CN109940593A - Leg man-machine connection device - Google Patents

Abstract

The invention discloses a kind of man-machine attachment devices in leg, comprising: leg connector, fitting are supported in user leg；Flexural pivot unit is connected to side of the leg connector far from the user leg, and there are three rotational freedoms for tool between the flexural pivot unit and the leg connector.The man-machine attachment device in the leg can adaptively turn to fit-state for the leg of different bodily form users, realization exoskeleton robot is bonded wearing with user leg, it dresses adaptability and comfort level is all good, mechanics transfer reliability is high, signal acquisition accuracy is ideal.

Description

Leg man-machine connection device

technical field

The invention belongs to the technical field of robotics, in particular, to a human-machine connection device for legs.

Background technique

Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. Exoskeleton robots are used to provide assistance to the human body, and have outstanding development prospects in enhancing human skills and assisting movement, and have increasingly become a research focus in the field of robotics.

Wherein, the man-machine connection device is used to be worn and supported on the human body, so as to realize the force transmission and sensing signal acquisition between the man and the machine. The existing man-machine connection device is limited to its own structure, and its wearing adaptability and comfort are poor. The power assist control performance brings great constraints.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the prior art, the present invention provides a human-machine connection device for legs, which can fit and wear on the legs of users of different shapes, has excellent wearing adaptability and comfort, and ensures reliable mechanical transmission and signal acquisition. .

The object of the present invention is achieved through the following technical solutions:

A leg man-machine connection device, comprising:

Leg connectors, fit and support the user's legs;

The spherical hinge unit is connected to the side of the leg connecting piece away from the user's leg, and there are three rotational degrees of freedom between the spherical hinge unit and the leg connecting piece.

As an improvement of the above technical solution, a side of the leg connector away from the user's leg has a central boss, and the central boss has a spherical outer surface.

As a further improvement of the above technical solution, the spherical hinge unit includes a spherical hinge housing, and the outer surface of one side of the spherical hinge housing close to the leg connector is a spherical surface.

As a further improvement of the above technical solution, a spherical hinge nut is arranged inside the spherical hinge housing, and a spherical pair is formed between the inner surface of the spherical hinge housing close to the leg connector and the spherical hinge nut, The ball hinge nut is radially fixed and circumferentially rotatably connected with the leg connector.

As a further improvement of the above technical solution, the inner surface of the spherical hinge housing on one side close to the leg connector is a spherical surface, and the outer surface of the spherical hinge nut on the side close to the leg connector is a spherical surface type surface.

As a further improvement of the above technical solution, the spherical hinge housing has a through hole at the center of one side close to the leg connector, and the outer diameter of the through hole is smaller than the outer diameter of the spherical hinge nut.

As a further improvement of the above technical solution, the leg human-machine connection device further includes a transmission connection rod, and both ends of the transmission connection rod are respectively connected to the ball joint unit and the user's hip.

As a further improvement of the above technical solution, the human-machine connecting device for the leg further includes a force sensor, and the transmission connecting rod is connected to the ball joint unit through the force sensor.

As a further improvement of the above technical solution, the force sensor includes a base part and a strain beam that are integrally connected, the base part is fixed on the spherical hinge unit, and the strain beam is kept at a distance from the spherical hinge unit, so The transmission connecting rod is connected to the strain beam.

As a further improvement of the above technical solution, the force sensor has a plate structure, the strain beam has a plane anchor structure, the base portion surrounds the outside of the strain beam and is connected to the anchor rod of the plane anchor structure At the top, the transmission connecting rod is connected to the anchor claw of the plane anchor structure.

As a further improvement of the above technical solution, the leg human-machine connection device further includes a leg fixing strap, and the leg fixing strap is arranged on the leg connecting piece and is used for tying and setting on the user's leg to realize all the The fixing of the leg connector and the user's leg is described.

The beneficial effects of the present invention are:

The leg connector and the ball hinge unit are provided, there are three rotational degrees of freedom between the leg connector and the ball hinge unit, and the two can be rotated in all directions to be freely adjusted, so that the leg connector can be adapted to users with different body shapes. The legs of the exoskeleton robot can be adaptively rotated to a fit state, so that the exoskeleton robot can be fitted with the user's legs. It has excellent wearing adaptability and comfort, high reliability of mechanical transmission, and ideal signal acquisition accuracy.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the overall axonometric schematic diagram of the leg human-machine connecting device provided in Embodiment 1 of the present invention;

2 is a first exploded schematic view of the leg human-machine connecting device provided in Embodiment 1 of the present invention;

3 is a second exploded schematic view of the leg human-machine connection device provided in Embodiment 1 of the present invention;

4 is a schematic cross-sectional view of a leg man-machine connection device provided in Embodiment 1 of the present invention;

5 is a schematic axonometric view of the force sensor of the leg human-machine connecting device provided in Embodiment 1 of the present invention;

6 is an overall axonometric schematic diagram of the leg human-machine connecting device provided in Embodiment 1 of the present invention having a transmission connecting rod;

7 is a partial axonometric view of the leg human-machine connecting device provided in Embodiment 1 of the present invention having a transmission connecting rod.

Description of main component symbols:

1000-Leg man-machine connection, 1100-Leg connector, 1110-Central boss, 1111-Spherical outer surface, 1200-Spherical hinge unit, 1210-Spherical hinge housing, 1211-Through hole, 1212-Section One spherical surface, 1213-Second spherical surface, 1220-Spherical hinge nut, 1221-Spherical surface of nut, 1230-Spherical hinge end cap, 1240-Through cavity, 1300-Transmission connecting rod, 1400-Force sensor, 1410-Base body, 1420 - Strain Beam, 1421 - Anchor Rod, 1422 - Anchor Claw, 1430 - Connection Spacer, 1500 - Leg Retention Strap.

Detailed ways

In order to facilitate understanding of the present invention, a more complete description of the leg human-machine connecting device will be given below with reference to the related drawings. A preferred embodiment of the leg ergonomic connection is shown in the accompanying drawings. However, the leg ergonomics may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the leg human-machine connection device will be thorough and complete.

It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the leg ergonomic connection device is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Please refer to FIGS. 1 to 4 , this embodiment discloses a leg human-machine connecting device 1000 . The leg human-machine connecting device 1000 includes a leg connecting member 1100 and a ball hinge unit 1200 , which can be fitted and worn on different body shapes. The user's legs ensure reliable mechanical transmission and signal acquisition.

The leg connector 1100 is fitted and supported on the user's leg, providing assistance to the leg muscles. The leg connector 1100 can be implemented in different ways of wearing, including a full wrapping way, a half wrapping way, and the like.

Exemplarily, the leg connector 1100 has a support surface that fits snugly around the user's leg. In the fully enclosed structure, the leg connector 1100 has an end-to-end annular structure, and the supporting surface is the inner surface of the annular structure; in the semi-enclosed structure, the leg connector 1100 has an open surrounding structure, and the supporting surface is non-closed surfaces.

Exemplarily, a side of the leg connector 1100 away from the user's leg has a central boss 1110, and the central boss 1110 protrudes outward from the side surface to achieve structural connection with the ball hinge unit 1200 and reduce the area of the connection surface, Improve connection accuracy and reduce processing difficulty.

The central boss 1110 has a spherical outer surface 1111 , and the spherical outer surface 1111 forms a spherical secondary connection with the outer surface of the spherical hinge unit 1200 . It can be understood that, under the spherical secondary structure, the spherical outer surface 1111 can be protruded outwards or recessed inwards, and has a corresponding relationship with the outer surface of the spherical hinge unit 1200 .

The ball hinge unit 1200 is connected to the side of the leg connector 1100 away from the user's leg, and is externally connected to the human body through the connector. Please refer to FIGS. 6-7 in conjunction. Exemplarily, the connecting member is a transmission connecting rod 1300, and both ends of the transmission connecting rod 1300 are connected to the ball joint unit 1200 and the user's hip. Correspondingly, a mechanical transmission path is formed between the user's hips, the transmission connecting rod 1300 , the ball joint unit 1200 , the leg connector 1100 and the user's legs, so as to realize the transmission of force/torque.

When the user's hip is equipped with an active power assist unit (such as a power assist motor, a power assist hydraulic system, etc.), the assist force/assist torque output by the active power assist unit can be transmitted to the user's legs through the above-mentioned mechanical transmission path, providing assistance to the leg muscles. Action, reduce the labor burden and energy loss of the leg muscles.

As mentioned above, there are three rotational degrees of freedom between the ball hinge unit 1200 and the leg connector 1100 , and there can be omnidirectional rotation between the two to rotate to any position, so that the leg connector 1100 can fit adaptively It is placed on the user's legs, adapts to the wearing needs of users with different body shapes, has a high degree of fit, and has the advantages of good wearing adaptability and comfort.

It can be understood that the outer surface of one side of the spherical hinge unit 1200 close to the leg connector 1100 is a spherical surface, and is adapted to the spherical outer surface 1111 of the central boss 1110 to form a spherical secondary connection. For example, the spherical surface of the spherical hinge unit 1200 and the spherical outer surface 1111 of the central boss 1110 have the same spherical diameter.

The ball hinge unit 1200 can be implemented in different structural forms. Exemplarily, the spherical hinge unit 1200 includes a spherical hinge housing 1210 , and the outer surface of one side of the spherical hinge housing 1210 close to the leg connector 1100 (ie, the first spherical surface 1212 ) is a spherical surface. In other words, the outer surface of one side wall of the spherical hinge housing 1210 close to the leg connector 1100 (ie, the first spherical surface 1212 ) is a spherical surface. Correspondingly, the first spherical surface 1212 forms a spherical secondary connection with the spherical outer surface 1111 .

Exemplarily, a spherical hinge nut 1220 is provided inside the spherical hinge housing 1210 . A spherical pair is formed between the spherical hinge nut 1220 and the inner surface of the spherical hinge housing 1210 close to the leg connector 1100, so that there is an omnidirectional rotational freedom between the spherical hinge nut 1220 and the spherical hinge housing 1210, and the Achieve omnidirectional rotation.

The spherical hinge nut 1220 is radially fixed to the leg connector 1100, and there is no movement in the diameter direction of the spherical shape therebetween. At the same time, there is relative rotation in the circumferential direction between the two. Here, the ball hinge nut 1220 and the leg connecting member 1100 also have rotational degrees of freedom, which further increases the self-adaptive adjustment capability. As the name suggests, the ball hinge nut 1220 has an internal thread, and is connected and fastened with the leg connector 1100 through a threaded fastener.

Exemplarily, the spherical hinge housing 1210 has a through hole 1211 at the center of one side close to the leg connector 1100 , and the threaded fastener passes through the through hole 1211 and is then threadedly connected to the spherical hinge nut 1220 . It can be understood that there is a clearance fit between the threaded fastener and the through hole 1211 . The function of the through hole 1211 is to limit the rotation angle range of the spherical hinge housing 1210 .

The outer diameter of the through hole 1211 is smaller than the outer diameter of the spherical hinge nut 1220 , especially the outer diameter of the spherical surface of the spherical hinge nut 1220 , to ensure that the spherical surface and the spherical hinge housing 1210 are accurately connected to the spherical surface.

Exemplarily, one inner surface of the spherical hinge housing 1210 close to the leg connector 1100 (ie, the second spherical surface 1213 ) is a spherical surface. In other words, the inner surface (ie, the second spherical surface 1213 ) of one side wall of the spherical hinge housing 1210 close to the leg connector 1100 is a spherical surface, and belongs to the two surfaces of the same side wall as the aforementioned outer surface. Correspondingly, the outer surface of one side of the spherical hinge nut 1220 close to the leg connector 1100 (ie, the spherical surface 1221 of the nut) is a spherical surface.

The second spherical surface 1213 of the spherical hinge housing 1210 is compatible with the nut spherical surface 1221 of the spherical hinge nut 1220 . For example, the second spherical surface 1213 of the spherical hinge unit 1200 and the nut spherical surface 1221 of the spherical hinge nut 1220 have the same spherical diameter.

The spherical hinge housing 1210 is close to one side wall of the leg connector 1100 . In the spherical pair, the spherical hinge housing 1210 can be held between the leg connector 1100 and the spherical hinge nut 1220 to achieve a reliable transmission connection.

Referring to FIG. 5 , for example, the leg human-machine connecting device 1000 further includes a force sensor 1400 , and the transmission connecting rod 1300 is connected to the ball joint unit 1200 through the force sensor 1400 . On the one hand, the force sensor 1400 plays the role of force/torque transmission, so that the assisting force/assisting torque of the transmission connecting rod 1300 is transmitted to the ball joint unit 1200 and the leg support. On the other hand, the force sensor 1400 can directly sense the human-machine contact force, compress the length of the measurement chain, reduce the measurement error, and improve the measurement accuracy.

In particular, since the leg connector 1100 can be fitted on the user's leg, the signal acquisition of the force sensor 1400 is more accurate, which provides a reliable parameter basis for the calculation and control of active power assist, and the power assist effect is more significant and helps The power size is more appropriate.

The force sensor 1400 can be implemented in different ways, and its measurement dimension is selected according to actual needs. Illustratively, the force sensor 1400 includes a base portion 1410 and a strain beam 1420 that are integrally connected. The base part 1410 is fixed on the spherical hinge unit 1200 to realize structural connection; the strain beam 1420 is kept at a distance from the spherical hinge unit 1200, and the two do not have direct contact, so as to ensure that the strain of the strain beam 1420 is accurate and has reliable measurement As a result, the measurement result is prevented from being disturbed by the ball hinge unit 1200 .

Among them, the transmission connecting rod 1300 is connected to the strain beam 1420, and is kept structurally separated from the base part 1410 and the spherical hinge unit 1200, so that the mechanical transmission occurs only between the strain beam 1420 and the transmission connecting rod 1300, and the strain deformation of the strain beam 1420 occurs. It has an accurate correspondence with the transmission force, avoiding the disturbance of the measurement result and ensuring the measurement accuracy.

Exemplarily, the force sensor 1400 has a plate-type configuration. In other words, the base portion 1410 and the strain beam 1420 form a plate structure, which effectively compresses the dimensions along the mechanical transmission direction, thereby improving the mechanical transmission efficiency and the mechanical sensing accuracy. Exemplarily, the plate structure is embedded on the spherical hinge housing 1210 , and one side surface remains exposed for connection with the transmission connecting rod 1300 .

The strain beam 1420 has a planar anchor-type structure, including an anchor rod 1421 and anchor claws 1422 located on both sides of the bottom end of the anchor rod 1421. The anchor rod 1421 and the anchor claw 1422 are located in the same plane. The base portion 1410 surrounds the exterior of the strain beam 1420, forming a ring-shaped configuration. At the same time, the base portion 1410 is connected with the top end of the anchor rod 1421 of the planar anchor structure, so that the base portion 1410 and the strain beam 1420 have an integral connection structure. Under the plane anchor structure, the anchor claw 1422 is more sensitive to strain deformation, and converts the strain into force to achieve mechanical measurement.

Wherein, the transmission connecting rod 1300 is connected to the anchor claw 1422 of the plane anchor structure. For example, the anchor claw 1422 is provided with a fixing hole, so that the transmission connecting rod 1300 is fastened on the anchor claw 1422 . Exemplarily, there is a connecting pad 1430 between the transmission connecting rod 1300 and the anchor jaw 1422, so that there is no direct contact between the former two, which further reduces measurement disturbance.

Exemplarily, the spherical hinge unit 1200 further includes a spherical hinge end cap 1230 . The spherical hinge end cap 1230 is disposed on the side of the spherical hinge housing 1210 away from the leg connector 1100 . The spherical hinge end cap 1230 and the spherical hinge housing 1210 are surrounded by the spherical hinge nut 1220 , the force sensor 1400 and other components enclosed therein. , to ensure structural safety.

Exemplarily, the spherical hinge end cap 1230 and the spherical hinge housing 1210 surround and form a through cavity 1240 . At least one end of the piercing cavity 1240 remains open, so that the transmission connecting rod 1300 can be pierced therein. The force sensor 1400 is located on the side surface of the penetration cavity 1240 close to the spherical hinge housing 1210 , and the transmission connecting rod 1300 and the penetration cavity 1240 maintain clearance fit and do not contact each other.

In addition, the transmission connecting rod 1300 can be an elastic rod or a rigid rod. Exemplarily, the transmission connecting rod 1300 is a rigid rod with sufficient rigidity, deformation resistance and force transmission sensitivity. Exemplarily, in another embodiment, the transmission connecting rod 1300 can still have elastic deformation ability, and can be slightly elastically deformed along the tangential direction to strengthen the transmission connecting rod 1300 and the user's hip (or the active power assist unit disposed on the user's hip). ) are closely related.

Exemplarily, the leg human-machine connecting device 1000 further includes a leg fixing strap 1500, and the leg fixing strap 1500 is disposed on the leg connecting member 1100 and is used to be tied to the user's leg. Exemplarily, the leg fixing straps 1500 have soft properties, so as to be tightly fastened to the surface of the user's leg, so as to achieve reliable fixing of the leg connector 1100 to the user's leg.

In all examples shown and described herein, any specific value should be construed as merely exemplary and not as limiting, as other examples of exemplary embodiments may have different values.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as limiting the scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims (10)

1. a kind of man-machine attachment device in leg characterized by comprising

Leg connector, fitting are supported in user leg；

Flexural pivot unit is connected to side of the leg connector far from the user leg, the flexural pivot unit and the leg There are three rotational freedoms for tool between portion's connector.

2. the man-machine attachment device in leg according to claim 1, which is characterized in that the leg connector is far from the use The side of family leg has central boss, and the central boss has ball-type outer surface.

3. the man-machine attachment device in leg according to claim 1, which is characterized in that the flexural pivot unit includes flexural pivot shell Body, a side external surface of the flexural pivot shell close to the leg connector are ball-type surface.

4. the man-machine attachment device in leg according to claim 3, which is characterized in that flexural pivot is arranged in the flexural pivot enclosure interior Nut, the flexural pivot shell form spherical pair close between the side inner surface and the flexural pivot nut of the leg connector, The flexural pivot nut is radially fixed with the leg connector and circumferentially rotates and connect.

5. the man-machine attachment device in leg according to claim 4, which is characterized in that the flexural pivot shell is close to the leg The side inner surface of connector is ball-type surface, and a side external surface of the flexural pivot nut close to the leg connector is ball-type Surface.

6. the man-machine attachment device in leg according to claim 4 or 5, which is characterized in that the flexural pivot shell is described in The side centre of leg connector has through hole, and the outer diameter of the through hole is less than the outer diameter of the flexural pivot nut.

7. the man-machine attachment device in leg according to claim 1, which is characterized in that it further include driving connecting rod, the biography Dynamic connecting rod both ends are separately connected the flexural pivot unit and user's hip.

8. the man-machine attachment device in leg according to claim 7, which is characterized in that it further include force snesor, the transmission Connecting rod is connected to the flexural pivot unit by the force snesor.

9. the man-machine attachment device in leg according to claim 8, which is characterized in that the force snesor includes integrally connected Matrix part and strain beam, described matrix portion is fixed on the flexural pivot unit, and the strain beam and the flexural pivot unit are kept At a distance of setting, the driving connecting rod is connected on the strain beam.

10. the man-machine attachment device in leg according to claim 9, which is characterized in that the force snesor has board-like structure It makes, the strain beam has plane anchor structure, and described matrix portion is surrounded on the outside of the strain beam and is connected to described flat At the top of the anchor pole of face anchor structure, the driving connecting rod is connected to the anchor fluke of the plane anchor structure.