线机构与执行机构相连的末端，其将驱动机构所提供的助力输出至该执行机构的输入端(即接收该助力的末端)。"Output terminal": In this article, the output terminal refers to the end of the output force of each component, also known as the force output terminal. For example, the end of the wire pulling mechanism connected to the actuator, which outputs the assist provided by the driving mechanism to the input end of the actuator (that is, the end that receives the assist).
“初始状态”：在本文中，初始状态是指各个部件在没有任何外力或外部干涉前提下，当前所处的自然状态。例如，电机的初始状态是指电机未通电，或者未旋转时的状态。再例如，离心离合器的初始状态是电机没有带动棘爪座旋转，且(i)棘爪也没有在离心力作用下向外扩张是的状态，或者(ii)因为弹性复位件(此时，弹性复位件处于出厂的预紧力状态)的作用而向棘爪座中心靠拢的状态，如图9c和图9d所示。又例如，弹性机构的初始状态是指卷簧没有被绞盘或拉线带动而收紧，也没有受到其他外力作用而松弛的状态。"Initial state": In this article, the initial state refers to the current natural state of each component without any external force or external interference. For example, the initial state of the motor refers to the state when the motor is not energized or not rotating. For another example, the initial state of the centrifugal clutch is that the motor does not drive the pawl seat to rotate, and (i) the pawl does not expand outward under the action of centrifugal force, or (ii) because of the elastic reset member (at this time, the elastic reset The part is in the state of being close to the center of the pawl seat under the action of the factory pre-tightening force, as shown in Figure 9c and Figure 9d. For another example, the initial state of the elastic mechanism refers to the state where the coil spring is not tightened by the winch or the pull wire, nor is it relaxed by other external forces.
为了即使没有对执行机构提供助力的情况下，也能够保证拉线机构中拉线处于紧绷状态(也即收紧状态)，从而避免拉线处于自由松弛的状态，而引起拉线相互缠绕造成机械故障的风险，本发明提供了一种并联弹性驱动器12，其包括：In order to ensure that the cable in the cable mechanism is in a tight state (that is, a tightened state) even without providing assistance to the actuator, so as to avoid the cable being in a free and slack state, which may cause the cables to be entangled and cause the risk of mechanical failure. , The present invention provides a parallel elastic driver 12, which includes:
用于提供助力的驱动机构，The drive mechanism used to provide assistance,
用于将该驱动机构提供的助力传递至至少一个执行机构的拉线机构，以及A wire pulling mechanism for transmitting the boost provided by the drive mechanism to at least one actuator, and
用于当该驱动机构停止提供助力时，向拉线机构提供回收力以收紧该拉线机构中拉线的弹性机构，其中，When the driving mechanism stops providing power assistance, it provides a recovery force to the wire pulling mechanism to tighten the elastic mechanism of the wire pulling mechanism, wherein:
该弹性机构与驱动机构并联设置在该拉线机构的输入端(也即该弹性机构的力输出端和该驱动机构的力输出端均与该拉线机构的力输入端相连)。The elastic mechanism and the drive mechanism are arranged in parallel at the input end of the wire drawing mechanism (that is, the force output end of the elastic mechanism and the force output end of the drive mechanism are both connected with the force input end of the wire drawing mechanism).
在一些实施例中，该驱动机构包括：电机1；例如，伪直驱的扭矩电机。In some embodiments, the driving mechanism includes: a motor 1; for example, a pseudo-direct drive torque motor.
在一些实施例中，参见图2a和图2b，该拉线机构包括：用于传递驱动机构输出助力的拉线4，以及用于缠绕该拉线4的绞盘2，其中，该绞盘2与电机1同步转动连接(例如，将该绞盘2固定在扭矩电机的输出端6上，参见图1a和图1b)，而该拉线4的固定端固定在该绞盘2上(例如，将该拉线4的固定端头41置于绞盘2上的端头安装槽201内)，而该拉线4的末端(或力输出端)则与执行机构相连。In some embodiments, referring to Figures 2a and 2b, the wire pulling mechanism includes: a wire 4 for transmitting the output power of the driving mechanism, and a winch 2 for winding the wire 4, wherein the winch 2 rotates synchronously with the motor 1 Connected (for example, the winch 2 is fixed on the output end 6 of the torque motor, see Figures 1a and 1b), and the fixed end of the pull wire 4 is fixed on the winch 2 (for example, the fixed end of the pull wire 4 41 is placed in the end mounting slot 201 on the winch 2), and the end (or force output end) of the pull wire 4 is connected to the actuator.
在一些实施例中，参见图2a和图2b，该弹性机构包括：弹性蓄能部件，其安装在拉线机构上；当上述驱动机构(如转矩电机)向该拉线机构提供助力时，该弹性蓄能部件蓄能；而当上述驱动机构(如转矩电机)停止向该拉线机构提供助力时，该弹性蓄能部件释能，以向拉线机构提供回收力。具体地，该弹性蓄能部件可采用卷簧5，其外耳501固定在该拉线机构上(例如，将该卷簧5的外耳501固定在绞盘2上的外耳安装槽202内)，其内耳502固定在该卷簧5的转轴上(例如，通过设置一卷簧盖7，且该卷簧盖7可通过螺栓等固定件固定在拉线机构中的线管固定座3上，且其对应于卷簧5的一侧设置有一中心轴，该中心轴即为该卷簧5收紧或放松时的转轴，且该中心轴上设置有可用于固定该卷簧5的内耳502的 一字槽701，参见图1b)。In some embodiments, referring to Figures 2a and 2b, the elastic mechanism includes: an elastic energy storage component mounted on the wire pulling mechanism; when the above-mentioned drive mechanism (such as a torque motor) provides assistance to the wire pulling mechanism, the elastic The energy storage component stores energy; and when the above-mentioned drive mechanism (such as a torque motor) stops providing assistance to the wire drawing mechanism, the elastic energy storage member releases energy to provide recovery force to the wire drawing mechanism. Specifically, the elastic energy storage component may adopt a coil spring 5, the outer ear 501 of which is fixed on the pulling mechanism (for example, the outer ear 501 of the coil spring 5 is fixed in the outer ear mounting groove 202 on the winch 2), and the inner ear 502 Fixed on the rotating shaft of the coil spring 5 (for example, by providing a coil spring cover 7, and the coil spring cover 7 can be fixed on the wire tube fixing seat 3 in the wire drawing mechanism by a fixing member such as a bolt, and it corresponds to the coil One side of the spring 5 is provided with a central shaft, the central shaft is the rotating shaft when the coil spring 5 is tightened or loosened, and the central shaft is provided with a slot 701 that can be used to fix the inner ear 502 of the coil spring 5. See Figure 1b).
具体实施时，卷簧5的方向、绞盘2出线口的选择需要与拉线4的缠绕方向相一致，使得当驱动机构向拉线机构提供助力，使得拉线4被拉出绞盘2时，卷簧5收紧，也即卷簧5蓄能；而当驱动机构停止提供助力时，该卷簧5释能，向拉线机构中的绞盘2提供回收力，使得即便驱动机构处于未工作状态，拉线4也能在相应关节(即执行机构)弯曲与伸展之后，在卷簧5的作用下自动缠绕回绞盘2上，并始终处于绷紧的状态(即收紧状态)。In specific implementation, the direction of the coil spring 5 and the selection of the outlet of the winch 2 need to be consistent with the winding direction of the cable 4, so that when the driving mechanism provides assistance to the cable mechanism, the coil spring 5 is retracted when the cable 4 is pulled out of the winch 2. When the drive mechanism stops providing assistance, the coil spring 5 releases its energy and provides recovery force to the winch 2 in the wire drawing mechanism, so that even if the drive mechanism is not working, the wire 4 can After the corresponding joint (ie, the actuator) is bent and stretched, it is automatically wound back on the winch 2 under the action of the coil spring 5, and is always in a tight state (ie, a tightened state).
当然，其中，该弹性机构的安装位置可根据实际需要进行调整，也可安装在电机上，只需要其与电机之间并联，并且其能够实现以下技术功能即可：当驱动机构停止工作(也即停止助力；例如，电池耗尽或者有意停止电机)时，其依然可以拉住拉线，使拉线机构中的拉线在外骨骼机构的运行中处于紧绷状态(即收紧状态)，从而防止拉线(例如，钢丝或编织带)处于自由松弛的状态。Of course, the installation position of the elastic mechanism can be adjusted according to actual needs, or it can be installed on the motor, as long as it is connected in parallel with the motor, and it can achieve the following technical functions: when the drive mechanism stops working (also That is to stop assisting; for example, when the battery is exhausted or the motor is intentionally stopped), it can still pull the cable, so that the cable in the cable mechanism is in a tight state (ie, tightened state) during the operation of the exoskeleton mechanism, thereby preventing the cable ( For example, steel wire or braided belt) is in a freely relaxed state.
现在结合具体实施例以及说明书附图对本发明做进一步的说明。The present invention will now be further described in conjunction with specific embodiments and the accompanying drawings of the specification.
实施例1：并联弹性驱动器Example 1: Parallel flexible drives
本发明实施例，请参考图1a–图4所示，提供了一种并联弹性驱动器，包括电机1、钢丝绞盘2、线管固定座3、钢丝4；所述钢丝绞盘2固定安装在所述电机1的输出端6，所述线管固定座3固定安装在所述电机1的***壳体上，所述钢丝4的端头置于所述钢丝绞盘2上设置的钢丝端头安装槽201处，所述钢丝绞盘2内部安装卷簧5，所述卷簧5的外耳501置于所述钢丝绞盘2的外耳安装槽202内，所述卷簧5的中心内耳502通过中心轴端盖7中心位置设置的转轴上的一字槽701与所述电机1的***壳体固定。The embodiment of the present invention, please refer to Figure 1a-Figure 4, a parallel flexible drive is provided, including a motor 1, a steel wire winch 2, a wire tube fixing seat 3, and a steel wire 4; the steel wire winch 2 is fixedly installed on the The output end 6 of the motor 1, the wire tube fixing seat 3 is fixedly installed on the outer shell of the motor 1, and the end of the steel wire 4 is placed in the steel wire end installation groove 201 provided on the steel wire winch 2 Where, the coil spring 5 is installed inside the wire winch 2, the outer ear 501 of the coil spring 5 is placed in the outer ear mounting groove 202 of the wire winch 2, and the center inner ear 502 of the coil spring 5 passes through the central shaft end cover 7. A slot 701 on the rotating shaft at the center position is fixed to the outer casing of the motor 1.
本发明实施例具体实施时，将钢丝绞盘2固定在电机1的输出端6，线管固定座3则固定在电机1***的外壳体上，钢丝4的铝制端头置于钢丝绞盘2上的钢丝端头安装槽201处，钢丝绞盘2内部放入卷簧5，卷簧5的外耳501置于钢丝绞盘2的外耳安装槽202内，而卷簧5的中心内耳502则通过中心轴端盖7上的一字槽701与电机1外壳位置固定。卷簧5端盖与钢丝绞盘2装配，既作为卷簧5的外盖，也作为钢丝槽的外壁。In the concrete implementation of the embodiment of the present invention, the steel wire winch 2 is fixed on the output end 6 of the motor 1, the wire tube fixing seat 3 is fixed on the outer casing of the motor 1, and the aluminum end of the steel wire 4 is placed on the steel wire winch 2. At the wire end installation groove 201, the coil spring 5 is placed inside the wire winch 2, the outer ear 501 of the coil spring 5 is placed in the outer ear installation groove 202 of the wire winch 2, and the center inner ear 502 of the coil spring 5 passes through the central shaft end The slot 701 on the cover 7 is fixed in position with the housing of the motor 1. The end cover of the coil spring 5 is assembled with the steel wire winch 2 to serve as the outer cover of the coil spring 5 and the outer wall of the steel wire groove.
在使用前需先将钢丝4在钢丝绞盘2上缠绕数圈，这样助力关节机构(或穿戴者的被助关节)弯曲时驱动器才有足够的冗余钢丝可以被拉出。同时需注意卷簧5的方向、绞盘出线口的选择需要与钢丝4的缠绕方向相一致，当钢丝4被拉出钢丝绞盘2时，卷簧5收紧蓄积能量。这样即便电机1处于未工作状态，钢丝4也能在关节弯曲与伸展之后，在卷簧5的作用下自动缠绕回钢丝绞盘2上，并且始终处于绷紧的状态。Before use, the steel wire 4 needs to be wound several times on the steel wire winch 2 so that when the assisted joint mechanism (or the assisted joint of the wearer) is bent, the driver has enough redundant wires to be pulled out. At the same time, it should be noted that the direction of the coil spring 5 and the selection of the outlet of the winch need to be consistent with the winding direction of the wire 4, when the wire 4 is pulled out of the wire winch 2, the coil spring 5 tightens and accumulates energy. In this way, even if the motor 1 is not working, the steel wire 4 can be automatically wound back onto the steel wire winch 2 under the action of the coil spring 5 after the joint is bent and stretched, and is always in a tight state.
请参考图5a所示，为了充分利用(背负负载11的)穿戴者下肢关节的单向助力需求，外骨骼驱动器12可采用伪直驱的扭矩电机(内含6:1减速比的行星轮系减速器)，并联卷簧机构共同缠绕柔性钢丝，并通过钢丝线管机构(即拉线机构13)将钢丝拉力柔性传递至外骨骼膝关节处，从而实现驱动器与执行机构的分离设计(即，不用将驱动器直接设置在外骨骼膝关节处)。将质量较大的驱动器、绞盘、电池、控制***等置于穿戴者腰部以上位置，降低外骨骼在肢***置的***自重。具体的，将并联弹性驱动器12安装于腰腹部，通过钢丝管传动机构将钢丝连接到膝关节钢丝助力机构15(即执行机构)。Please refer to Figure 5a. In order to make full use of the one-way assist demand of the wearer's lower limb joints (carrying load 11), the exoskeleton drive 12 can use a pseudo-direct drive torque motor (including a planetary gear train with a 6:1 reduction ratio). Reducer), parallel coil spring mechanism to jointly wind the flexible steel wire, and flexibly transmit the wire tension to the exoskeleton knee joint through the steel wire tube mechanism (ie, the wire drawing mechanism 13), so as to realize the separation design of the driver and the actuator (that is, without Set the driver directly at the exoskeleton knee joint). Place larger drives, winches, batteries, control systems, etc. above the wearer's waist to reduce the system's own weight of the exoskeleton in the limb position. Specifically, the parallel elastic driver 12 is installed on the waist and abdomen, and the steel wire is connected to the knee joint steel wire assist mechanism 15 (ie, the actuator) through the wire tube transmission mechanism.
另外，上述技术方案还能将外骨骼驱动器转矩通过钢丝线管柔性传动机构高效传递至具有刚性执行机构的外骨骼关节处。刚性机构的线管滑轮和绑缚装置进一步将外骨骼驱动器的转矩转换为外骨骼关节机构(例如，膝助力关节机构、踝助力关节机构)的转矩并高效作用在穿戴者对应关节的邻近肢体上，进而实现高效的助力。此外，通过该技术方案还可以实现单个电机同时驱动两个以上的外骨骼关节机构(例如，两腿的两个膝助力关节机构、两个 踝助力关节机构)的助力。In addition, the above technical solution can efficiently transmit the torque of the exoskeleton driver to the exoskeleton joint with a rigid actuator through the flexible transmission mechanism of the steel wire tube. The wire tube pulley and binding device of the rigid mechanism further convert the torque of the exoskeleton drive into the torque of the exoskeleton joint mechanism (for example, knee assist joint mechanism, ankle assist joint mechanism) and effectively act on the vicinity of the wearer's corresponding joint Physically, and then achieve efficient assistance. In addition, through this technical solution, a single motor can simultaneously drive more than two exoskeleton joint mechanisms (for example, two knee-assisted joint mechanisms for two legs, and two ankle-assisted joint mechanisms).
在一些实施例中，请继续参考图3所示，所述线管固定座3包括线管固定本体301，所述线管固定本体301上开设线管通孔302，所述线管本体301和所述电机1接触的一面设置线管固定壁303，所述钢丝绞盘2通过所述线管通孔302安装在所述电机1的输出端，所述线管固定壁303下侧设置有钢丝出线槽304，所述中心轴端盖7与所述线管固定壁303配合封闭，用于保护所述钢丝绞盘2。In some embodiments, please continue to refer to FIG. 3, the wire tube fixing seat 3 includes a wire tube fixing body 301, the wire tube fixing body 301 is provided with a wire tube through hole 302, the wire tube body 301 and A wire tube fixing wall 303 is provided on the side in contact with the motor 1, the wire winch 2 is installed at the output end of the motor 1 through the wire tube through hole 302, and a wire outlet is provided on the lower side of the wire tube fixing wall 303. The groove 304, the central shaft end cover 7 and the line pipe fixing wall 303 are matched and closed, and is used to protect the steel wire winch 2.
在一些实施例中，请继续参考图4所示，所述钢丝绞盘2包括钢丝绞盘本体203，所述钢丝绞盘本体203上靠近中部位置开设三个安装孔204，所述钢丝绞盘本体203通过所述安装孔204与所述电机1的输出端6连接，所述钢丝绞盘本体203的一面上设置有钢丝绞盘壁205(即该钢丝绞盘壁205围合形成一个用于放置卷簧5的空间)，所述钢丝绞盘壁205上安装有用于安装所述钢丝端头的钢丝端头安装槽201以及用于安装所述卷簧5的外耳501的外耳安装槽202；In some embodiments, please continue to refer to FIG. 4, the steel wire winch 2 includes a steel wire winch body 203. The steel wire winch body 203 is provided with three mounting holes 204 near the middle position, and the steel wire winch body 203 passes through the The mounting hole 204 is connected to the output end 6 of the motor 1, and a wire winch wall 205 is provided on one surface of the wire winch body 203 (that is, the wire winch wall 205 is enclosed to form a space for placing the coil spring 5) , The steel wire winch wall 205 is equipped with a steel wire end mounting groove 201 for installing the steel wire end and an outer ear mounting groove 202 for installing the outer ear 501 of the coil spring 5;
在一些实施例中，还可以包括卷簧端盖8，所述卷簧端盖8与所述钢丝绞盘壁205配合封闭，用于保护所述卷簧5。In some embodiments, a coil spring end cover 8 may be further included, and the coil spring end cover 8 cooperates and closes with the wire winch wall 205 to protect the coil spring 5.
在一些实施例中，所述钢丝绞盘壁205上端开设多个螺纹孔206，所述卷簧端盖8上对应开设多个端盖安装孔9，多个螺栓穿过所述多个端盖安装孔9与所述多个螺纹孔206配合将所述卷簧端盖8固定安装在所述钢丝绞盘壁205上。In some embodiments, the upper end of the steel wire winch wall 205 is provided with a plurality of threaded holes 206, the coil spring end cover 8 is provided with a plurality of end cover mounting holes 9 correspondingly, and a plurality of bolts are installed through the plurality of end covers. The hole 9 cooperates with the plurality of threaded holes 206 to fix the coil spring end cover 8 on the steel wire winch wall 205.
在一些实施例中，所述线管固定壁303上周期设置多个中心轴端盖安装槽307，所述中心轴端盖7通过中心轴端盖7上的多个安装脚10与该中心轴端盖安装槽307配合封闭保护所述钢丝绞盘2。In some embodiments, a plurality of central shaft end cover mounting grooves 307 are periodically provided on the wire tube fixing wall 303, and the central shaft end cover 7 is connected to the central shaft through a plurality of mounting feet 10 on the central shaft end cover 7 The end cover installation groove 307 cooperates to seal and protect the steel wire winch 2.
在一些实施例中，对应所述钢丝出线槽304安装有一钢丝线管305。In some embodiments, a steel wire tube 305 is installed corresponding to the steel wire outlet groove 304.
在一些实施例中，所述钢丝出现槽304内设置有松紧微调旋钮306。In some embodiments, a tightness fine adjustment knob 306 is provided in the steel wire emergence groove 304.
请参考图5b和图5d所示，在本发明的一些实施例中，外骨骼下肢助力机构包括驱动机构、大腿支架31、小腿支架36(包括小腿上支架3601和小腿下支架3602)，大腿支架31和小腿支架36之间通过膝关节转轴21转动连接，小腿下支架通过踝关节转轴29转动连接外骨骼鞋套28，大腿支架31和小腿支架36可以分别通过大腿绑缚20和小腿绑缚22固定在穿戴者腿部。Please refer to Figures 5b and 5d. In some embodiments of the present invention, the exoskeleton lower limb power-assisted mechanism includes a driving mechanism, a thigh support 31, a calf support 36 (including an upper leg support 3601 and a lower leg support 3602), and a thigh support 31 and calf support 36 are rotatably connected by knee joint shaft 21, calf lower support is connected to exoskeleton shoe cover 28 by ankle joint shaft 29, thigh support 31 and calf support 36 can be tied by thigh 20 and calf 22, respectively Fix to the wearer's leg.
外骨骼驱动机构、电池、控制电路等可以通过腰部绑缚30被放置在穿戴者腰部(背侧)，并联弹性驱动器位于外骨骼驱动机构中。大腿钢丝线管305a一端连接在外骨骼驱动机构上(即钢丝的第一端)，另一端沿大腿向下，通过大腿线管端头固定座32等机构稳定在大腿支架31上，再通过膝关节转轴21后(即钢丝的第二端，可以通过膝关节钢丝顶盖34将钢丝压在膝关节转轴21上，避免钢丝移位)，沿小腿向下，通过小腿线管305b的端头固定座35等机构稳定在小腿上支架3601上，再向下将钢丝端头固定在鞋套悬臂27上(即钢丝的第三端)。当然，如果外骨骼驱动器只需要向膝助力关节机构(或穿戴者的膝关节)提供助力，那么钢丝可以在通过膝关节转轴21后固定在，例如小腿上支架3601的上部，在这种实施例中，即没有钢丝的第三端。The exoskeleton driving mechanism, battery, control circuit, etc. can be placed on the wearer's waist (back side) through the waist tie 30, and the parallel elastic driver is located in the exoskeleton driving mechanism. One end of the thigh wire tube 305a is connected to the exoskeleton drive mechanism (that is, the first end of the wire), and the other end is downward along the thigh, and is stabilized on the thigh support 31 by the thigh wire tube end fixing seat 32 and other mechanisms, and then passes through the knee joint After the shaft 21 (that is, the second end of the wire, the wire can be pressed on the knee joint shaft 21 through the knee joint wire cap 34 to prevent the wire from shifting), down the calf, and pass the end of the calf wire tube 305b to the fixed seat 35 and other mechanisms are stabilized on the upper leg bracket 3601, and then the end of the wire is fixed to the shoe cover cantilever 27 (that is, the third end of the wire) downward. Of course, if the exoskeleton driver only needs to provide assistance to the knee joint mechanism (or the wearer’s knee joint), then the wire can be fixed on, for example, the upper part of the upper leg bracket 3601 after passing through the knee joint shaft 21. In this embodiment Middle, that is, there is no third end of the wire.
在一些实施例中，小腿支架36上还包括小腿长度调节机构23，可以调节小腿支架36的长度以适应不同身高的穿戴者。In some embodiments, the calf support 36 further includes a calf length adjustment mechanism 23, which can adjust the length of the calf support 36 to adapt to wearers of different heights.
进一步地，参见图5c，在一些实施例中，由于拉线4可将驱动机构提供的助力传递至至少一个执行机构，即该拉线4具有多个力输出端(也即多个与执行机构相连的末端42)，因此，为了能够更好地分配各个执行机构之间的助力，从而提升助力效率，还可相邻的两个执行机构(如两个助力关节机构)之间设置一离合锁死机构37，且该离合锁死机构通过拉线分别与前述两个执行机构相连，且当助力外骨骼中的相应助力关节机构(或者穿戴者的被助力关节)处于伸直或接近伸直状态时，该离合锁死机构37处于啮合状态，从而使得驱动机构输出的助力通过上述拉线机构传递至与该离合锁死机构37相连的两个执行机构；而当该被 助力关节(或助力关节机构)处于弯曲状态时，该离合锁死机构37处于未啮合状态，使得驱动机构输出的助力通过拉线机构传递至这两个执行机构中靠近驱动机构的一个执行机构(其中，两个执行机构中靠近驱动机构的一个执行机构是指两个执行机构中，与驱动机构之间拉线最短的一个执行机构，或者基于穿戴者中各个关系的位置关系，距离驱动机构最近的一个执行机构)。Further, referring to Figure 5c, in some embodiments, because the pull wire 4 can transmit the power provided by the driving mechanism to at least one actuator, the pull wire 4 has multiple force output ends (that is, multiple power output terminals connected to the actuator). End 42). Therefore, in order to better distribute the power assistance between the various actuators, thereby improving the power assistance efficiency, a clutch locking mechanism can also be set between two adjacent actuators (such as two power-assisted joint mechanisms) 37, and the clutch locking mechanism is respectively connected to the aforementioned two actuators through a cable, and when the corresponding assisted joint mechanism in the assisted exoskeleton (or the wearer’s assisted joint) is in a state of straightening or close to straightening, the The clutch locking mechanism 37 is in an engaged state, so that the power output from the driving mechanism is transmitted to the two actuators connected to the clutch locking mechanism 37 through the above-mentioned pulling mechanism; and when the assisted joint (or assisted joint mechanism) is in bending In the state, the clutch and locking mechanism 37 is in the non-engaged state, so that the power assist output by the drive mechanism is transmitted to the one of the two actuators that is close to the drive mechanism (the one of the two actuators that is close to the drive mechanism) through the wire pulling mechanism. An actuator refers to the actuator with the shortest wire between the two actuators and the driving mechanism, or the actuator closest to the driving mechanism based on the positional relationship of each relationship among the wearer).
例如，可在膝关节和踝关节之间设置该离合锁死机构37，从而使得该膝关节和踝关节构成联动关节，和/或，在髋关节和膝关节之间设置该离合锁死机构37，使得该髋关节和膝关节构成联动关节。For example, the clutch locking mechanism 37 can be provided between the knee joint and the ankle joint, so that the knee joint and the ankle joint constitute a linkage joint, and/or the clutch locking mechanism 37 can be provided between the hip joint and the knee joint. , So that the hip joint and knee joint constitute a linkage joint.
在一些实施例中，参见图5g和图5i，该离合锁死机构37包括：离合锁死底座371，与两个执行机构的拉线相连，且设置有棘齿372-1的拉线滑块372；可与该拉线滑块372上的棘齿相啮合的滑动棘爪374；以及用于推动该滑动棘爪374滑动以与上述拉线滑块372相啮合的离合推杆373，其中，该离合推杆373和该拉线滑块372均以可沿该离合锁死底座371高度方向上下滑动的方式安装在该离合锁死底座371内，而该滑动棘爪374以可沿该离合锁死底座371宽度方向左右滑动的方式安装在该离合锁死底座371内，且初始状态(即未施加外作用力于该离合推杆373)时，该滑动棘爪374与该拉线滑块372未啮合，从而使得拉线滑块372可沿该离合锁死底座371高度方向上下滑动，进而将驱动器提供的助力传递至相应的两个执行机构，参见图5g；当施加外作用力F于该离合推杆373，使得该离合推杆373带动该滑动棘爪374向靠近拉线滑块372方向移动，并逐渐与该拉线滑块372相啮合时，该离合锁死机构37处于锁死状态，从而使得驱动器提供的助力仅传递至两个执行机构中靠近驱动器的一个执行机构，参见图5h。In some embodiments, referring to FIGS. 5g and 5i, the clutch locking mechanism 37 includes: a clutch locking base 371, which is connected to the cables of two actuators and is provided with a cable slider 372 with ratchet teeth 372-1; A sliding pawl 374 that can be engaged with the ratchet teeth on the cable slider 372; and a clutch push rod 373 for pushing the sliding pawl 374 to slide to engage with the cable slider 372, wherein the clutch push rod 373 and the cable slider 372 are both installed in the clutch locking base 371 in a manner that can slide up and down along the height direction of the clutch locking base 371, and the sliding pawl 374 can be moved along the width direction of the clutch locking base 371. It is installed in the clutch locking base 371 by sliding left and right, and in the initial state (that is, no external force is applied to the clutch push rod 373), the sliding pawl 374 is not engaged with the cable slider 372, so that the cable The sliding block 372 can slide up and down along the height direction of the clutch locking base 371, thereby transmitting the power provided by the driver to the corresponding two actuators, see Figure 5g; when an external force F is applied to the clutch push rod 373, the When the clutch push rod 373 drives the sliding pawl 374 to move closer to the cable slider 372 and gradually engages with the cable slider 372, the clutch locking mechanism 37 is in a locked state, so that the power provided by the driver is only transmitted To one of the two actuators near the driver, see Figure 5h.
在一些实施例中，参见图5j，可分别在该拉线滑块372的两端开设相应的拉线端头安装槽3720来安装与两个执行机构相连的拉线的拉线端头(如靠近驱动器的执行机构的上端拉线4a的拉线端头41a和远离驱动器的执行机构的下端拉线4b的拉线端头41b)，从而将两个执行机构相连，也即将该拉线滑块372的两端分别与连接至两个执行机构的拉线各自的端头相连。In some embodiments, referring to FIG. 5j, corresponding cable end mounting slots 3720 can be opened at both ends of the cable slider 372 to install the cable ends of the cables connected to the two actuators (such as those close to the actuator). The wire end 41a of the upper end wire 4a of the mechanism and the wire end 41b) of the lower end wire 4b of the actuator far away from the actuator are connected to the two actuators, that is, the two ends of the wire slider 372 are connected to the two The respective ends of the cables of the two actuators are connected.
在一些实施例中，该拉线滑块372以可相对于该离合锁死底座371的高度方向上下滑动的方式安装在该离合锁死底座371的一侧，如右侧。具体地，参见图5j，可在该离合锁死底座371的右侧沿高度方向开设一个滑块滑槽3711，并在该滑块滑槽3711的上下两端设置相应的滑块端盖3711-1，且该滑块端盖3711-1上开设有可通过拉线4穿过的拉线通孔3711-2，以及安装线管305端头的线管安装槽3711-3，当然，该滑块滑槽3711的高度尺寸大于该拉线滑块372的高度尺寸，从而为该拉线滑块372提供上下滑动的空间。In some embodiments, the cable slider 372 is installed on one side of the clutch locking base 371, such as the right side, so as to be slidable up and down with respect to the height direction of the clutch locking base 371. Specifically, referring to FIG. 5j, a slider chute 3711 can be opened along the height direction on the right side of the clutch locking base 371, and corresponding slider end caps 3711 are provided at the upper and lower ends of the slider chute 3711. 1, and the slider end cover 3711-1 is provided with a cable through hole 3711-2 through which the cable 4 can pass, and a cable tube installation groove 3711-3 for installing the end of the cable tube 305. Of course, the slider slides The height dimension of the groove 3711 is greater than the height dimension of the cable slider 372, so as to provide the cable slider 372 with a space for sliding up and down.
在一些实施例中，该滑动棘爪374以可相对于该离合锁死底座371宽度方向左右滑动的方式安装在该离合锁死底座371的另一侧，如左侧。具体地，参见图5i和图5j，可在该离合锁死底座371的左侧沿宽度方向开设一个棘爪滑槽3712，且该棘爪滑槽3712最右端与上述滑块滑槽3711相连通；同时，在该滑动棘爪374上靠近左侧的位置设置有至少一个第二弹性复位元件376(具体地，在该滑动棘爪374内沿宽度方向设至少一个用于安装该第二弹性复位元件376的弹性复位元件安装槽3741，并在棘爪滑槽3712的槽口处设置一个可封住该棘爪滑槽3712的第一安装端盖376-1，且第一安装端盖376-1上对应于第二弹性元件376的位置设置有用于安装该第二弹性复位元件376的第一导向柱376-2)，并在该滑动棘爪374上设置至少一个限位凸点3740。In some embodiments, the sliding pawl 374 is installed on the other side of the clutch locking base 371, such as the left side, so as to be slidable to the left and right relative to the width of the clutch locking base 371. Specifically, referring to Figures 5i and 5j, a pawl slide groove 3712 can be opened in the width direction on the left side of the clutch locking base 371, and the rightmost end of the pawl slide groove 3712 is in communication with the slider slide groove 3711. At the same time, at least one second elastic reset element 376 is provided on the sliding pawl 374 near the left side (specifically, at least one second elastic reset element 376 is provided in the sliding pawl 374 along the width direction for installing the second elastic reset The elastic reset element mounting groove 3741 of the element 376 is provided with a first mounting end cover 377-1 that can seal the pawl sliding groove 3712 at the notch of the pawl sliding groove 3712, and the first mounting end cover 376- A first guide post 376-2 for installing the second elastic reset element 376 is provided at a position corresponding to the second elastic element 376, and at least one limiting protrusion 3740 is provided on the sliding pawl 374.
在一些实施例中，该离合推杆373也以可沿该离合锁死底座371的高度方向上下滑动的方式安装在该离合锁死底座371上。具体地，可在该离合锁死底座371上靠近上述滑块滑槽3711的位置开设一个贯穿上述棘爪滑槽3712右侧的推杆滑槽3713，并在该推杆滑槽3713底部安装一个第一弹性复位元件375(具体地，可在该推杆滑槽3713底部固定安装一个第二导向柱375-1，用以安装该第一弹性复位元件375的同时，封住该推杆滑槽3713的底部)， 且该离合推杆373上设置有至少一个，用于向上述限位凸点3740提供移动路径的凸点滑槽3730，参见图5i和图5j。In some embodiments, the clutch push rod 373 is also mounted on the clutch locking base 371 in a manner that can slide up and down along the height direction of the clutch locking base 371. Specifically, a push rod slide groove 3713 that penetrates the right side of the pawl slide groove 3712 can be opened on the clutch locking base 371 near the slider slide groove 3711, and a push rod slide groove 3713 can be installed at the bottom of the push rod slide groove 3713. The first elastic reset element 375 (specifically, a second guide post 375-1 can be fixedly installed at the bottom of the push rod chute 3713 for installing the first elastic reset element 375 while sealing the push rod chute The bottom of the 3713), and the clutch push rod 373 is provided with at least one convex chute 3730 for providing a movement path to the above-mentioned limiting convex 3740, see Fig. 5i and Fig. 5j.
当没有外作用力作用于该离合推杆373时，位于该离合推杆373底部，且安装在该离合锁死底座371内的第一弹性复位元件375(如弹簧)将该离合推杆373朝上顶紧，而此时，滑动棘爪374上的限位凸点3740位于该离合推杆373上凸点滑槽3730所提供移动路径的第一极限位置(如该凸显滑槽3730的最左侧，参见图5g)，使得该滑动棘爪374压缩位于该滑动棘爪374一侧，且安装在该离合锁死底座371内的的第二弹性复位元件376(如弹簧)，即该滑动棘爪374位于该离合锁死底座371中的解锁位置，从而使得该滑动棘爪374与拉线滑块372分离，进而该离合锁死装置处于松脱状态。在此状态下，该拉线滑块372可沿该离合锁死底座371的高度方向上下自由移动，因此，当驱动器提供助力时，该离合锁死底座371上端的拉线4a将该驱动器提供的助力传递至拉线滑块372，并由该拉线滑块372传递至下端拉线4b，从而带动下端拉线4b向上下移动，进而将助力传递至与该下端拉线4b相连的执行机构(如脚踝助力关节机构)。When there is no external force acting on the clutch push rod 373, the first elastic return element 375 (such as a spring) located at the bottom of the clutch push rod 373 and installed in the clutch locking base 371 turns the clutch push rod 373 toward Tighten up, and at this time, the limit protrusion 3740 on the sliding pawl 374 is located at the first limit position of the movement path provided by the protrusion chute 3730 on the clutch push rod 373 (for example, the leftmost position of the protrusion chute 3730) Side, see Figure 5g), so that the sliding pawl 374 is compressed on the side of the sliding pawl 374 and installed in the clutch locking base 371 in the second elastic return element 376 (such as a spring), that is, the sliding pawl The pawl 374 is located in the unlocked position of the clutch locking base 371, so that the sliding pawl 374 is separated from the cable slider 372, and the clutch locking device is in a loose state. In this state, the cable slider 372 can freely move up and down along the height of the clutch locking base 371. Therefore, when the driver provides power assistance, the cable 4a at the upper end of the clutch locking base 371 transmits the power provided by the driver To the cable slider 372, and transmitted by the cable slider 372 to the lower end cable 4b, the lower end cable 4b is driven to move up and down, and the power is transferred to the actuator connected to the lower end cable 4b (such as ankle booster joint mechanism).
在施加外作用力F于该离合推杆373，使得该离合推杆373压缩该第一弹性复位元件375时，离合推杆373整体下滑，使得凸点滑槽3730释放滑动棘爪374上的限位凸点3740(例如，限位凸点3740沿该凸点滑槽3730的活动轨迹向右滑动至第二极限位置，如最右侧，参见图5h)，同时，滑动棘爪374在两个第二弹性复位件376的作用下向右滑动至啮合位置，使得该滑动棘爪374上的棘爪与拉线滑块372上的棘齿相啮合，也即该离合锁死机构相啮合/锁死。离合锁死机构啮合后，使得拉线滑块372无法再向上移动，即驱动机构提供的助力仅仅传递至上端拉线4a所连接的执行机构(即靠近驱动器的执行机构)，而不会传递至下端拉线4b所连接的执行机构(即远离驱动器的执行机构)。When an external force F is applied to the clutch push rod 373 so that the clutch push rod 373 compresses the first elastic reset element 375, the clutch push rod 373 slides down as a whole, so that the convex point sliding groove 3730 releases the limit on the sliding pawl 374 Position protrusion 3740 (for example, the limit protrusion 3740 slides to the right along the movement track of the protrusion chute 3730 to the second limit position, such as the far right, see Fig. 5h), and at the same time, the sliding pawls 374 are in two The second elastic reset member 376 slides to the right to the engaged position, so that the pawl on the sliding pawl 374 engages with the ratchet on the cable slider 372, that is, the clutch locking mechanism is engaged/locked. . After the clutch and locking mechanism is engaged, the cable slider 372 can no longer move upward, that is, the power provided by the drive mechanism is only transmitted to the actuator connected to the upper cable 4a (that is, the actuator close to the driver), but not to the lower cable. 4b The connected actuator (that is, the actuator far from the drive).
进一步地，参见图5h，上述拉线滑块372上的棘齿372-1呈楔形，从而使得当拉线滑块372受到下端拉线4b的拉力作用时，棘齿372-1的楔面依然可以将滑动棘爪374向靠近第一极限位置方向，如向左侧顶动滑移，从而使得拉线滑块372可向下端拉线4b方向移动。Further, referring to FIG. 5h, the ratchet teeth 372-1 on the above-mentioned cable slider 372 are wedge-shaped, so that when the cable slider 372 receives the pulling force of the lower end cable 4b, the wedge surface of the ratchet teeth 372-1 can still slide The pawl 374 moves in a direction close to the first limit position, such as pushing and sliding to the left, so that the cable slider 372 can move in the direction of the lower end cable 4b.
当然，除了施加外作用力F于上述离合推杆373外，也可采用电磁阀控制的方式，例如，在离合推杆373的上方设置一个电池阀，并在离合推杆373顶部内嵌至少一个磁棒，当该电池阀通电，使得其极性与磁棒极性相同，从而推动磁棒向远离电池阀的下端移动，进而推动离合推杆373向下滑动，使得滑动棘爪向锁死位置(或第二极限位置)，并逐渐与拉线滑块相啮合；当电池阀断电时，则离合推杆在第一弹性复位元件的作用下，向上移动，从而带动滑动棘爪374向解锁位置(或第一极限位置)移动，进而使得滑动棘爪374与拉线滑块372上的棘爪分离，也即离合锁死机构37处于未啮合状态。Of course, in addition to applying an external force F to the clutch push rod 373, a solenoid valve control method can also be used. For example, a battery valve is set above the clutch push rod 373, and at least one is embedded on the top of the clutch push rod 373. When the battery valve is energized, its polarity is the same as that of the magnetic rod, which pushes the magnetic rod to move away from the lower end of the battery valve, and then pushes the clutch push rod 373 to slide down, so that the sliding pawl moves to the locked position (Or the second limit position), and gradually engage with the cable slider; when the battery valve is de-energized, the clutch push rod moves upward under the action of the first elastic reset element, thereby driving the sliding pawl 374 to the unlocked position (Or the first limit position) moves, so that the sliding pawl 374 is separated from the pawl on the cable slider 372, that is, the clutch locking mechanism 37 is in a non-engaged state.
具体地，请参考图5c所示，在本发明的一些实施例中，在膝关节助力关节机构和踝关节助力关节机构(以下简称膝助力关节机构、踝助力关节机构)之间的拉线设置该离合锁死机构，具体地，在钢丝的第二端(或上端拉线4a)和钢丝的第三端(或下端拉线4b)之间还设置有离合锁死机构37，通过离合锁死机构可以让膝关节弯曲程度较大的时候，离合锁死机构进入分离状态，停止拉力向踝助力关节机构的传输，从而让外骨骼驱动器产生的助力都集中在膝助力关节机构处，帮助穿戴者上台阶、爬坡；而当膝关节弯曲程度减小到一定角度后，离合锁死机构再进入接合状态，恢复拉力向踝助力关节机构的传导，实现对踝关节的助力。换句话说，通过在相邻两个执行机构之间的拉线末端之间增加离合锁死机构，可以更好地在膝关节和踝关节之间分配助力，提升了本发明外骨骼驱动器对下肢提供助力的效率。Specifically, please refer to FIG. 5c. In some embodiments of the present invention, the pull line between the knee joint power-assisted joint mechanism and the ankle joint power-assisted joint mechanism (hereinafter referred to as the knee power-assisted joint mechanism and the ankle power-assisted joint mechanism) is set The clutch locking mechanism, specifically, a clutch locking mechanism 37 is also provided between the second end of the steel wire (or upper end pull wire 4a) and the third end of the steel wire (or lower end pull wire 4b). The clutch locking mechanism can allow When the knee joint is bent to a large extent, the clutch locking mechanism enters the separated state and stops the transmission of tensile force to the ankle assist joint mechanism, so that the power generated by the exoskeleton driver is concentrated on the knee assist joint mechanism, helping the wearer to climb the stairs, Climbing; and when the bending degree of the knee joint is reduced to a certain angle, the clutch and locking mechanism enters the engaged state again, restoring the transmission of the pulling force to the ankle booster joint mechanism, and realizes the boosting of the ankle joint. In other words, by adding a clutch and locking mechanism between the end of the cable between two adjacent actuators, the assisting force can be better distributed between the knee joint and the ankle joint, which improves the exoskeleton driver of the present invention to provide lower limbs. Boost efficiency.
更进一步地，在一些实施例中，该拉线机构中的拉线可通过助力外骨骼中的三个拉线通道分为三路分支，其中，两路分支对称设置在所述助力外骨骼中相应助力关节机构的左右两侧，另外一路分支设置在所述助力关节机构的正前方或正后方。当然，该拉线也可根据实际需要分为两路分支或者更多路分支。参见图5d至图5f，下面以膝关节助力机构为例进行说明。Furthermore, in some embodiments, the cable in the cable mechanism can be divided into three branches through the three cable channels in the power-assisted exoskeleton, wherein the two branches are symmetrically arranged in the power-assisted exoskeleton and the corresponding power-assisted joints On the left and right sides of the mechanism, another branch is arranged directly in front of or directly behind the power-assisted joint mechanism. Of course, the cable can also be divided into two branches or more branches according to actual needs. Referring to Figures 5d to 5f, a knee joint assist mechanism is taken as an example for description.
具体地，膝助力关节机构包括至少三个钢丝通道(即拉线通道)，包括一个位于穿戴者膝关节左侧的左侧转轴21a、一个位于穿戴者膝关节右侧的右侧转轴21b，以及一个位于穿戴者膝关节正面的膝关节钢丝滑槽38。钢丝(或编织带等拉线4)分三路通过三个钢丝通过膝关节，当驱动器12拉动钢丝时，通过左侧转轴21a和右侧转轴21b的钢丝可以给穿戴者膝关节提供左右均衡的助力，而通过膝关节正面的钢丝则可以给穿戴者膝关节的转动提供较大的助力。这是因为来自左右两侧转轴上钢丝的助力因为在膝关节转动时所产生的位移较小，所以能提供的助力较小，而通过位于穿戴者膝关节正面膝关节钢丝滑槽38的钢丝则因为在膝关节转动时所产生的位移较大，而能够提供较大的助力。这样的膝关节结构综合考虑的助力的大小(通过膝关节正面膝关节钢丝滑槽的钢丝提供)和助力的均衡(通过膝关节左右两侧转轴钢丝提供)，能提升外骨骼机构穿戴者的使用体验。Specifically, the knee assist joint mechanism includes at least three wire channels (ie cable channels), including a left shaft 21a on the left side of the wearer’s knee joint, a right shaft 21b on the right side of the wearer’s knee joint, and one Knee joint wire chute 38 located on the front of the wearer's knee joint. The steel wire (or braided belt 4) passes through the knee joint in three ways. When the driver 12 pulls the wire, the wires on the left shaft 21a and the right shaft 21b can provide the wearer's knee joint with left and right balanced assistance. , And the wire on the front of the knee joint can provide greater assistance to the rotation of the wearer’s knee joint. This is because the power assistance from the steel wires on the left and right shafts produces less power when the knee joint rotates, so it can provide less power. However, the steel wire chute 38 located on the front of the wearer’s knee joint can provide less power. Because the displacement generated when the knee joint rotates is larger, it can provide a larger boost. This kind of knee joint structure comprehensively considers the size of the power (provided by the steel wire of the front knee joint wire chute of the knee joint) and the balance of the power (provided by the hinge wires on the left and right sides of the knee joint), which can improve the use of the exoskeleton mechanism. Experience.
请参考图5e和图5f所示，在本发明的一些实施例中，膝助力关节机构的钢丝通道设置在膝关节正面(包括膝关节钢丝滑槽38)，膝助力关节机构左右两侧转轴21a、21b采用齿轮机构，钢丝通道从大腿支架31到膝关节钢丝滑槽38到小腿支架36都可以采用盖体40盖住，防止钢丝移位。所述钢丝通过动滑轮机构在所述膝助力关节机构的助力关节滑轮39处多次盘绕，以改变所述钢丝从所述外骨骼驱动器到所述膝助力关节机构处的传动比，实现所述膝助力关节机构处助力转矩放大。Please refer to FIG. 5e and FIG. 5f. In some embodiments of the present invention, the steel wire channel of the knee power-assisted joint mechanism is provided on the front of the knee joint (including the knee joint steel wire chute 38), and the left and right shafts 21a of the knee power-assisted joint mechanism 21b adopts a gear mechanism, and the wire channel from the thigh bracket 31 to the knee joint wire chute 38 to the calf bracket 36 can be covered with a cover 40 to prevent the wire from shifting. The wire is coiled multiple times at the assist joint pulley 39 of the knee assist joint mechanism through a movable pulley mechanism to change the transmission ratio of the wire from the exoskeleton drive to the knee assist joint mechanism to realize the knee The boosting torque is amplified at the power-assisted joint mechanism.
实施例2：并联弹性驱动器的驱动状态检测方法Embodiment 2: Method for detecting the driving state of parallel elastic drivers
基于上述的并联弹性驱动器，本发明还提供了一种助力外骨骼的驱动器控制方法，其中，该驱动器为上述任一种驱动器，具体地，该控制方法包括步骤：Based on the above-mentioned parallel elastic driver, the present invention also provides a driver control method of a power-assisted exoskeleton, wherein the driver is any of the above-mentioned drivers. Specifically, the control method includes the steps:
获取并识别驱动器当前的工作状态；具体地，由于驱动器的工作状态由控制器控制，因此，可直接从控制器中获取驱动器当前的工作状态类型，具体为随动，或准备，或助力；Obtain and identify the current working status of the drive; specifically, since the working status of the drive is controlled by the controller, the current working status type of the drive can be directly obtained from the controller, specifically follow-up, or ready, or assist;
若识别出驱动器的工作状态为随动时，获取助力关节机构当前的关节弯曲角度和关节弯曲角速度；并根据该关节弯曲角度和关节弯曲角速度，以及预设的助力阈值角度和弯曲阈值角速度，判断当前是否需要准备助力，若是，将驱动器当前的工作状态从随动状态置为准备状态；If it is recognized that the working state of the driver is follow-up, obtain the current joint bending angle and joint bending angular velocity of the assisted joint mechanism; and judge according to the joint bending angle and joint bending angular velocity, as well as the preset assist threshold angle and bending threshold angular velocity Whether it is necessary to prepare for assistance at present, if so, set the current working state of the drive from the follow-up state to the ready state;
若识别出驱动器的工作状态为准备时，获取助力关节机构当前的关节伸展角速度和关节弯曲角度，并根据该助力关节机构的关节伸展角速度、关节弯曲角度和预设的伸展阈值角度、失效阈值角度判断该助力关节机构是否需要助力；若需要助力，将驱动器当前的工作状态从准备状态置为助力状态，并将驱动器的输出转矩置为预设阈值Tref；If it is recognized that the working state of the driver is ready, obtain the current joint extension angular velocity and joint bending angle of the power-assisted joint mechanism, and according to the joint extension angular velocity, joint bending angle and preset extension threshold angle and failure threshold angle of the power-assisted joint mechanism Determine whether the assisted joint mechanism needs assist; if assist is needed, set the current working state of the driver from the ready state to the assisted state, and set the output torque of the driver to the preset threshold Tref;
若识别出驱动器当前的工作状态为助力时，获取助力关节机构当前的膝关节弯曲角度，或膝关节伸展角速度，或膝关节弯曲角速度；并根据膝关节弯曲角度和预设的失效阈值角度，或膝关节伸展角速度和预设的最大伸展角速度，或膝关节弯曲角速度和预设的弯曲阈值角速度，判断当前是否需要取消助力，若是，将驱动器当前的工作状态从助力状态置为随动状态，并将驱动器的输出转矩置为0。If it is recognized that the current working state of the driver is power assist, obtain the current knee bending angle, or knee extension angular velocity, or knee bending angular velocity of the power-assisted joint mechanism; and according to the knee bending angle and the preset failure threshold angle, or Knee joint extension angular velocity and preset maximum extension angular velocity, or knee flexion angular velocity and preset flexion threshold angular velocity, determine whether the current assistance needs to be cancelled, if so, set the current working state of the driver from the assist state to the follow-up state, and Set the output torque of the drive to 0.
在一些实施例中，驱动器中电机的工作状态是由控制器所控制的，因此，可直接从控制器的存储模块中获取当前的工作状态，并识别出具体类型，例如，随动、准备和助力。In some embodiments, the working state of the motor in the drive is controlled by the controller. Therefore, the current working state can be obtained directly from the storage module of the controller, and the specific type can be identified, for example, follow-up, ready and Boost.
本发明实施例是一种并联弹性驱动器的驱动状态检测方法，请参考图6和图7所示，按照以下方式判断驱动状态：The embodiment of the present invention is a method for detecting the driving state of a parallel elastic driver. Please refer to FIG. 6 and FIG. 7 to determine the driving state in the following manner:
若膝关节角度>助力阈值角度且膝关节弯曲角速度>弯曲阈值角速度，则判断驱动状态为准备，电机力矩＝0；If the knee joint angle>the assisting threshold angle and the knee joint bending angular velocity>the bending threshold angular velocity, then it is judged that the driving state is ready, and the motor torque=0;
若膝关节伸展角速度>伸展阈值角速度且膝关节角度>失效阈值角度，则判断驱动状态为助力，电机力矩＝T ref； If knee joint extension angular velocity> extension threshold angular velocity and knee joint angle> failure threshold angle, it is judged that the driving state is assisted, and the motor torque = T ref ;
若膝膝关节角度<失效阈值角度或膝关节伸展角速度>最大伸展角速度或膝关节弯曲角速度>弯曲阈值角速度，则判断驱动状态为随动，电机力矩＝0。If the knee joint angle <failure threshold angle or knee extension angular velocity> maximum extension angular velocity or knee bending angular velocity> bending threshold angular velocity, then it is judged that the driving state is follow-up, and the motor torque=0.
进一步，在判断完驱动状态后，判断用户是否修改Tref或各阈值参数；Further, after judging the driving state, judge whether the user modifies Tref or each threshold parameter;
若是，则调整相关阈值后判断***是否异常；If yes, judge whether the system is abnormal after adjusting the relevant threshold;
若否，则直接判断***是否异常；If not, directly judge whether the system is abnormal;
若***异常，则重启或报警；If the system is abnormal, restart or alarm;
若***不异常，则继续按照所述方式判断驱动状态。If the system is not abnormal, continue to determine the driving state in the manner described.
具体实施时，本检测方法可以通过安装控制器和电机状态监测，以实现上述检测方法。流程图参考图所示，开始前初始化电机，使得电机状态为随动，力矩为0，随动过程中逐渐变成准备，然后助力，最后回到随动。In specific implementation, this detection method can be implemented by installing a controller and motor state monitoring to achieve the above detection method. Refer to the flow chart as shown in the figure. Before starting, initialize the motor so that the motor state is follow-up and the torque is 0. During the follow-up process, it gradually becomes ready, then assists, and finally returns to follow-up.
更具体地说，图7是本发明一些实施例中，膝关节助力外骨骼机构的一种简单控制方案。其中，外骨骼通过扭矩电机内嵌的角度传感器(差分后获得角速度、角加速度)，以及电枢电流传感器(公式转换后获得电机输出扭矩)，对外骨骼工作状态进行评估判断。同时，控制器为电机设定三种工作状态，分别为：随动、准备、助力。More specifically, FIG. 7 is a simple control scheme of the knee joint assisted exoskeleton mechanism in some embodiments of the present invention. Among them, the exoskeleton evaluates and judges the working state of the exoskeleton through the angle sensor embedded in the torque motor (the angular velocity and angular acceleration are obtained after the difference) and the armature current sensor (the motor output torque is obtained after the formula conversion). At the same time, the controller sets three working states for the motor, namely: follow-up, ready, and assist.
控制***的判断变量包括：膝关节角度(由电机角度经***总传动比换算后获得)，膝关节弯曲角速度(由电机旋转角速度经***总传动比换算后获得，注意膝关节弯曲角速度和膝关节伸展角速度实际上为同一参数，两者只是运动方向相反，图7流程图里为了避免单参数表示时涉及正负号参数的大小比较，因此采用两个属于表示电机旋转角速度的正值和负值)。此外，助力阈值角度、失效阈值角度、弯曲阈值角速度、伸展阈值角速度、最大伸展角速度为控制***设定的判断阈值参数，T ref是控制***设定的电机助力时的输出扭矩。 The judgment variables of the control system include: knee joint angle (obtained from the motor angle converted by the system total transmission ratio), knee bending angular velocity (obtained from the motor rotation angular velocity converted by the system total transmission ratio, pay attention to the knee joint bending angular velocity and knee joint The extension angular velocity is actually the same parameter, and the two are just opposite in the direction of movement. In the flowchart in Figure 7 to avoid the comparison of the magnitude of the sign parameter when the single parameter is expressed, two positive and negative values representing the motor rotation angular velocity are used. ). In addition, the assist threshold angle, the failure threshold angle, the bending threshold angular velocity, the extension threshold angular velocity, and the maximum extension angular velocity are the judgment threshold parameters set by the control system, and T ref is the output torque of the motor set by the control system.
***工作过程描述如下：***开机后，先进性初始化操作，包括膝关节转角设置为0度，电机状态设定为随动，电机力矩设定为0Nm，然后***进入主循环。主循环中首先判断电机状态：The working process of the system is described as follows: After the system is turned on, the advanced initialization operations include setting the knee joint angle to 0 degrees, setting the motor status to follow-up, and setting the motor torque to 0Nm, and then the system enters the main loop. In the main loop, the state of the motor is first judged:
“随动”状态下，电机跟随穿戴者膝关节任意运动，当膝关节弯曲角度大于设定的助力阈值角度，且膝关节弯曲的角速度大于设定的弯曲阈值角速度时，说明膝盖弯曲的程度已达到我们想要助力的弯曲程度，且此时仍然处于弯腿运动中，为此将电机状态设定为“准备”，并将电机力矩设定为0Nm。In the “follow-up” state, the motor follows the wearer’s knee joint freely. When the knee joint bending angle is greater than the set assist threshold angle, and the knee bending angular velocity is greater than the set bending threshold angular velocity, it indicates that the degree of knee bending has been reached. To reach the degree of bending we want to assist, and at this time still in the bending motion, set the motor state to "ready" and set the motor torque to 0Nm.
“准备”状态下，若膝关节的伸展角速度大于伸展阈值角速度，说明此时膝关节已经由弯曲运动转换伸展运动，并且之前的弯曲运动已经超过设定的助力阈值角度(因此才进入“准备”状态)，只要此时膝关节弯曲角度大于失效阈值角度，则将电机状态设定为“助力”，并让电机输出T ref的助力转矩。失效阈值角度是一个大于0度小于助力阈值角度的设定值，其目的是在膝关节接近直立状态时，提前取消助力，避免穿戴者膝关节因为行走步态中未完全达到直立状态(膝关节角度稍大于0)，而导致电机始终处于助力状态，穿戴者膝关节难以再次弯腿实现下一步态。 In the "preparation" state, if the extension angular velocity of the knee joint is greater than the extension threshold angular velocity, it means that the knee joint has been converted from bending motion to extension motion at this time, and the previous bending motion has exceeded the set assist threshold angle (so it enters the "preparation" Status), as long as the knee joint bending angle is greater than the failure threshold angle at this time, the motor status is set to “assistance” and the motor outputs the assist torque of T ref. The failure threshold angle is a set value that is greater than 0 degrees and less than the assist threshold angle. Its purpose is to cancel the assist in advance when the knee joint is close to the upright state, so as to prevent the wearer's knee joint from not fully reaching the upright state in the walking gait (knee joint The angle is slightly larger than 0), and the motor is always in the assisting state, and it is difficult for the wearer's knee joint to bend the leg again to achieve the next state.
“助力”状态下，电机正持续向膝关节输出T ref的转矩。此时，如果膝关节角度小于失效阈值角度，则说明穿戴者膝关节已在助力作用下接近直立，此时取消电机助力；如果膝关节伸展角速度大于最大伸展角速度，说明此时膝关节的载荷可能较轻(或者外骨骼未正确穿戴在穿戴者膝关节上，属于空载运动)，在电机助力的帮助下外骨骼的膝关节已迅速达到最大伸展角速度。该条件说明人机耦合***很可能处于轻载状态，不需要这么大的助力。并且为了避免过高的伸展速度导致膝关节到达直立状态后出现膝盖过度伸展的状态，因此设定“最大伸展角速度”。 In the “assist” state, the motor is continuously outputting the torque of T ref to the knee joint. At this time, if the knee joint angle is less than the failure threshold angle, it means that the wearer’s knee joint is close to upright under the assisting action, and the motor assist is cancelled at this time; if the knee joint extension angular velocity is greater than the maximum extension angular velocity, it indicates that the knee joint load may be at this time It is lighter (or the exoskeleton is not properly worn on the wearer’s knee joints, which is an idling exercise), the knee joint of the exoskeleton has quickly reached the maximum angular velocity of extension with the help of the motor. This condition indicates that the man-machine coupling system is likely to be in a light-load state and does not require such a large boost. And in order to avoid the excessively high extension speed causing the knee joint to reach the upright state, the knee will be overextended, so the "maximum extension angular velocity" is set.
此外，如果膝关节的弯曲角速度大于弯曲阈值角速度，说明虽然该状态下电机正在给穿戴者膝关节助力，帮助其进行伸展运动，但膝关节实际确是在做弯曲运动，而且弯曲运动的速度已经超过弯曲阈值角速度，说明这种状态下很可能是穿戴者改变了运动意图，想进一步弯腿。这三种条件下，都将电机状态重新设定为“随动”状态，并且电机力矩设为0Nm。需指出的是，如果是因为助力状态下膝关节又出现弯曲运动而导致的电机状态复位成“随动”状态，***会在下一轮循环中，通过随动状态下的语句判断膝关节弯曲角度是否仍大于助力阈值角度，如果是的，则电机重新设定未“准备”助力状态。这样穿戴者再助力后改变运动 意图，继续弯腿，电机由“助力”->”随动”->“准备”状态，下一次伸展运动时又可以为膝关节提供助力。In addition, if the bending angular velocity of the knee joint is greater than the bending threshold angular velocity, it means that although the motor is assisting the wearer’s knee joint in this state, helping him to perform stretching exercises, the knee joint is actually doing bending exercises, and the speed of the bending exercises has already Exceeding the bending threshold angular velocity indicates that in this state, it is likely that the wearer has changed his movement intention and wants to bend his leg further. Under these three conditions, the motor state is reset to the "follow-up" state, and the motor torque is set to 0Nm. It should be pointed out that if the motor state is reset to the "follow-up" state due to the bending motion of the knee joint in the assisted state, the system will judge the knee joint bending angle through the statement in the follow-up state in the next cycle. Whether it is still greater than the assist threshold angle, if it is, the motor resets the “ready” assist state. In this way, the wearer changes his motion intention after assisting, and continues to bend his leg. The motor will be in the state of "assisted" -> "follow-up" -> "ready", and it can provide assistance to the knee joint during the next stretching exercise.
值得指出的是这里通过设定“最大伸展角速度”来判定***是否处于轻载状态，并避免膝关节伸展速度过快导致的过度伸展运动。但先进的控制策略，还可通过角速度的差分，即角加速度反求出***的载荷状态，通过载荷状态的变化在每次助力过程中动态调节电机力矩的T ref大小。这样***会根据不同的载荷状态动态的改变每次步态的最大助力转矩，让外骨骼的助力策略更加智能。 It is worth pointing out that the "maximum angular velocity of extension" is used to determine whether the system is in a light-load state, and to avoid excessive extension exercises caused by the knee joint extension speed. However, the advanced control strategy can also obtain the load state of the system through the angular velocity difference, that is, the angular acceleration, and dynamically adjust the T ref of the motor torque during each assist process through the change of the load state. In this way, the system dynamically changes the maximum assist torque of each gait according to different load states, making the exoskeleton's assist strategy more intelligent.
当判断完电机状态后，***还会进一步判断用户是否通过键盘或遥控输入改变T ref或各阈值参数，如果是，则调整上述各种阈值参数的对应值，否则在判断玩***正常工作后将进入下一轮循环。 After judging the state of the motor, the system will further judge whether the user changes T ref or each threshold parameter through keyboard or remote control input. If so, adjust the corresponding values of the above various threshold parameters, otherwise it will Enter the next cycle.
如果***判断出现异常，将进行重启，然后重新进入工作状态。If the system judges that there is an abnormality, it will restart and then enter the working state again.
本发明提出的技术方案，主要是为了解决现有技术中主动式助力外骨骼大多“太刚”或“太柔”的技术问题。“太刚”是指将液压推杆或减速电机直接置与关节处。该布局虽然能将驱动转矩高效地传输至穿戴者关节，但严重增加了穿戴者下肢的摆动惯性，恶化了人机耦合***的运动步态动力学特性，让人使用时感觉虽然关节有助力，但是外骨骼的笨重可能更多的拖累穿戴者。“太柔”是指将驱动器全部置于腰部以上，在穿戴者下肢大量采用柔性绑缚和钢丝驱动的方式将电机的转矩转换为钢丝拉力作用于穿戴者各关节。该布局虽然能较小的影响穿戴者下肢摆动惯性，但过软的绑缚导致人机交互界面的等效刚度过低，电机输出转矩更多地转换为了绑缚的形变，过大的拉力还可能造成柔性绑缚在肢体上的滑移，进而明显限制了助力的输出峰值。本发明采用的技术方案将钢丝柔性传动机构和关节刚性执行机构相结合，是刚柔兼并的膝关节助力外骨骼，即可兼顾柔性外骨骼降低肢体摆动惯性和刚性外骨骼高效传动的优点。The technical solution proposed by the present invention is mainly to solve the technical problem that most active assisted exoskeletons in the prior art are "too rigid" or "too flexible". "Too rigid" refers to placing the hydraulic push rod or geared motor directly at the joint. Although this layout can efficiently transmit the driving torque to the wearer’s joints, it severely increases the swing inertia of the wearer’s lower limbs and deteriorates the gait dynamics of the human-machine coupling system. It makes people feel that the joints are assisted when used. , But the bulkiness of the exoskeleton may drag the wearer more. "Too flexible" means that all the drivers are placed above the waist, and a large number of flexible binding and wire drive methods are used in the wearer's lower limbs to convert the torque of the motor into wire tension to act on the wearer's joints. Although this layout can reduce the inertia of the wearer's lower limbs, the too soft binding leads to the low equivalent stiffness of the human-computer interaction interface, and the motor output torque is more converted into binding deformation and excessive pulling force. It may also cause slippage of the flexible binding on the limbs, which obviously limits the peak output of the booster. The technical scheme adopted by the present invention combines a steel wire flexible transmission mechanism and a joint rigid actuator, which is a rigid-flexible knee joint assisted exoskeleton, which can take into account the advantages of the flexible exoskeleton to reduce the limb swing inertia and the rigid exoskeleton to efficiently drive.
另外，考虑到钢丝是可高效传递拉力，但不能传递推力的非线性元件，在电机不助力或不工作的状态下钢丝可能处于一种自由松弛的状态，这种状态既不利于主动式外骨骼判断关节当前运动状态，也有可能引起卷线盘处的钢丝相互缠绕造成机械故障。因此，本发明提出了申请人提出将驱动器并联(图8)弹性机构的方案(即“并联弹性驱动器”)，通过在机构中增加弹性元件，确保钢丝绳在任意时刻都能被弹性元件拉紧，进而避免钢丝松弛所引发的***不确定性问题。与不加入弹性机构的驱动器(当电机不工作时，关节端和卷线盘端的钢丝均处于松弛状态)或驱动器串联弹性机构方案(串联弹簧的加入使钢丝分为两段独立线段，增加了***复杂性；将压簧串联在电机卷线盘和膝关节钢丝滑轮之间，虽然能使关节端的钢丝始终处于拉紧状态，但卷线盘端的钢丝当电机不工作时依然处于自由松弛状态)相比，驱动器并联弹性机构的方案可以使该机构在电机不助力或不工作的状态始终保持多余的钢丝紧密缠绕在卷线盘上，进而避免了钢丝柔性引入的***不确定性，同时外骨骼的执行机构尽可能的被精简，进而降低对下肢摆动惯性的影响，提高人机***的运动灵敏性，此外并联弹性元件和电机的转矩相叠加后拉动钢丝，进而提高了驱动器的峰值输出转矩。In addition, considering that the wire is a non-linear element that can efficiently transmit tension but cannot transmit thrust, the wire may be in a state of free relaxation when the motor is not assisted or not working, which is not conducive to active exoskeleton Judging the current motion state of the joint may also cause the steel wire at the reel to entangle with each other and cause mechanical failure. Therefore, the present invention proposes the applicant's proposal to connect the drives in parallel (Figure 8) with an elastic mechanism (ie, "parallel elastic drives"). By adding elastic elements in the mechanism, the steel wire rope can be tightened by the elastic elements at any time. In order to avoid the uncertainty of the system caused by the slack of the wire. And the driver without elastic mechanism (when the motor is not working, the steel wires at the joint end and the reel end are in a slack state) or the driver series elastic mechanism scheme (the addition of a series spring makes the steel wire divided into two independent segments, which increases the system Complexity; the compression spring is connected in series between the motor reel and the knee joint wire pulley, although the steel wire at the joint end can always be in tension, but the wire at the reel end is still in a free and relaxed state when the motor is not working) Compared with the drive parallel elastic mechanism, the mechanism can always keep the excess steel wire tightly wound on the reel when the motor is not assisted or working, thereby avoiding the system uncertainty introduced by the flexibility of the steel wire, and the exoskeleton The actuator is simplified as much as possible, thereby reducing the impact on the swing inertia of the lower limbs and improving the motion sensitivity of the man-machine system. In addition, the parallel elastic element and the motor torque are superimposed to pull the wire, thereby increasing the peak output torque of the driver .
实施例3 基于离心离合器的无运动阻尼并联弹性驱动 Embodiment 3 Non-motion damping parallel elastic drive based on centrifugal clutch
众所周知，由于人体在日常运动中被助力关节除了少部分需要大量助力的运动时机，还有很多时候是不需要助力的运动时机，例如人体膝关节在上台阶和深蹲时需要较大助力，但更多的时候人体是在平路行走，这时不需要外骨骼进行明显助力，且更不希望外骨骼给穿戴者行走带来较大阻尼。然而，上述实施例中，由于拉线机构中的绞盘2始终与转矩电机1的输出端6(例如，转矩电机的输出盘)相连，即驱动机构直接与拉线机构中绞盘2相连，因此，当不需要助力时，拉线也会带着该转矩电机1往复运动，此时，由于转矩电机1不通电，其转变为了阻尼件。也即是说，穿戴者的关节在不助力运动时，会感到持续的运动阻尼。虽然这个运动阻尼可以让驱动机构，如电机反向为电池充电，但穿戴者穿戴该助力外骨骼的运动体验的负面效果更多，即具有持续的运动阻尼，从而降低了穿戴者的运动体验。As we all know, because the human body is assisted in daily exercise, apart from a small number of exercise opportunities that require a lot of assistance, there are also many exercise opportunities that do not require assistance. For example, the human knee joint needs greater assistance when climbing steps and squats. More often, the human body is walking on flat roads. At this time, the exoskeleton is not needed to provide obvious assistance, and it is less desirable that the exoskeleton will bring greater damping to the wearer's walking. However, in the above embodiment, since the winch 2 in the wire drawing mechanism is always connected to the output end 6 of the torque motor 1 (for example, the output disk of the torque motor), that is, the driving mechanism is directly connected to the winch 2 in the wire drawing mechanism, therefore, When no assistance is needed, the pull wire will also reciprocate with the torque motor 1. At this time, since the torque motor 1 is not energized, it is transformed into a damping member. In other words, when the wearer's joints are not assisted, they will feel continuous movement damping. Although this motion damping can allow driving mechanisms such as motors to charge the battery in reverse, the negative effect of the exercise experience of the wearer wearing the booster exoskeleton is more, that is, it has continuous motion damping, thereby reducing the wearer's exercise experience.
有鉴于此，本发明还提供了一种助力外骨骼中无运动阻尼的并联弹性驱动器，其能够在该并联弹性驱动器不助力时，避免或缓解驱动机构(如转矩电机)被拉线机构中的绞盘带动而产生运动阻尼的问题。In view of this, the present invention also provides a parallel elastic driver with no motion damping in the booster exoskeleton, which can avoid or relieve the drive mechanism (such as a torque motor) from being caused by the pulling mechanism when the parallel elastic driver is not assisted. The problem of motion damping caused by the drive of the winch.
本发明提供的一种无运动阻尼的并联弹性驱动器，包括：上述并联弹性驱动器中的各个部件，如驱动机构、拉线机构和弹性机构，各个部件之间的连接关系可参考上述并联弹性驱动器中各个部件的连接关系，这里不再赘述，参见图9a和图9b；不同的是，该无运动阻尼的并联弹性驱动器还包括：设置在该拉线机构和驱动机构之间的离心离合器47，当驱动机构(如上述转矩电机1)提供助力时，该离心离合器啮合，从而将上述驱动机构与拉线机构连接(如将上述拉线机构中的绞盘2与转矩电机1的输出端6同步转动连接)；当驱动机构(如上述转矩电机1)停止提供助力时，该离心离合器47松脱，从而断开上述驱动机构与上述拉线机构之间的连接，避免了驱动机构转变为阻尼件而产生运动阻尼；同时，由弹性机构向该拉线机构提供回收力，以收紧拉线机构中拉线4，避免了拉线4处于自由松弛的状态，而引起拉线相互缠绕造成机械故障的风险。The present invention provides a parallel elastic driver without movement damping, including: each component in the above parallel elastic driver, such as a driving mechanism, a wire pulling mechanism, and an elastic mechanism, and the connection relationship between the various components can refer to each of the above parallel elastic drivers. The connection relationship of the components will not be repeated here, see Figure 9a and Figure 9b; the difference is that the parallel elastic driver without motion damping also includes: a centrifugal clutch 47 arranged between the wire pulling mechanism and the driving mechanism, when the driving mechanism (For example, when the torque motor 1 is described above), the centrifugal clutch is engaged to connect the drive mechanism and the wire pulling mechanism (for example, the winch 2 in the wire pulling mechanism is connected to the output end 6 of the torque motor 1 for synchronous rotation); When the driving mechanism (such as the above-mentioned torque motor 1) stops providing assistance, the centrifugal clutch 47 is released, thereby disconnecting the connection between the above-mentioned driving mechanism and the above-mentioned cable mechanism, avoiding the conversion of the driving mechanism into a damping member and causing movement damping ; At the same time, the elastic mechanism provides recovery force to the pulling mechanism to tighten the pulling wire 4 in the pulling mechanism, avoiding the free and relaxing state of the pulling wire 4, which may cause the risk of mechanical failure caused by the mutual entanglement of the pulling wires.
例如，当上述的转矩电机1不助力(即不通电，不旋转)时，拉线机构中的绞盘2可以自由的在上述卷簧5(即弹性机构)的作用下拉出和收回拉线；并且，由于离心离合器47未啮合(即处于松脱状态)，即断开了转矩电机1与拉线机构的绞盘2之间的连接，因此，绞盘2不会受电机阻尼的影响，相应地，穿戴者穿戴该助力外骨骼后，会感觉像穿戴了一款有弹性储能元件(如，并联弹簧)的被动式助力关节机构，大大提高了用户体验。For example, when the aforementioned torque motor 1 is not assisted (that is, it is not energized, and does not rotate), the winch 2 in the wire drawing mechanism can freely pull out and retract the wire under the action of the coil spring 5 (ie, elastic mechanism); and, Since the centrifugal clutch 47 is not engaged (that is, in a loose state), that is, the connection between the torque motor 1 and the winch 2 of the pulling mechanism is disconnected. Therefore, the winch 2 will not be affected by the damping of the motor. Accordingly, the wearer After wearing the power-assisted exoskeleton, it will feel like wearing a passive power-assisted joint mechanism with elastic energy storage elements (such as parallel springs), which greatly improves the user experience.
在一些实施例中，该离心离合器47包括：棘爪座60、棘轮208、至少一个棘爪59和至少一个弹性复位件58，其中，棘轮208与拉线机构中的绞盘2同轴转动连接(例如，可直接将该棘轮208固定在该绞盘2上，或者直接在该绞盘2的内圆周面上设置棘爪槽得到一个绞盘棘轮)；棘爪座60与上述转矩电机1的输出端6同步转动连接(例如，可通过螺钉等固定件将该棘爪座60固定在该转矩电机1的输出端)；每个弹性复位件58的第一端固定在该棘爪座60上，第二端与棘爪59相连(即每个弹性复位件58对应于一个棘爪59)；该至少一个棘爪59以可相对于该棘爪座60转动的方式，均匀安装在该棘爪座60上，且每个棘爪59的转轴与该棘爪座60的转轴/中心轴不同轴。In some embodiments, the centrifugal clutch 47 includes a pawl seat 60, a ratchet wheel 208, at least one pawl 59 and at least one elastic reset member 58, wherein the ratchet wheel 208 is coaxially rotatably connected with the winch 2 in the cable mechanism (for example, , The ratchet wheel 208 can be directly fixed on the winch 2, or a pawl groove can be directly arranged on the inner circumferential surface of the winch 2 to obtain a winch ratchet); the pawl seat 60 is synchronized with the output end 6 of the torque motor 1 Rotation connection (for example, the pawl base 60 can be fixed to the output end of the torque motor 1 by a fixing member such as a screw); the first end of each elastic reset member 58 is fixed on the pawl base 60, and the second The end is connected to the pawl 59 (that is, each elastic reset member 58 corresponds to a pawl 59); the at least one pawl 59 is evenly mounted on the pawl seat 60 in a manner rotatable relative to the pawl seat 60 , And the rotation axis of each pawl 59 is different from the rotation axis/central axis of the pawl seat 60.
本实施例中，由于每个棘爪59的转轴都不与该棘爪座60的中心轴同轴，即采用了偏心结构了安装该棘爪59，因此，当转矩电机1提供助力，即该转矩电机1带动棘爪座60同步转动时，会产生一定的离心力，而当转矩电机1的转速达到一定阈值时，每个棘爪59都会在该离心力的作用下沿远离该棘爪座60的中心轴方向向外扩张，并逐渐与上述棘轮208相啮合，从而将电机与拉线机构相连；并且，在棘爪59向外扩张的过程中，棘爪59会拉伸弹性复位件59(初始状态时，该弹性复位件59具有一定的预紧力)，使得弹性复位件59蓄能；而当转矩电机1停止助力，即电机停止转动时，由于没有了离心力的作用，棘爪59将在弹性复位件59的作用下，沿靠近棘爪座60中心轴方向聚拢，使得棘爪59逐渐脱离棘轮208，从而断开电机与拉线机构的连接。In this embodiment, since the rotation axis of each pawl 59 is not coaxial with the central axis of the pawl seat 60, that is, the pawl 59 is installed with an eccentric structure. Therefore, when the torque motor 1 provides assistance, that is, When the torque motor 1 drives the pawl seat 60 to rotate synchronously, a certain centrifugal force will be generated, and when the rotation speed of the torque motor 1 reaches a certain threshold, each pawl 59 will move away from the pawl under the action of the centrifugal force. The central axis of the seat 60 expands outwards and gradually meshes with the above-mentioned ratchet 208, thereby connecting the motor and the wire pulling mechanism; and, as the pawl 59 expands outwards, the pawl 59 will stretch the elastic reset member 59 (In the initial state, the elastic resetting member 59 has a certain pre-tightening force), so that the elastic resetting member 59 can accumulate energy; and when the torque motor 1 stops assisting, that is, when the motor stops rotating, due to the absence of centrifugal force, the pawl Under the action of the elastic reset member 59, the pawl 59 will be gathered in the direction close to the central axis of the pawl seat 60, so that the pawl 59 will gradually separate from the ratchet wheel 208, thereby disconnecting the motor and the wire pulling mechanism.
本实施例中，通过在拉线机构和驱动机构之间设置离心离合器47，且该离心离合器47在电机未通电的常态下始终处于离合松脱(也即未啮合)的状态，绞盘的正反转运动都不会受电机阻尼的影响，即拉线机构与驱动机构之间断开连接，避免了驱动机构，如电机转变为阻尼件，从而使得穿戴者感觉关节***不受限制，且该离心离合器的工作可靠性较高，结构简单，也降低了***成本和控制复杂度；但当电机开始通电/开始助力，由于离合原先处于松脱状态，因此电机会在无负载的情况下加速旋转，离心离合器正是利用这种加速旋转运动，让棘爪在离心力下张开，并锁住绞盘上的棘轮槽(即棘爪与棘轮相啮合)，从而将拉线机构与驱动机构相连，并将驱动机构的输出转矩传递给拉线机构的绞盘，以带动执行机构运动，实现助力。In this embodiment, by providing a centrifugal clutch 47 between the wire pulling mechanism and the driving mechanism, and the centrifugal clutch 47 is always in a clutch loose (that is, not engaged) state when the motor is not energized, the winch is rotated forward and backward. The movement will not be affected by the motor damping, that is, the disconnection between the pulling mechanism and the driving mechanism, which avoids the driving mechanism, such as the motor being transformed into a damping part, so that the wearer feels that the free movement of the joint is not restricted, and the centrifugal clutch The work reliability is high, the structure is simple, and the system cost and control complexity are reduced; but when the motor starts to be energized/starts to assist, because the clutch is originally in a loose state, the motor will accelerate and rotate without load, and the centrifugal clutch It is this accelerated rotation movement that allows the pawl to open under the centrifugal force and lock the ratchet groove on the winch (that is, the pawl meshes with the ratchet wheel), thereby connecting the pulling mechanism with the driving mechanism and connecting the drive mechanism The output torque is transmitted to the winch of the wire drawing mechanism to drive the actuator to move and achieve power assistance.
本实施例的无运动阻尼的并联弹性驱动器，不仅继承了上述实施例中并联弹性驱动器的 优点，如：第一方面，实现驱动器与执行机构的分离，使得可将较重的驱动器控制器、电池等驱动器通过拉线线管或编织带等拉线机构，即软性传动形式集成到穿戴者背部，从而降低了执行机构的重量，进而减小对穿戴者肢体摆动惯量的增加程度，穿戴者穿着感觉四肢更轻便；第二方面，在需要助力时，可以将电机的扭矩迅速传递至关节执行端，助力延时小；第三方面，使拉线机构中的拉线，如钢丝或编织袋，在驱动机构助力时和不助力时，都始终保持绷紧的状态，从而避免拉线缠绕导致的机械故障，甚至引起安全事故的问题；并且，还能够在驱动机构不助力时，避免驱动机构(如电机)转变成为阻尼件跟随拉线机构中绞盘运动，而导致给穿戴者关节的***产生较明显的阻尼力的问题，从而保证了在不需要助力时，穿戴者的关节***的顺畅性。The parallel elastic driver without motion damping in this embodiment not only inherits the advantages of the parallel elastic driver in the above embodiment, such as: firstly, the driver and the actuator are separated, so that the heavier driver controller and battery can be separated The driver is integrated into the wearer’s back through a cable drawing mechanism such as a cable tube or braided belt, that is, a flexible transmission form, which reduces the weight of the actuator, thereby reducing the increase in the swing inertia of the wearer’s limbs, and the wearer feels the limbs. Lighter; the second aspect, when power is needed, the torque of the motor can be quickly transmitted to the joint execution end, the power delay is small; the third aspect, the pulling wire in the pulling mechanism, such as a steel wire or a woven bag, is assisted in the driving mechanism When the power is not assisted, the tension is always maintained, so as to avoid mechanical failures caused by the winding of the cable, and even safety accidents; and it can also prevent the driving mechanism (such as a motor) from turning into The damping element follows the movement of the winch in the cable mechanism, which leads to the problem of more obvious damping force for the free movement of the wearer's joints, thereby ensuring the smoothness of the free movement of the wearer's joints when no assistance is required.
在一些实施例中，参见图9a至图9c，该棘爪座60呈环形，其贴合于电机1的背面可通过螺钉等固定件固定在电机1的输出端6，从而与该电机1实现同步转动连接；而该棘爪座60上与该背面相对立的正面上，远离中心轴的位置沿周向均布有三个棘爪旋转轴6001，且每个棘爪旋转轴6001的一旁设置有一个棘爪座限位块6002。而每个棘爪59的第一端设置有相应的旋转孔5901，从而当将该旋转孔5901与该棘爪旋转轴6001相配合时，该棘爪59可绕该棘爪旋转轴6001旋转(即该棘爪59以相对于该棘爪座60转动的方式安装在该棘爪座60上)；而该棘爪59远离该棘爪旋转轴6001的第二端设置有可与棘轮208上的棘齿槽208-1相配合的棘齿端面(包括棘爪尖端的前端面5903和第二弧形外端面5905)。进一步地，该棘爪59的第一端还设置有可与该棘爪座60上靠近该棘爪旋转轴6001的棘爪座限位块6002相配合的棘爪限位凸块5902，从而当该棘爪59在离心力作用下，沿远离该棘爪座60中心轴方向向外扩展时，每个棘爪59上的棘爪限位凸块5902与其对应的棘爪座限位块6002相配合，此时，棘爪59上第二端的棘齿端面也与棘轮208上棘齿槽208-1相配合，即棘爪59与棘轮208相啮合，参见图9d。In some embodiments, referring to Figures 9a to 9c, the pawl seat 60 is in the shape of a ring. Synchronous rotation connection; and on the front side of the pawl seat 60 opposite to the back, three pawl rotating shafts 6001 are evenly distributed along the circumferential direction at a position away from the central axis, and each pawl rotating shaft 6001 is provided with a pawl rotating shaft 6001 side Claw seat limit block 6002. The first end of each pawl 59 is provided with a corresponding rotation hole 5901, so that when the rotation hole 5901 is matched with the pawl rotation shaft 6001, the pawl 59 can rotate around the pawl rotation shaft 6001 ( That is, the pawl 59 is mounted on the pawl seat 60 in a manner to rotate relative to the pawl seat 60); and the second end of the pawl 59 away from the pawl rotation shaft 6001 is provided with a second end that can be connected to the ratchet wheel 208 The ratchet tooth end surface (including the front end surface 5903 of the pawl tip and the second arc-shaped outer end surface 5905) that is matched with the ratchet groove 208-1. Further, the first end of the pawl 59 is also provided with a pawl limiting projection 5902 that can be matched with the pawl seat limiting block 6002 on the pawl seat 60 close to the pawl rotating shaft 6001, so that when When the pawl 59 expands outward in the direction away from the central axis of the pawl seat 60 under the action of centrifugal force, the pawl limiting protrusion 5902 on each pawl 59 is matched with the corresponding pawl seat limiting block 6002 At this time, the end surface of the ratchet tooth at the second end of the pawl 59 is also matched with the ratchet groove 208-1 on the ratchet wheel 208, that is, the pawl 59 meshes with the ratchet wheel 208, see FIG. 9d.
初始状态(也即离心离合器的棘爪与棘齿未啮合)时，三个棘爪59沿棘爪座60周向排列，且相邻连个棘爪59之间间隔了一个棘爪座凸块6002(具体地，其中一个棘爪59第二端的前端面5903贴合于该棘爪座限位块6002远离其附近棘爪旋转轴6001的第一侧表面6002-1，另一个棘爪59第一端靠近该棘爪限位凸块5902的内侧面5904，则贴合于该棘爪座限位块6002靠近其附近棘爪旋转轴6001的第二侧表面6002-2)，并且，三个该棘爪59的边界连线形成的包络线/边界线均位于该环形棘爪座60的外圆所包围范围内(优先地，该棘爪59第二端远离棘爪座60中心的第二弧形外端面5905，以及该棘爪限位凸块5902远离棘爪座60中心的第一弧形外端面5906均与该棘爪座60的外圆相内切)，参见图9b和图9c；In the initial state (that is, the pawls of the centrifugal clutch are not engaged with the ratchet teeth), the three pawls 59 are arranged in the circumferential direction of the pawl seat 60, and there is a pawl seat protrusion between adjacent pawls 59 6002 (specifically, the front end surface 5903 of the second end of one of the pawls 59 is attached to the first side surface 6002-1 of the pawl seat limiting block 6002 away from the pawl rotation shaft 6001 nearby, and the other pawl 59 is the first side surface 6002 One end is close to the inner surface 5904 of the pawl limiting protrusion 5902, and then it is attached to the pawl seat limiting block 6002 close to the second side surface 6002-2) of the pawl rotating shaft 6001 nearby, and three The envelope/boundary line formed by the boundary line of the pawl 59 is located in the range enclosed by the outer circle of the circular pawl seat 60 (preferably, the second end of the pawl 59 is far from the center of the pawl seat 60) The two arc-shaped outer end surfaces 5905 and the first arc-shaped outer end surface 5906 of the pawl limiting protrusion 5902 away from the center of the pawl seat 60 are both inscribed with the outer circle of the pawl seat 60), see Figures 9b and 9c;
当棘爪59与棘轮208相啮合(即棘爪59在离心力作用下，绕对应棘爪旋转轴6001逆时针旋转一定角度θ后与棘轮208上的棘齿槽208-1相配合)时，该棘爪限位凸块5902的内端面5907抵住该棘爪座限位块6002，参见图9d。When the pawl 59 meshes with the ratchet wheel 208 (that is, the pawl 59 rotates counterclockwise by a certain angle θ around the corresponding pawl rotation axis 6001 under the action of centrifugal force, and then cooperates with the ratchet groove 208-1 on the ratchet wheel 208). The inner end surface 5907 of the pawl limiting protrusion 5902 abuts the pawl seat limiting block 6002, see FIG. 9d.
本实施例中，通过在棘爪59靠近其棘爪旋转轴6001的第一端设置棘爪限位凸块5902，并在其棘爪旋转轴6001的一旁设置了一棘爪座限位块6002,从而由该棘爪限位凸块5902和该棘爪座限位块6002来限定该棘爪59所旋转的最大角度(该最大角度即为当该棘爪59与棘轮208相啮合时，该棘爪59绕该棘爪旋转轴6001旋转的最大角度)。In this embodiment, a pawl limiting protrusion 5902 is provided at the first end of the pawl 59 close to the pawl rotating shaft 6001, and a pawl seat limiting block 6002 is provided on the side of the pawl rotating shaft 6001. , So that the pawl limiting projection 5902 and the pawl seat limiting block 6002 define the maximum angle of rotation of the pawl 59 (the maximum angle is when the pawl 59 is engaged with the ratchet wheel 208, the The maximum angle at which the pawl 59 rotates around the pawl rotation axis 6001).
在一些实施例中，每个弹性复位件58的一端固定在该棘爪座60上，且靠近棘爪旋转轴6001，另一端固定在该棘爪59上。In some embodiments, one end of each elastic reset member 58 is fixed on the pawl seat 60 and is close to the pawl rotation shaft 6001, and the other end is fixed on the pawl 59.
本实施例中，不将拉线机构中的绞盘2直接连接在电机1的输出盘6上，而是将该离心离合器47分别与该电机1的输出盘6(即输出端)和拉线机构的输入端相连。具体地，通过设置一用于安装绞盘2的绞盘安装座，将该绞盘安装座固定在电机1的主体上，然后将绞盘2以可相对于该绞盘安装座旋转的方式安装在该绞盘安装座上。例如，该绞盘安装座可采用固定在电机1主体上的第二轴承座51，且该第二轴承座51上设置有可与绞盘2轴肩配合的第二轴承61，而该第二轴承座51对应于电机1的输出盘6位置设置有用于放置离心离合器 中棘爪座60的通孔，使得该棘爪座60可安装在该第二轴承座51的中心，且直接与电机1的输出盘6同步转动连接；而拉线机构的绞盘2通过轴肩配合安装在该第二轴承座51上(具体地，可通过在绞盘2上设置与第二轴承61轴承肩207)，且位于该棘爪座60的上方。In this embodiment, the winch 2 in the wire pulling mechanism is not directly connected to the output disc 6 of the motor 1, but the centrifugal clutch 47 is connected to the output disc 6 (that is, the output end) of the motor 1 and the input of the wire pulling mechanism respectively. End connected. Specifically, by setting a winch mounting base for mounting the winch 2, the winch mounting base is fixed on the main body of the motor 1, and then the winch 2 is mounted on the winch mounting base in a rotatable manner relative to the winch mounting base superior. For example, the winch mounting seat may adopt a second bearing seat 51 fixed on the main body of the motor 1, and the second bearing seat 51 is provided with a second bearing 61 that can be matched with the shoulder of the winch 2, and the second bearing seat 51 corresponding to the output disc 6 of the motor 1 is provided with a through hole for placing the pawl seat 60 in the centrifugal clutch, so that the pawl seat 60 can be installed in the center of the second bearing seat 51 and directly connected with the output of the motor 1 The disk 6 is connected in synchronous rotation; and the winch 2 of the cable mechanism is mounted on the second bearing seat 51 through a shaft shoulder (specifically, the bearing shoulder 207 of the second bearing 61 can be provided on the winch 2), and is located in the spine Above the claw seat 60.
进一步地，为了保护离心离合器和绞盘2，还可在棘爪座60上设置棘爪端盖57。具体地，可在棘爪座60上设置多个用于安装棘爪端盖57的安装柱/安装孔，使得棘爪端盖57可通过螺钉等固定件安装在该棘爪座60上；或者，该棘爪端盖57也可固定在拉线机构中的绞盘2上。Furthermore, in order to protect the centrifugal clutch and the winch 2, a pawl end cover 57 can also be provided on the pawl seat 60. Specifically, a plurality of mounting posts/installation holes for installing the pawl end cover 57 may be provided on the pawl seat 60, so that the pawl end cover 57 can be installed on the pawl seat 60 by fixing parts such as screws; or , The pawl end cap 57 can also be fixed on the winch 2 in the cable mechanism.
在一些实施例中，绞盘2远离该离心离合器的一侧(或绞盘2的上方)安装上述弹性机构，具体地，该弹性机构包括：卷簧安装座50以及安装在该卷簧安装座50中心的卷簧5，其中，该卷簧安装座50固定在线管座3上，而该卷簧5的内耳安装上述绞盘2上设置的内耳安装槽内，而外耳则固定在该卷簧安装座50上的外耳安装槽内。In some embodiments, the above-mentioned elastic mechanism is installed on the side of the winch 2 away from the centrifugal clutch (or above the winch 2). Specifically, the elastic mechanism includes: a coil spring mounting seat 50 and a center of the coil spring mounting seat 50 The coil spring 5, wherein the coil spring mounting seat 50 is fixed on the wire socket 3, and the inner ear of the coil spring 5 is installed in the inner ear mounting groove provided on the winch 2, and the outer ear is fixed on the coil spring mounting seat 50 In the mounting groove of the outer ear.
进一步地，该弹性机构还包括：设置在卷簧安装座50上，用于保护该卷簧5的卷簧端盖8。具体地，该卷簧端盖8的中心设置有第一轴承55，即该卷簧端盖8可通过第一轴承55安装在绞盘2上，使得该绞盘2可相对于该卷黄端盖8转动。Further, the elastic mechanism further includes: a coil spring end cover 8 arranged on the coil spring mounting seat 50 for protecting the coil spring 5. Specifically, the center of the coil spring end cover 8 is provided with a first bearing 55, that is, the coil spring end cover 8 can be mounted on the winch 2 through the first bearing 55, so that the winch 2 can be opposed to the coiled yellow end cover 8. Rotate.
参见图9c，当电机1顺时针转动时，由于离心力的作用，棘爪59绕棘爪旋转轴6001逆时针转动，即棘爪59沿逐渐远离棘爪座60的中心轴的方向向外扩展，并逐渐与绞盘2上棘轮208的棘爪槽208-1相啮合，从而将电机1和绞盘2锁死，进而使得绞盘2在电机1的带动下顺时针转动，此时，拉线4被收回，并将拉力传递至执行端，以实现助力；Referring to Figure 9c, when the motor 1 rotates clockwise, due to centrifugal force, the pawl 59 rotates counterclockwise around the pawl rotating shaft 6001, that is, the pawl 59 expands outward in a direction gradually away from the central axis of the pawl seat 60, And gradually engage with the pawl groove 208-1 of the ratchet wheel 208 on the winch 2, thereby locking the motor 1 and the winch 2, so that the winch 2 is driven by the motor 1 to rotate clockwise. At this time, the pull wire 4 is retracted. And transfer the pulling force to the execution end to achieve assistance;
当电机1停止转动，在执行机构运动过程中，在拉线4的作用下，使得绞盘2向顺时针方向旋转一定的小量角度，从而使得棘爪59在弹性复位件58的拉力作用下收回至棘爪座60中，此时，该离心离合器解除啮合状态，即绞盘2与电机1之间的连接断开，进而绞盘2可以随拉线4自由地顺时针或逆时针转动，即该离心离合器47又回到了初始状态。When the motor 1 stops rotating, during the movement of the actuator, under the action of the pull wire 4, the winch 2 is rotated clockwise by a small amount of angle, so that the pawl 59 is retracted to the position under the pulling force of the elastic reset member 58 In the pawl seat 60, at this time, the centrifugal clutch is disengaged, that is, the connection between the winch 2 and the motor 1 is disconnected, and then the winch 2 can freely rotate clockwise or counterclockwise with the cable 4, that is, the centrifugal clutch 47 Back to the initial state.
参见图9e，为了避免因每个弹性复位件，如拉簧的力学特性不同，且高低位置不同而导致棘爪59重力对每个棘爪59扩张的角度不同，从而导致出现部分棘爪啮合，而其它棘爪59未啮合成功的情况，本发明还提供另一种并联弹性驱动器，其包括上述各个实施例的各个部件，不同的是，本实施例的该并联弹性驱动器的离心离合器中的棘爪座60中心设置一同步齿轮，并在每个棘爪59对应于该同步齿轮的一侧设置一可与该不齿轮相啮合的第一不完整齿轮76，从而当该棘爪59绕其旋转轴6001转动时，每个棘爪59各自通过对应的第一不完整齿轮76和该同步齿轮实现同步运动，进而保证了所有偏心棘轮59能够同时与棘轮208相啮合。Referring to Fig. 9e, in order to avoid the different expansion angles of the pawl 59 for each pawl 59 due to the different mechanical properties of each elastic return member, such as a tension spring, and the different height positions, the pawl 59 will be partially engaged. In other cases where the pawl 59 is not successfully engaged, the present invention also provides another parallel elastic driver, which includes the components of the above-mentioned various embodiments. The difference is that the ratchet in the centrifugal clutch of the parallel elastic driver of this embodiment A synchronizing gear is arranged in the center of the pawl base 60, and a first incomplete gear 76 that can mesh with the non-gear is arranged on the side of each pawl 59 corresponding to the synchronizing gear, so that when the pawl 59 rotates around it When the shaft 6001 rotates, each pawl 59 realizes synchronous movement through the corresponding first incomplete gear 76 and the synchronous gear, thereby ensuring that all the eccentric ratchet wheels 59 can mesh with the ratchet wheel 208 at the same time.
在一些实施例中，该同步齿轮上包括沿周向均布的三个第二不完整齿轮75，且每个第二不完成齿轮75对应于一个棘爪59上的第一不完整齿轮76。In some embodiments, the synchronous gear includes three second incomplete gears 75 evenly distributed in the circumferential direction, and each second incomplete gear 75 corresponds to the first incomplete gear 76 on a pawl 59.
当然，在另一些实施例中，该离心离合器也可以是通过电磁阀主动控制的多片摩擦式离合器，也可以是利用物理和机械原理实现啮合和松脱的被动式离合器。Of course, in other embodiments, the centrifugal clutch may also be a multi-plate friction clutch that is actively controlled by a solenoid valve, or it may be a passive clutch that uses physical and mechanical principles to achieve engagement and disengagement.
如前所述，上述各个实施例中的并联弹性驱动器，当其中的驱动机构，如电机1不工作时，由于该离心离合器47未啮合，即拉线机构与驱动机构之间的连接断开，因此，拉线机构中的拉线4只会带动绞盘2旋转，此时，由于驱动机构，如电机1没有转变为阻尼件，因此，绞盘2的正向反向旋转都可以自非常灵活；并且与绞盘2并联的弹性机构，如卷簧5会将多余的拉线随时收回；而当驱动机构，如电机1工作时，由于离心离合器47中的棘爪59会在离心力的作用下与绞盘2上的棘轮208相啮合，即将驱动机构与拉线机构相连，这样驱动机构，如电机1的转矩可以直接传递至绞盘2上，进而拖动拉线收回驱动器，不仅传递效率高，而且相应时间短。As mentioned above, in the parallel elastic actuators in the above embodiments, when the driving mechanism, such as the motor 1, is not working, the centrifugal clutch 47 is not engaged, that is, the connection between the wire pulling mechanism and the driving mechanism is disconnected. , The cable 4 in the cable mechanism will only drive the winch 2 to rotate. At this time, since the drive mechanism, such as the motor 1 is not converted into a damping member, the winch 2 can be very flexible in both forward and reverse rotations; The parallel elastic mechanism, such as the coil spring 5, will retract the excess cable at any time; and when the driving mechanism, such as the motor 1 is working, the pawl 59 in the centrifugal clutch 47 will interact with the ratchet wheel 208 on the winch 2 under the action of centrifugal force. Engagement means connecting the driving mechanism with the wire pulling mechanism, so that the torque of the driving mechanism, such as the motor 1 can be directly transmitted to the winch 2, and then drag the wire to retract the drive, which not only has high transmission efficiency, but also has a short corresponding time.
然而，由于该离心离合器47的啮合通过离心力实现，也即该离心离合器47在啮合(或离合)前的一定时间(如几秒或几毫秒)是具有一定的转速，而此时拉线机构中的绞盘2却大概率处于静止或不动，甚至反向转动的过程中，因此，在该离心离合器啮合47的瞬间， 电机1和绞盘2都将受到较大的冲击力，绞盘2的冲击力会进一步传递至外骨骼的执行机构，造成穿戴者肢体感到突然的冲击助力，并且离心离合器47的棘爪尖端和棘轮208的棘齿槽208-1边缘也容易在冲击作用下产生一定磨损，从而降低装置的使用寿命。However, since the engagement of the centrifugal clutch 47 is achieved by centrifugal force, that is, the centrifugal clutch 47 has a certain rotation speed for a certain period of time (such as a few seconds or a few milliseconds) before the engagement (or clutch). However, the winch 2 is likely to be at rest or immobile, or even in the process of reverse rotation. Therefore, at the moment when the centrifugal clutch engages 47, both the motor 1 and the winch 2 will receive a greater impact, and the impact of the winch 2 will be affected. It is further transmitted to the exoskeleton actuator, causing the wearer’s limbs to feel a sudden impact boost, and the pawl tip of the centrifugal clutch 47 and the edge of the ratchet groove 208-1 of the ratchet wheel 208 are also prone to a certain amount of wear under the impact, thereby reducing The service life of the device.
有鉴于此，本发明还提供了一种串并联弹性驱动器，其包括上述各个实施例中的并联弹性驱动器中的各个部件，如离心离合器47、拉线机构、弹性机构和驱动机构；不同的是，本发明实施例的该串并联弹性驱动器还包括：串联在所述拉线机构的输入端(如串联在拉线机构中线管305与线管固定座3之间)或输出端(如串联在拉线机构的拉线末端与执行机构之间)的弹性缓冲部件；In view of this, the present invention also provides a series-parallel elastic driver, which includes the various components of the parallel elastic driver in the above embodiments, such as the centrifugal clutch 47, the wire pulling mechanism, the elastic mechanism and the driving mechanism; the difference is: The series-parallel elastic driver of the embodiment of the present invention further includes: the input end of the wire-drawing mechanism in series (such as series connection between the wire tube 305 and the wire tube fixing seat 3 in the wire-drawing mechanism) or the output end (such as the wire-drawing mechanism in series) Between the end of the cable and the actuator) the elastic buffer component;
当驱动机构提供助力时，离心离合器啮合，以将驱动机构与拉线机构连接，而由弹性缓冲部件来减缓离心离合啮合瞬间引起的冲击力；When the drive mechanism provides power assistance, the centrifugal clutch engages to connect the drive mechanism with the wire pulling mechanism, and the elastic buffer component reduces the impact force caused by the moment of centrifugal clutch engagement;
当驱动机构停止提供助力时，离心离合器断开驱动机构与拉线机构之间的连接，而由弹性机构向拉线机构提供所述回收力。When the driving mechanism stops providing power assistance, the centrifugal clutch disconnects the connection between the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
在一些实施例中，该弹性缓冲部件为一压簧48，具体地，参见图10，该压簧设置在拉线4进入线管305前(例如，通过在线管固定座3上设置一个压簧容置槽81)，线管305的端头80组装在一个可以沿压簧48压缩方向滑动的穿孔堵头上，从而当离心离合啮合瞬间突然给绞盘2施加加大的拉线收回力矩，而执行机构又受到较大的阻力时(例如需要抬升穿戴者的重力势能)，拉线4会通过挤压线管305，使其压迫串联的压簧48压缩，随着压簧48压缩行程增大，压簧48给线管305的反向压力也逐渐增大，进而逐渐增大执行机构的助力力矩。In some embodiments, the elastic buffer member is a compression spring 48. Specifically, referring to FIG. 10, the compression spring is arranged before the pull wire 4 enters the wire tube 305 (for example, by setting a compression spring container on the wire tube fixing seat 3). Slot 81), the end 80 of the wire tube 305 is assembled on a perforated plug that can slide along the compression direction of the compression spring 48, so that when the centrifugal clutch is engaged, an increased pull-back torque is suddenly applied to the winch 2, and the actuator When there is greater resistance (for example, the wearer’s gravitational potential energy needs to be lifted), the pull wire 4 will pass through the squeeze tube 305 to make it compress the compression spring 48 in series. As the compression stroke of the compression spring 48 increases, the compression spring 48 The reverse pressure of 48 to the line pipe 305 also gradually increases, thereby gradually increasing the boosting torque of the actuator.
本实施例中，通过在线管305的端头80串联压簧48，减缓了离心离合器啮合瞬间带来的冲击力，既能给穿戴者肢体更顺滑的助力力度变化趋势，也能减缓离心离合器47中棘爪59的冲击磨损。In this embodiment, the end 80 of the wire tube 305 is connected in series with the compression spring 48, which reduces the impact force caused by the centrifugal clutch at the moment of engagement, which can not only give the wearer a smoother power-assisting force change trend, but also slow down the centrifugal clutch The impact of pawl 59 in 47 wears.
以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still implement the foregoing various embodiments. The technical solutions recorded in the examples are modified, or some or all of the technical features are equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all cover Within the scope of the claims and specification of the present invention.

Claims (18)

  1. 一种助力外骨骼的并联弹性驱动器，其特征在于，包括：A parallel elastic driver for assisting exoskeleton, which is characterized in that it comprises:
    用于提供助力的驱动机构，The drive mechanism used to provide assistance,
    用于将所述助力传递至所述助力外骨骼的至少一个执行机构的拉线机构，以及A wire pulling mechanism for transmitting the power assist to at least one actuator of the power assist exoskeleton, and
    用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力以收紧所述拉线机构中拉线的弹性机构，其中，An elastic mechanism used to provide a recovery force to the wire pulling mechanism to tighten the wire pulling in the wire pulling mechanism when the driving mechanism stops providing power assistance, wherein:
    所述弹性动力机构与所述驱动机构并联设置在所述拉线机构的输入端。The elastic power mechanism and the driving mechanism are arranged at the input end of the wire pulling mechanism in parallel.
  2. 根据权利要求1所述的并联弹性驱动器，其特征在于，所述驱动机构包括：电机。The parallel elastic driver according to claim 1, wherein the driving mechanism comprises a motor.
  3. 根据权利要求2所述的并联弹性驱动器，其特征在于，所述拉线机构包括：The parallel elastic driver according to claim 2, wherein the wire pulling mechanism comprises:
    用于传递所述助力的拉线，以及用于缠绕所述拉线的绞盘，其中，The pull wire used to transmit the boost and the winch used to wind the pull wire, wherein,
    所述绞盘与所述电机同步转动连接，所述拉线的固定端固定在所述绞盘上，所述拉线的至少一个力输出端与所述至少一个执行机构相连。The winch is connected to the motor for synchronous rotation, the fixed end of the pull wire is fixed on the winch, and at least one force output end of the pull wire is connected to the at least one actuator.
  4. 根据权利要求3所述的并联弹性驱动器，其特征在于，还包括：设置在相邻两个所述执行机构之间的离合锁死机构，所述离合锁死机构通过所述拉线分别与两个所述执行机构相连；The parallel elastic actuator according to claim 3, further comprising: a clutch locking mechanism arranged between two adjacent actuators, and the clutch locking mechanism is connected to two The implementing agencies are connected;
    当穿戴者的被助力关节处于伸直或接近伸直状态时，所述离合锁死机构处于啮合状态，使得所述驱动机构输出的助力通过所述拉线机构传递至与所述离合锁死机构相连的两个所述执行机构；When the wearer's assisted joint is in a straight or nearly straight state, the clutch locking mechanism is in an engaged state, so that the power output from the driving mechanism is transmitted to the clutch locking mechanism through the cable pulling mechanism. The two said implementing agencies;
    当所述被助力关节处于弯曲状态时，所述离合锁死机构处于未啮合状态，使得所述驱动机构输出的助力通过所述拉线机构传递至两个所述执行机构中靠近所述驱动机构的所述执行机构。When the assisted joint is in a bent state, the clutch and locking mechanism is in a non-engaged state, so that the assist output from the drive mechanism is transmitted to the one of the two actuators that is close to the drive mechanism through the wire pulling mechanism. The implementing agency.
  5. 根据权利要求1所述的并联弹性驱动器，其特征在于，所述弹性机构包括：The parallel elastic driver according to claim 1, wherein the elastic mechanism comprises:
    弹性蓄能部件，所述弹性蓄能部件安装在所述拉线机构上，且An elastic energy storage member, the elastic energy storage member is mounted on the cable mechanism, and
    当所述动力机构向所述拉线机构提供助力时，所述弹性蓄能部件蓄能；When the power mechanism provides assistance to the cable pulling mechanism, the elastic energy storage component stores energy;
    当所述动力机构停止向所述拉线机构提供助力时，所述弹性蓄能部件释能，以向所述拉线机构提供所述回收力。When the power mechanism stops providing assistance to the wire pulling mechanism, the elastic energy storage member releases energy to provide the recovery force to the wire pulling mechanism.
  6. 根据权利要求5所述的并联弹性驱动器，其特征在于，所述弹性蓄能部件为卷簧，所述卷簧的外耳固定在所述拉线机构上，所述卷簧的内耳固定在所述卷簧的转轴上。The parallel elastic driver according to claim 5, wherein the elastic energy storage member is a coil spring, the outer ear of the coil spring is fixed on the wire pulling mechanism, and the inner ear of the coil spring is fixed on the coil. Spring on the shaft.
  7. 根据权利要求2至6中任一所述的并联弹性驱动器，其特征在于，所述拉线机构中的拉线通过所述助力外骨骼中的三个拉线通道分为三路分支，其中，两路分支对称设置在所述助力外骨骼中相应助力关节机构的左右两侧，另外一路分支设置在所述助力关节机构的正前方或正后方。The parallel elastic driver according to any one of claims 2 to 6, wherein the cable in the cable mechanism is divided into three branches through the three cable channels in the power-assisted exoskeleton, wherein the two branches It is symmetrically arranged on the left and right sides of the corresponding booster joint mechanism in the booster exoskeleton, and the other branch is arranged directly in front of or directly behind the booster joint mechanism.
  8. 根据权利要求2至6中任一所述的并联弹性驱动器，其特征在于，所述拉线机构中的拉线通过所述助力外骨骼中的两个拉线通道分为两路分支，且两路分支对称设置在所述助力外骨骼中相应助力关节机构的左右两侧。The parallel elastic driver according to any one of claims 2 to 6, wherein the cable in the cable mechanism is divided into two branches by two cable channels in the power-assisted exoskeleton, and the two branches are symmetrical It is arranged on the left and right sides of the corresponding booster joint mechanism in the booster exoskeleton.
  9. 一种助力外骨骼中无运动阻尼的并联弹性驱动器，其特征在于，包括：A parallel elastic driver without motion damping in a power-assisted exoskeleton, which is characterized in that it comprises:
    用于提供助力的驱动机构，The drive mechanism used to provide assistance,
    用于传递将所述助力传递至所述助力外骨骼中至少一个执行机构的拉线机构，A wire pulling mechanism for transferring the power assist to at least one actuator in the power assist exoskeleton,
    用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力以收紧所述拉线机构中拉线的弹性机构，以及离心离合器，其中，An elastic mechanism for providing a recovery force to the wire pulling mechanism to tighten the wire pulling in the wire pulling mechanism when the driving mechanism stops providing power assistance, and a centrifugal clutch, wherein:
    所述驱动机构与所述弹性机构并联在所述拉线机构的输入端，所述离心离合器设置在所述驱动机构与所述拉线机构之间，且The driving mechanism and the elastic mechanism are connected in parallel at the input end of the wire pulling mechanism, the centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and
    当所述驱动机构提供助力时，所述离心离合器将所述驱动机构与所述拉线机构连接，When the drive mechanism provides power assistance, the centrifugal clutch connects the drive mechanism with the wire pulling mechanism,
    当所述驱动机构停止提供助力时，所述离心离合器断开所述驱动机构与所述拉线机构之间的连接，而所述弹性机构向所述拉线机构提供所述回收力。When the driving mechanism stops providing assist force, the centrifugal clutch disconnects the connection between the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
  10. 根据权利要求9所述的并联弹性驱动器，其特征在于，所述驱动机构包括电机。The parallel elastic driver according to claim 9, wherein the driving mechanism comprises a motor.
  11. 根据权利要求10所述的并联弹性驱动器，其特征在于，所述离心离合器包括：至少一个棘爪、至少一个弹性复位件，以及与所述电机同步转动连接的棘爪座、与所述拉线机构中绞盘同步转动连接的棘轮，其中，The parallel elastic driver according to claim 10, wherein the centrifugal clutch comprises: at least one pawl, at least one elastic reset member, and a pawl seat connected in rotation with the motor synchronously, and the wire pulling mechanism The middle winch rotates the connected ratchet synchronously, among which,
    至少一个所述棘爪以可相对于所述棘爪座转动的方式均布在所述棘爪座上，所述弹性复位件的第一端固定在所述棘爪座上，第二端与所述棘爪相连；At least one of the pawls is evenly distributed on the pawl seat in a rotatable manner relative to the pawl seat, the first end of the elastic reset member is fixed on the pawl seat, and the second end is connected to the pawl seat. The pawls are connected;
    当所述电机提供助力时，所述电机带动所述棘爪座同步转动，使得所述棘爪在离心力的作用下沿远离所述棘爪座中心轴方向向外扩张，并逐渐与所述棘轮相啮合，从而将所述电机与所述拉线机构相连；When the motor provides assistance, the motor drives the pawl seat to rotate synchronously, so that the pawl expands outward in the direction away from the central axis of the pawl seat under the action of centrifugal force, and gradually contacts the ratchet wheel. Engage with each other, thereby connecting the motor and the wire pulling mechanism;
    当所述电机停止助力时，所述棘爪在所述弹性复位件的作用下，沿靠近所述棘爪座中心轴方向聚拢，并逐渐脱离所述棘轮，从而断开所述电机与所述拉线机构的连接。When the motor stops assisting, the pawls gather in the direction close to the central axis of the pawl seat under the action of the elastic reset member, and gradually separate from the ratchet wheel, thereby disconnecting the motor and the The connection of the cable mechanism.
  12. 根据权利要求11所述的并联弹性驱动器，其特征在于，所述离心离合器还包括：设置在所述棘爪座中心的一同步齿轮，相应地，每个所述棘爪对应于所述同步齿轮的一侧设置有可与所述同步齿轮相啮合的不完整齿轮；且The parallel elastic driver according to claim 11, wherein the centrifugal clutch further comprises: a synchronization gear arranged in the center of the pawl seat, and correspondingly, each pawl corresponds to the synchronization gear An incomplete gear that can mesh with the synchronizing gear is provided on one side of the gear; and
    当所述棘爪绕所述旋转轴转动时，所述至少一个棘爪同步转动。When the pawl rotates around the rotation axis, the at least one pawl rotates synchronously.
  13. 根据权利要求10至12中任一所述的并联弹性驱动器，其特征在于，所述离心离合器还包括：设置在所述棘爪座上的至少一个棘爪限位块，所述棘爪限位块用于限定所述棘爪沿远离所述棘爪座中心方向转动的最大角度。The parallel elastic driver according to any one of claims 10 to 12, wherein the centrifugal clutch further comprises: at least one pawl limiting block arranged on the pawl seat, the pawl limiting The block is used to limit the maximum angle of rotation of the pawl in a direction away from the center of the pawl seat.
  14. 一种助力外骨骼的串并联弹性驱动器，其特征在于，包括：A series-parallel elastic driver for boosting exoskeleton, which is characterized in that it comprises:
    用于提供助力的驱动机构；Drive mechanism used to provide power assistance;
    用于将所述助力传递至所述助力外骨骼的至少一个执行机构的拉线机构；A wire pulling mechanism for transmitting the power assist to at least one actuator of the power assist exoskeleton;
    用于当所述驱动机构停止提供助力时，向所述拉线机构提供回收力的弹性机构；以及An elastic mechanism for providing recovery force to the wire pulling mechanism when the driving mechanism stops providing assist; and
    用于向所述拉线机构提供缓冲的弹性缓冲部件，其中，An elastic cushioning member for providing cushioning to the pulling mechanism, wherein:
    所述驱动机构与所述弹性机构并联在所述拉线机构的输入端，且所述驱动机构和所述拉线机构之间设置有离心离合器，所述弹性缓冲部件串联在所述拉线机构的输入端/输出端；The driving mechanism and the elastic mechanism are connected in parallel at the input end of the wire pulling mechanism, a centrifugal clutch is arranged between the driving mechanism and the wire pulling mechanism, and the elastic buffer member is connected in series with the input end of the wire pulling mechanism /Output terminal;
    当所述驱动机构提供助力时，所述离心离合器啮合，以将所述驱动机构与所述拉线机构连接，而由所述弹性缓冲部件来减缓所述离心离合器啮合瞬间引起的冲击力；When the driving mechanism provides power assistance, the centrifugal clutch is engaged to connect the driving mechanism with the wire pulling mechanism, and the elastic buffer member reduces the impact force caused at the moment of engagement of the centrifugal clutch;
    当所述驱动机构停止提供助力时，所述离心离合器断开所述驱动机构与所述拉线机构之间的连接，而由所述弹性机构向所述拉线机构提供所述回收力。When the driving mechanism stops providing assistance, the centrifugal clutch disconnects the driving mechanism and the wire pulling mechanism, and the elastic mechanism provides the recovery force to the wire pulling mechanism.
  15. 一种助力外骨骼，包括至少一个执行机构，其特征在于，还包括：根据权利要求1至14中任一所述的驱动器，其中，所述驱动器中拉线机构的力输出端与所述至少一个执行机构的力输入端相连。A power-assisted exoskeleton, comprising at least one actuator, characterized in that, further comprising: the driver according to any one of claims 1 to 14, wherein the force output end of the wire pulling mechanism in the driver and the at least one The force input end of the actuator is connected.
  16. 一种助力外骨骼的驱动器控制方法，其特征在于，所述驱动器为根据权利要求1至14中任一所述的驱动器，所述控制方法包括步骤：A driver control method for a power-assisted exoskeleton, wherein the driver is the driver according to any one of claims 1 to 14, and the control method includes the steps:
    获取并识别所述驱动器当前的工作状态，所述工作状态包括：准备和助力；Acquire and identify the current working state of the driver, where the working state includes: preparation and assist;
    若识别出所述驱动器的工作状态为准备，获取所述助力外骨骼中助力关节机构当前的关节伸展角速度和关节弯曲角度；If it is recognized that the working state of the driver is ready, obtain the current joint extension angular velocity and joint bending angle of the power-assisted joint mechanism in the power-assisted exoskeleton;
    根据所述关节伸展角速度、所述关节弯曲角度和预设的伸展阈值角度、失效阈值角度判断所述助力关节机构是否需要助力；Judging whether the power-assisted joint mechanism needs power assistance according to the joint extension angular velocity, the joint bending angle, the preset extension threshold angle, and the failure threshold angle;
    若需要助力，将所述驱动器当前的工作状态从准备状态置为助力状态，并将所述驱动器的输出转矩置为预设阈值T ref。 If assist is needed, the current working state of the driver is set from the ready state to the assist state, and the output torque of the driver is set to the preset threshold T ref .
  17. 根据权利要求16所述的控制方法，其特征在于，还包括步骤：The control method according to claim 16, characterized in that it further comprises the steps of:
    若识别出所述驱动器的工作状态为助力，获取所述助力关节机构当前的膝关节弯曲角度，或膝关节伸展角速度，或膝关节弯曲角速度；If it is recognized that the working state of the driver is power assist, obtain the current knee bending angle, or knee extension angular velocity, or knee bending angular velocity of the power assist joint mechanism;
    根据所述膝关节弯曲角度和预设的失效阈值角度，或所述膝关节伸展角速度和预设的最大伸展角速度，或所述膝关节弯曲角速度和预设的弯曲阈值角速度，判断当前是否需要取消助力，若是，将所述驱动器当前的工作状态从助力状态置为随动状态，并将所述驱动器的输出转矩置为0。According to the knee joint flexion angle and the preset failure threshold angle, or the knee joint extension angular velocity and the preset maximum extension angular velocity, or the knee joint flexion angular velocity and the preset flexion threshold angular velocity, it is judged whether cancellation is currently needed Assist, if yes, set the current working state of the driver from the assist state to the follow-up state, and set the output torque of the driver to zero.
  18. 根据权利要求17所述的控制方法，其特征在于，所述驱动器的工作状态还包括：随动；相应地，所述控制方法还包括步骤：The control method according to claim 17, wherein the working state of the driver further comprises: follow-up; correspondingly, the control method further comprises the steps:
    若识别出所述驱动器的工作状态为随动，获取所述助力关节机构当前的关节弯曲角度和关节弯曲角速度；If it is recognized that the working state of the driver is follow-up, obtain the current joint bending angle and joint bending angular velocity of the power-assisted joint mechanism;
    根据所述关节弯曲角度和所述关节弯曲角速度，以及预设的助力阈值角度和弯曲阈值角速度，判断当前是否需要准备助力，若是，将所述驱动器当前的工作状态从随动状态置为准备状态，并将所述驱动器的输出转矩置为0。According to the joint bending angle and the joint bending angular velocity, as well as the preset assisting threshold angle and bending threshold angular velocity, it is judged whether the assisting is currently needed, and if so, the current working state of the driver is set from the following state to the ready state , And set the output torque of the driver to 0.
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