CN204814699U - Follow -up control of ectoskeleton robot device - Google Patents
Follow -up control of ectoskeleton robot device Download PDFInfo
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- CN204814699U CN204814699U CN201520404284.0U CN201520404284U CN204814699U CN 204814699 U CN204814699 U CN 204814699U CN 201520404284 U CN201520404284 U CN 201520404284U CN 204814699 U CN204814699 U CN 204814699U
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- upper arm
- underarm
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Abstract
The utility model relates to a follow -up control of ectoskeleton robot device solves current ectoskeleton robot and adopts manual control's harmony not good and adopt that the ectoskeleton robot structure of principal and subordinate's control is complicated, there is hysteretic problem in the action. This device adopts rotatable joint and connects its characterized in that including upper arm, underarm, upper arm lower extreme and underarm upper end: but be equipped with the gliding initiative briquetting of perpendicular to axis direction on upper arm or the underarm, the initiative briquetting is bound with the human body, corresponds with two direction of motions of initiative briquetting on upper arm or the underarm to be provided with two micro -gap switch, and two micro -gap switch opposite direction, be equipped with drive pivoted power device between upper arm and the underarm, two micro -gap switch control power device's positive adversive movement respectively. The utility model discloses realizing ectoskeleton and human real -time follow -up, having good harmony, synchronism, simple structure moreover realizes with low costsly, and economic nature is good.
Description
Technical field
This utility model relates to a kind of robot controller, particularly a kind of exoskeleton robot follow-up control device.
Background technology
Socioeconomic development makes people grow with each passing day to machine Man's Demands.But because artificial intelligence not yet develops into the degree that can make robot independent operating, current robot all needs manual intervention or programming in advance to carry out fixing task.Under this background, the exoskeleton robot with good man-machine interaction obtains research worker and more and more pays close attention to.Exoskeleton robot is powerful, and such as it can help limbs wounded body to carry out rehabilitation.By ectoskeleton and injured limb are fixed, control ectoskeleton and drive limb motion, can come to carry out rehabilitation to limbs.Such as ectoskeleton can help handicapped people with disability to recover motor capacity again.Carry out auxiliary anergy limbs by ectoskeleton, the person that can make lower extremity paralysis can walk again, and upper extremity palsy person can pick up article again.And for the people of health, ectoskeleton greatly can strengthen everyone motor capacity, ordinary person can be made to lift the object of hundreds of jin of weights and painstaking, or easily complete trudging of dozens of kilometres.Ectoskeletal remarkable ability makes it in military affairs, scientific research, commercial production and daily life, have great development potentiality, has huge positive effect for promotion socio-economic development.
Existing exoskeleton robot control method has a lot, such as, adopt and manually directly control, directly control exoskeleton robot by action button, and such control mode harmony is difficult to ensure; Such as adopt pre-programmed to control again, such exoskeleton robot can only according to the orbiting motion preset, and degree of freedom is little; Also has a kind of mode adopting master & slave control, exoskeleton robot is divided into main ectoskeleton and from ectoskeleton, main ectoskeleton is fixed with the limbs of people, external force is adopted to drive from ectoskeleton, when human body drives main ectoskeleton to move, making main ectoskeleton and differential from existing between ectoskeleton, generally adopting angular transducer to detect main ectoskeleton and from the angular deviation signal between ectoskeleton, as from ectoskeletal drive singal.Although it is high that this mode compares above-mentioned two kinds of mode degree of freedom, harmony might as well, but drives structure relative complex, and it is high to the required precision of angular transducer, need main ectoskeleton and there is differential seat angle from ectoskeleton, could driving force be produced, existing delayed from ectoskeleton action, when angular transducer precision is lower, delayed particularly evident.
Summary of the invention
The purpose of this utility model be to solve existing exoskeleton robot adopt the harmony of Non-follow control bad and adopt the exoskeleton robot complex structure of master & slave control, there is delayed problem in action, there is provided harmony good, and there is the exoskeleton robot follow-up control device of good synchronization.
This utility model solves the technical scheme that its technical problem adopts: a kind of exoskeleton robot follow-up control device, comprise upper arm, underarm, upper arm lower end and underarm upper end adopt rotating joint to be connected, described upper arm or underarm are provided with the active briquetting that can slidably reciprocate perpendicular to axis direction, described active briquetting and human body are bound, correspondingly with active briquetting two directions of motion on upper arm or underarm be provided with two microswitch, two microswitch directions are contrary, the power set driving and rotate are provided with between described upper arm and underarm, two microswitch control forward and reverse motion of power set respectively.Two microswitch are corresponding with active briquetting two directions of motion respectively to be arranged, initiatively the briquetting same time can only trigger one of them microswitch, initiatively briquetting and human body are bound, and when human body produces action, initiatively briquetting can be driven to move at vertical and upper arm or underarm axis direction.For leg, fixing and the large leg outer side by upper arm, underarm is fixed and little leg outer side, joint is positioned at outside knee joint, upper arm place is arranged on for active briquetting and microswitch, when upper arm and thigh are fixed, initiatively briquetting and thigh are bound, and stagger certain distance in upper arm and the other binding position of thigh and initiatively briquetting position, during human body walking, leg can produce flexor, make to produce between thigh and upper arm small differential, the initiatively relative upper arm of briquetting is driven to slide, touch one of them microswitch, the action of microswitch driving power device, upper arm and underarm is driven to do same flexor.During human flexing, initiatively briquetting can be driven to move towards different directions, thus touch different microswitch according to the direction of motion, realize ectoskeletal servo-actuated.This device, when human body produces minor motion, accurately according to movement tendency, can touch fine motion and opens the light, realize good synchronicity and trackability.
As preferably, described microswitch is arranged on the side of upper arm, the lateral vertical axis direction of upper arm is set up in parallel two positive stop strips, two microswitch are separately positioned on the end between two positive stop strips and protrude from outside end, initiatively briquetting is the slip framework being set in two positive stop strip both sides and sliding along positive stop strip, and the distance between two the inners of slip framework is greater than the distance between two microswitch outer ends.
As other preferred version, described microswitch is arranged on the side of underarm, the lateral vertical axis direction of upper arm is set up in parallel two positive stop strips, two microswitch are separately positioned on the end between two positive stop strips and protrude from outside end, initiatively briquetting is the slip framework being set in two positive stop strip both sides and sliding along positive stop strip, and the distance between two the inners of slip framework is greater than the distance between two microswitch outer ends.No matter be arranged on upper arm and underarm place, microswitch all can detect the movement tendency of human body delicately, realizes ectoskeletal servo-actuated.Initiatively briquetting is frame structure, and the distance of framework the inner determines the same time and can only touch a microswitch.And spacing by positive stop strip, avoid that human action is too quickly to be caused damage to microswitch or cause the displacement of not restorable.Meanwhile, positive stop strip also forms guiding to active briquetting.
As preferably, described two positive stop strip sides are also provided with protection microswitch and prevent the side seal board that slip framework comes off.
As preferably, the framework at described slip framework two ends is also provided with the connecting hole bound with human body.
As preferably, described power set are electric cylinder, and electric cylinder comprises cylinder body, piston rod, motor, and described cylinder body is connected with upper arm, underarm respectively with the end of piston rod, and motor is arranged on the side of cylinder body, and arrange actuating device between the end and motor of cylinder body.
As preferably, described upper arm and underarm adopt multilamellar connecting plate and panel to be superimposed layer by layer and form, connecting plate and panel consistency of thickness and be longer than panel end by connecting plate end, juxta-articular one end, the mutual grafting in connecting plate upper end and upper arm connecting plate lower end of underarm is fitted together to, and adopts articulating pin to be rotationally connected at grafting nested position.Adopt sandwich structure, the thickness of upper arm and underarm can be increased, reduce the probability that joint position produces twisting, and connecting plate and panel are for be superimposed layer by layer, the length in superimposed portion can regulate according to practical situation, makes upper arm and underarm have adjustable different length.And in the upper end of upper arm, the lower end of underarm, if when needing by other limb member of joint piece chain link, the role of panel and connecting plate can exchange.When power set are installed, mounting points is selected on upper arm connecting plate and underarm connecting plate, ensures to drive stability under loading.
As preferably, the upper end of upper arm connecting plate is longer than in described upper arm panel upper end, and the bottom of underarm connecting plate is longer than in the bottom of underarm panel.
As preferably, all stagger with the position of initiatively briquetting in upper arm, underarm and the human body position of binding.Upper arm and underarm will have the trackability good with human body, also need to bind with human body, and initiatively briquetting position is avoided in binding position, make initiatively briquetting can react human action trend better.
This utility model by with upper arm or underarm axes normal arrange slidably initiatively briquetting obtain the small movements trend of human body, in the cooperation driving power device by active briquetting and microswitch, realize the servo-actuated in real time of ectoskeleton and human body, there is good harmony, synchronicity, and structure is simple, realize cost low, good economy performance.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of this utility model.
Fig. 2 is this utility model initiatively briquetting and microswitch structure schematic diagram.
Fig. 3 is the side-looking structural representation of this utility model upper arm and underarm.
In figure: 1, upper arm, 2, joint, 3, underarm, 4, electric cylinder, 5, motor, 6, initiatively briquetting, 7, side seal board, 8, slip framework, 9, connecting hole, 10, microswitch, 11, positive stop strip, 12, cable-through hole, 13, upper arm connecting plate, 14, upper arm panel, 15, underarm connecting plate, 16, underarm panel, 17, bandage.
Detailed description of the invention
Also by reference to the accompanying drawings this utility model is further illustrated below by specific embodiment.
Embodiment: a kind of exoskeleton robot follow-up control device, as shown in Figure 1.This device comprises upper arm 1, underarm 3, is rotationally connected between upper arm and underarm by joint 2.As shown in Figure 3, upper arm 1 is by three layers of upper arm connecting plate 13 and two-layer upper arm panel 14 is alternately laminated forms, and underarm 3 is by two-layer underarm connecting plate 15 and three layers of underarm panel 16 is alternately laminated forms.Upper arm connecting plate is consistent with upper arm panel length, and upper arm connecting plate lower end is stretched out downwards, and the upper end of upper arm panel protrudes upward, and both are formed staggered.Corresponding, underarm connecting plate is consistent with underarm panel length, and underarm connecting plate upper end protrudes upward, and the lower end of underarm panel is stretched out downwards, and both are formed staggered.After upper arm connecting plate 13 lower end is chimeric with the mutual grafting in underarm connecting plate 15 upper end, articulating pin pivot joint is adopted to form joint 2.As shown in Figure 1, the downside outwardly convex of upper arm connecting plate 13 upper end forms power installation portion, the left side of underarm connecting plate 15 outwardly forms power installation portion, electric cylinder 4 is provided with as power source between upper arm power installation portion and underarm power installation portion, the rear end of the cylinder block of electricity cylinder is connected with upper arm power installation portion, and the piston rod end that cylinder body front end is stretched out is connected with underarm power installation portion.The downside of rear end of the cylinder block is also provided with motor 5, is provided with actuating device between motor and rear end of the cylinder block, forms power transmission.
The leading flank of upper arm near top is provided with initiatively briquetting 6, and initiatively briquetting 6 and human body are bound, and can at the square upward sliding of vertical upper arm axis, and upper arm correspondence position is provided with the microswitch 10 that two are detected initiatively briquetting sliding position.As shown in Figure 2, the end positions that upper arm upper vertical axis is fixed with between two positive stop strips 11, two positive stop strip is side by side respectively equipped with a microswitch 10 to concrete structure, and the outer end of microswitch 10 slightly protrudes from the end of positive stop strip.Initiatively briquetting is a slip framework 8, slip framework 8 is set in outside positive stop strip, slided by positive stop strip guiding, the distance between slip framework 8 two the inners is a bit larger tham the distance between two microswitch outer ends, ensures that the slip framework same time can only touch a microswitch.The framework at slip framework both ends offers connecting hole 9, can bind in connecting hole position and human body.The front side of positive stop strip is also connected with side seal board 7, forms protection, and prevent slip framework from coming off to microswitch.Between two positive stop strips, two microswitch position upper arm on offer cable-through hole 12, allow the holding wire of microswitch can be outside through upper arm.
As shown in Figure 1, ectoskeleton upper arm will initiatively briquetting and human body upper arm be bound in active briquetting position, ectoskeleton upper arm itself and human body upper arm are being bound by bandage 17 by juxta-articular bottom, ectoskeleton underarm is originally bound by bandage 17 with human body underarm respectively in upper and lower.When human motion, produce between human body upper arm and human body underarm and bend and stretch, drive initiatively briquetting slip, thus touch one of them microswitch, electric cylinder is moved and drives ectoskeleton upper arm and ectoskeleton underarm with human motion, keep the coordination of height with synchronous.
Claims (9)
1. an exoskeleton robot follow-up control device, comprise upper arm, underarm, upper arm lower end and underarm upper end adopt rotating joint to be connected, it is characterized in that: described upper arm or underarm are provided with the active briquetting that can slidably reciprocate perpendicular to axis direction, described active briquetting and human body are bound, correspondingly with active briquetting two directions of motion on upper arm or underarm be provided with two microswitch, two microswitch directions are contrary, be provided with the power set driving and rotate between described upper arm and underarm, two microswitch control forward and reverse motion of power set respectively.
2. a kind of exoskeleton robot follow-up control device according to claim 1, it is characterized in that: described microswitch is arranged on the side of upper arm, the lateral vertical axis direction of upper arm is set up in parallel two positive stop strips, two microswitch are separately positioned on the end between two positive stop strips and protrude from outside end, initiatively briquetting is the slip framework being set in two positive stop strip both sides and sliding along positive stop strip, and the distance between two the inners of slip framework is greater than the distance between two microswitch outer ends.
3. a kind of exoskeleton robot follow-up control device according to claim 1, it is characterized in that: described microswitch is arranged on the side of underarm, the lateral vertical axis direction of upper arm is set up in parallel two positive stop strips, two microswitch are separately positioned on the end between two positive stop strips and protrude from outside end, initiatively briquetting is the slip framework being set in two positive stop strip both sides and sliding along positive stop strip, and the distance between two the inners of slip framework is greater than the distance between two microswitch outer ends.
4. a kind of exoskeleton robot follow-up control device according to Claims 2 or 3, is characterized in that: described two positive stop strip sides are also provided with protection microswitch and prevent the side seal board that slip framework comes off.
5. a kind of exoskeleton robot follow-up control device according to Claims 2 or 3, is characterized in that: the framework at described slip framework two ends is also provided with the connecting hole bound with human body.
6. a kind of exoskeleton robot follow-up control device according to claim 1 or 2 or 3, it is characterized in that: described power set are electric cylinder, electricity cylinder comprises cylinder body, piston rod, motor, described cylinder body is connected with upper arm, underarm respectively with the end of piston rod, motor is arranged on the side of cylinder body, and arranges actuating device between the end and motor of cylinder body.
7. a kind of exoskeleton robot follow-up control device according to claim 1 or 2 or 3, it is characterized in that: described upper arm and underarm adopt multilamellar connecting plate and panel to be superimposed layer by layer and form, connecting plate and panel consistency of thickness and be longer than panel end by connecting plate end, juxta-articular one end, the mutual grafting in connecting plate upper end and upper arm connecting plate lower end of underarm is fitted together to, and adopts articulating pin to be rotationally connected at grafting nested position.
8. a kind of exoskeleton robot follow-up control device according to claim 7, it is characterized in that: the upper end of upper arm connecting plate is longer than in described upper arm panel upper end, the bottom of underarm connecting plate is longer than in the bottom of underarm panel.
9. a kind of exoskeleton robot follow-up control device according to claim 1 or 2 or 3, is characterized in that: all stagger with the position of active briquetting in the position that upper arm, underarm and human body are bound.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520404284.0U CN204814699U (en) | 2015-06-12 | 2015-06-12 | Follow -up control of ectoskeleton robot device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520404284.0U CN204814699U (en) | 2015-06-12 | 2015-06-12 | Follow -up control of ectoskeleton robot device |
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| CN204814699U true CN204814699U (en) | 2015-12-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078708A (en) * | 2015-06-12 | 2015-11-25 | 夏楠 | Exoskeleton robot follow-up control device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078708A (en) * | 2015-06-12 | 2015-11-25 | 夏楠 | Exoskeleton robot follow-up control device |
| WO2016197923A1 (en) * | 2015-06-12 | 2016-12-15 | 夏楠 | Follow-up control device for exoskeleton robot |
| US10421185B2 (en) | 2015-06-12 | 2019-09-24 | Hangzhou Qisu Technology Co., Ltd. | Follow-up control device for an exoskeleton robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191114 Address after: 310000 room 602, unit 1, building 3, Shuimu Qinghuayuan South District, Xianlin street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Qisu Technology Co., Ltd Address before: 312300 Zhejiang Province, Shaoxing city Shangyu District City Street revitalization village 28 Room 501 Patentee before: Xia Nan |