CN115870949B - Active and passive compound multi-joint assistance carrying exoskeleton system - Google Patents
Active and passive compound multi-joint assistance carrying exoskeleton system Download PDFInfo
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Abstract
An active-passive composite multi-joint assistance carrying exoskeleton system comprises a rigid bionic supporting component, a flexible binding system, a shoulder joint assistance module, a large arm component, a waist connecting component, a hip joint assistance module, a thigh component, a motion sensing module and a power supply module; a rigid-flexible coupling binding scheme is adopted, and a buffer space is established between a human body and the exoskeleton rigid structure; the back plate structure, the back rod mechanism and the waist plate structure adopt composite materials comprising light carbon fiber, high-strength polyurethane, high-strength glass fiber and the like, and the main structures of the power assisting module and the large arm component adopt light metal materials comprising magnesium alloy, aviation aluminum and the like; the shoulder joint adopts a passive flexible power assisting mode, and in the complex operation of bending, carrying and walking, the hip joint adopts a joint module direct driving power assisting mode, so that the advantage of intelligent self-adaption of the active exoskeleton is fused with the advantage of low cost and high reliability of the passive exoskeleton.
Description
Technical Field
The invention relates to an active-passive composite multi-joint assistance carrying exoskeleton system, and belongs to the fields of intelligent equipment, robots and wearing equipment.
Background
The carrying exoskeleton is one of important concerns in exoskeleton robot development, and can realize functional enhancement in working postures such as carrying, lifting and pulling by external assistance to a wearer, effectively relieve waist and knee strain and upper limb muscle fatigue caused by repeated operation, and can be applied to multiple scenes such as warehouse, supply and the like. The currently published carrying exoskeleton mainly comprises single joint assistance, including hip joint assistance (waist assistance) and shoulder elbow joint assistance (upper limb assistance).
Chinese patent CN110900568B, "a waist-assisted exoskeleton robot", CN108044607a, "an exoskeleton-assisted robot", CN110815191a, "a wearable waist-assisted exoskeleton", CN110883762a "a waist hip-joint-driving-enhanced exoskeleton" are all waist-assisted types, and assist is performed on the bending handling process by applying an assist torque at the hip joint, which only considers the posture of bending to lift a weight from the ground, and cannot assist in the stage of lifting the weight upward.
Chinese patent CN108724152B "an upper limb assistance mechanism for lifting load in situ", CN209140889U "an upper limb shoulder exoskeleton based on a wire transmission structure", CN112372625a "a shoulder joint assistance passive exoskeleton robot" are all of upper limb assistance type, and assistance is performed on the upper limb lifting process by applying an assistance torque at the shoulder joint and elbow joint, which only considers the posture of lifting the weight by the upper limb in a standing state, and cannot be performed in the stage of lifting the weight from the ground by bending over.
In practical application, bending, lifting and lifting of upper limbs are generally a complete and continuous process, and a wearer needs to continuously complete the operations of lifting, lowering, walking, lifting, placing and the like and the mutual switching between the operations. The prior published carrying exoskeleton can not realize effective power assistance in the whole carrying operation process, and due to multiple interference of a machine, an electric sensor and a sensor, it is difficult to wear a plurality of types of exoskeleton on a human body at the same time and stably and reliably level the power assistance.
In addition, exoskeletons can be classified into active exoskeletons (active assist type) and passive exoskeletons (passive assist type) according to power sources. Active exoskeletons are limited by mobility, flexibility, reliability, energy efficiency and other problems, and it is difficult to meet engineering application requirements for a short period of time; the passive exoskeleton can effectively assist a fixed action gesture in a specific task, but has single assisting working condition and lower assisting efficiency under a complex working condition, and is difficult to land adequately for the requirements of multiple working conditions and multiple tasks.
Disclosure of Invention
The invention aims to solve the technical problems that: overcomes the defects of the prior art and solves the effective auxiliary problems of the actions such as lifting, putting down, walking, lifting, placing and the like in the whole process of carrying operation.
The invention aims at realizing the following technical scheme:
An active-passive composite multi-joint assistance carrying exoskeleton system comprises a rigid bionic supporting component, a flexible binding system, a shoulder joint assistance module, a large arm component, a waist connecting component, a hip joint assistance module, a thigh component, a motion sensing module and a power supply module;
the rigid bionic supporting component is used as a supporting main body of the exoskeleton, is used for connecting and fixing other modules, and has the function of load transmission redistribution;
the flexible binding system is used for wearing the rigid bionic supporting component on a human body, and a buffer space is established between the rigid bionic supporting component and the flexible binding system, so that the rigid structure is not directly attached to the human body;
The shoulder joint assisting module is tightly and symmetrically fixed at the tail end of the large arm assembly through an output shaft of the shoulder joint assisting module and is used for providing assisting moment matched with the movement speed and acceleration characteristics of the shoulder joint of a human body;
The big arm components are symmetrically fixed on two sides of the rigid bionic support component through detachable screws, and are used for supporting the shoulder joint power-assisted modules and transmitting arm loads to the back and the waist;
The waist connecting component is fixed on the waist of a human body through a flexible binding system, is a connecting main body between the upper limb mechanism and the lower limb mechanism of the exoskeleton, is used for connecting the rigid bionic supporting component and the thigh component and is connected with the hip joint power-assisted module;
the hip joint power assisting module is fixed on the waist connecting component through a screw, is connected with the thigh component through a pin shaft and is used for providing auxiliary torque matched with the movement speed and acceleration characteristics of the hip joint of a human body;
the upper end of the thigh assembly is connected with the output flange through a shaft pin, and the lower end of the thigh assembly is connected with the thigh main body piece through a micro-displacement sensor assembly;
the motion sensing module is used for sensing motion gestures and recognizing motion modes and is used as control input;
the power supply module is placed in waist bags on two sides of the waist binding of the flexible binding system and used for providing energy input for the hip joint power-assisting module and the motion sensing module.
Preferably, the shoulder joint assisting module and the hip joint assisting module are connected with a human body through the rigid bionic supporting component, the big arm component and the thigh component and are used for providing assisting moment for the shoulder joint and the hip joint in the whole process of carrying operation;
The auxiliary moment at the different joints is matched with a corresponding auxiliary moment curve according to the rotation angle of the cooperative motion of the shoulder joint and the hip joint in the operation process.
Preferably, the rigid bionic supporting component comprises a back plate structure, a back rod mechanism and a waist plate structure;
The middle part of the backboard structure is provided with a plurality of hole sites which are used for being fixedly connected with the upper end of the back rod mechanism; a plurality of hole sites are symmetrically arranged at the two sides of the back plate structure and are used for detachably connecting the big arm assemblies at the two sides; the upper part of the backboard structure is provided with a shoulder strap interface;
the back rod mechanism is formed by nesting a plurality of light carbon fiber tubes with different diameters, a plurality of hole sites are formed in the tube wall at equal intervals, and a length adjusting function is realized by matching with a spring pressing sheet; the back rod mechanism connects the back plate structure with the waist plate structure and transfers and distributes load from the back to the waist;
The waist plate structure is characterized in that a plurality of hole sites are arranged in the center of the waist plate structure and used for fixing a waist connecting component and a back rod mechanism; the waist plate structure is of a U-shaped structure, and is not directly attached to the back of a human body after being worn, so that dislocation and play of the exoskeleton in the operation process are reduced.
Preferably, the flexible binding system includes a back binding, a shoulder strap, a waist binding, a thigh binding, and a thigh binding;
The back binding is made of a high-elasticity net material, elastic slots are sewn around the back binding and are used for being detachably connected with the back plate structure, the back binding is always attached to the back of a human body after being worn, and a buffer space is reserved between the back of the human body and the back plate structure;
the upper end of the shoulder strap is fixedly connected with the backboard structure through a reserved interface on the backboard structure, and the lower end of the shoulder strap is in binding connection with the waist through a binding belt and a connector;
The waist binding two sides are made of low-elasticity woven materials, the middle is made of high-elasticity mesh materials, the two sides are sewed with slots, and the two ends of the waist plate structure are inserted into the slots and connected in a pasting mode; the middle high-elasticity position of the waist binding after the waist binding is supported and stretched by the waist plate structure, the waist binding is always attached to the waist of a human body when the waist binding is worn, and a buffer space is reserved between the waist of the human body and the waist plate structure;
the large arm binding is fixedly connected with the shoulder joint power assisting module by rivets and is fixed with the large arm of the human body by flexible binding belts;
The thigh binding is fixed with the thigh of the human body through a flexible binding belt.
Preferably, the shoulder joint assisting module is tightly held and connected with the tail end of the big arm assembly through an output shaft of the shoulder joint assisting module and is bound and worn on a human body through the big arm, and in the process of lifting a heavy object by an arm of a wearer, the shoulder joint assisting module outputs assisting moment along with the angle change of the big arm so as to support the load of the arm, so that active assisting in the process of lifting the heavy object by an upper limb is realized;
The shoulder joint assisting module adopts a passive flexible assisting method, and generates assisting moment matched with the movement speed and acceleration characteristics of the shoulder joint of the human body through an elastic energy storage element and a cam mechanism based on the rigidity characteristics of the joint of the human body and biomechanical analysis of the movement of the human body without external energy sources;
The shoulder joint power assisting module adopts a light-weight and high-integration design, the output torque of a single shoulder joint power assisting module is not less than 30Nm, the power assisting force of not less than 18kg can be provided, and the weight is not more than 600g.
Preferably, the big arm assembly adopts self-adaptation mechanism, and through 3 rotational degrees of freedom in the different planes in space and terminal 1 rotational degrees of freedom complex, realizes laminating rapidly human shoulder joint, satisfies 3 motion degrees of freedom requirements of shoulder ball socket joint working space to satisfy extension and dislocation translation demand of shoulder function to a certain extent.
Preferably, the single-side large arm assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a base and a coil spring mechanism;
The first connecting rod is connected with the second connecting rod, the second connecting rod is connected with the third connecting rod, and the third connecting rod is connected with the base through a first shaft system, a second shaft system and a third shaft system respectively; limiting structures with different angles are arranged in the three shafting mechanisms; the lower ends of the second shaft system and the third shaft system are provided with coil spring mechanisms which are connected in a holding mode, so that the large arm assembly can be automatically retracted to ensure that the shoulder joint assisting module is more attached to a human body, and meanwhile, the exoskeleton putting-on and taking-off time is shortened.
Preferably, the waist connection assembly comprises a waist connection member and a waist fixing member;
the waist connecting piece is provided with a plurality of hole sites in the middle, and the hole sites are fixedly connected with the lower end of the back rod mechanism of the rigid bionic supporting component and the back plate structure through screws; the waist connecting piece is symmetrically provided with a plurality of hole sites at two sides for detachably connecting the waist fixing pieces at two sides, and the waistline of the waist connecting component can be adjusted through the adjustment of a plurality of rows of fixing hole sites so as to adapt to wearers with different sizes;
One end of the waist fixing piece is detachably connected with the waist connecting structure, and the other end of the waist fixing piece is fixedly connected with a mounting flange in the hip joint power assisting module through screws.
Preferably, the hip joint assisting module comprises a mounting flange, a joint module and an output flange;
One end of the plane of the mounting flange is fixedly connected with one end of a waist fixing piece of the waist connecting component through a screw to serve as a fixing main body of the joint module; the outer edge part of the joint module is fixedly connected with one end of the circular ring of the mounting flange, the inner ring part of the joint module is fixedly connected with the output flange, and the other end of the output flange is connected with the thigh assembly, so that active assistance at the hip joint is realized.
Preferably, the thigh assembly comprises a thigh connecting piece, a thigh main body piece, a thigh supporting piece and a pallet; the upper end of the thigh connecting piece is connected with an output flange of the hip joint assisting module through a shaft pin, and the lower end of the thigh connecting piece is connected with the thigh main body piece through a micro-displacement sensor assembly of the motion sensing module;
the thigh main body piece is streamline and is matched with the thigh curve of a human body; one end of the plane of the thigh support piece is fixedly connected with the lower end of the thigh main body piece through a screw; the support plate is of a curved surface composite material structure, the inner side dimension of the curved surface is matched with the thigh circumference of a human body so as to ensure the fit with the human body, and a round hole is formed in the outer side of the curved surface and used for connecting thigh supporting pieces.
Preferably, the motion sensing module comprises a micro-displacement sensor, a gyroscope sensor and a wireless pressure glove; the micro-displacement sensors are arranged in the middles of thighs on two sides of the exoskeleton and are used as control input and sensing motion modes; the gyroscope sensors are respectively arranged at the back of the exoskeleton and the tail ends of thighs at two sides and are used for sensing motion postures and recognizing motion modes; the wireless pressure glove is worn on the hands of an operator and used for sensing pressure in the process of carrying and lifting the hands.
Compared with the prior art, the invention has the following beneficial effects:
(1) The multi-joint assistance scheme for carrying the exoskeleton is provided for the practical application scene, and the active assistance to the hip joint and the shoulder joint is realized, so that the effective assistance of the actions such as carrying up, putting down, walking, carrying up, lifting, placing and the like in the whole carrying operation process is realized, and the waist and knee strain caused by long-time repeated operation of a wearer can be effectively reduced.
(2) According to the invention, aiming at specific requirements of different joints, an active and passive compound driving scheme is adopted, a passive compliant power assisting mode is adopted for shoulder joints and a joint module direct driving power assisting mode is adopted for hip joints in the whole carrying operation process including bending carrying, walking and upper limb lifting, the advantages of intelligent self-adaption of an active exoskeleton and the advantages of low cost, high reliability and high reliability of the passive exoskeleton are combined, and the light, efficient, flexible and reliable multi-joint power assisting carrying exoskeleton driving mode is realized.
(3) The invention adopts the modularization concept, provides modularization and quick detachable scheme of assistance, bearing and motion sensing, can be used in combination according to actual operation requirements, can expand an intelligent self-adaptive elastic rope pulling mechanism and the like, realizes multifunction and expandability of carrying the exoskeleton, and provides a solution for multi-scene application of carrying the exoskeleton.
(4) The rigid bionic support assembly and the flexible binding system are based on the design of the rigid bionic support assembly and the flexible binding system, a rigid-flexible coupling binding scheme is provided, a buffer space is established between a human body and an exoskeleton rigid structure, compression damage to muscles and nerves of the human body due to long-term wearing can be effectively avoided, dislocation and play of the exoskeleton in the movement process is reduced, and the binding system is firm, reliable, simple, convenient and efficient and has good human-computer interface load transfer efficiency and wearing comfort.
(5) The back plate structure, the back rod mechanism and the waist plate structure adopt composite materials comprising light carbon fiber, high-strength polyurethane, high-strength glass fiber and the like, the main structures of the power assisting module and the large arm assembly adopt light metal materials comprising magnesium alloy, aviation aluminum and the like, and the light weight of the exoskeleton is realized through the function-structure integrated design, so that the system weight for carrying the exoskeleton is effectively reduced.
(6) The invention provides a multi-sensor information fusion human motion intention recognition scheme comprising a micro-displacement sensor, a gyroscope sensor and a wireless pressure glove based on a multi-source fusion perception technology, wherein various information between human and machine is measured to comprise glove interaction force, man-machine interaction force, thigh gyroscope information, acceleration, joint position and speed information, various information is subjected to low-pass filtering, feature extraction and data fault tolerance treatment, the man-machine state and various information are fused, a multi-sensor information and motion mode based self-adaptive analysis model is established, and the carrying exoskeleton motion mode, human motion intention, man-machine gesture and motion gait are judged in real time.
Drawings
FIG. 1 is a perspective view of the overall exoskeleton of the present invention;
FIG. 2 is a front view of the overall exoskeleton of the present invention;
FIG. 3 is a rear view of the overall exoskeleton of the present invention;
FIG. 4 is a schematic view of an exoskeleton rigid biomimetic support assembly and flexible binding system of the present invention;
FIG. 5 is a schematic view of an exoskeleton shoulder joint power module and forearm assembly of the invention;
FIG. 6 is a schematic view of an exoskeleton lumbar connection assembly and hip joint assistance module of the present invention;
FIG. 7 is a schematic view of an exoskeleton thigh assembly of the present invention;
FIG. 8 is a diagram of an exoskeleton motion sensing module profile of the present invention;
FIG. 9 is a schematic diagram of the exoskeleton bending and transporting operation of the present invention;
fig. 10 is a schematic diagram of the exoskeleton upper limb lifting operation of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, 2 and 3, the present invention provides an active-passive composite multi-joint assist carrying exoskeleton system, comprising: the device comprises a rigid bionic support assembly 001, a flexible binding system 002, a shoulder joint assisting module 003, a large arm assembly 004, a waist connecting assembly 005, a hip joint assisting module 006, a thigh assembly 007, a motion sensing module 008, a power module 009 and the like.
Referring to fig. 3 and 4, the rigid bionic supporting component 001 is a supporting body of the exoskeleton, and is used for associatively fixing each module, and has a load transmission redistribution function, and includes a back plate structure 110, a back rod mechanism 120 and a waist plate structure 130.
Referring to fig. 4, the back plate structure 110 is made of a high-strength glass fiber composite material, is capable of bearing, bending and has good man-machine fit, and adopts a bionic design for fitting a human body; the center of the back plate structure 110 is provided with a plurality of hole sites which are fixedly connected with the upper end part of the back rod mechanism 120 through screws; a plurality of hole sites are symmetrically arranged at two sides of the back plate structure 110 and are used for detachably connecting the big arm assemblies 004 at two sides; the upper extension of the back plate structure 110 is provided with a shoulder strap interface.
Referring to fig. 4, a plurality of holes are provided in the center of the waist plate structure 130 for fixing the waist connecting component 005 and fixedly connecting with the lower end part of the back rod mechanism 120 by screws; the waist plate structure 130 is of a U-shaped structure, is not directly attached to the back of a human body after being worn, and can effectively reduce dislocation and play of the exoskeleton in the operation process.
Referring to fig. 4, the back rod mechanism 120 is formed by nesting a plurality of lightweight carbon fiber tubes with different diameters, the tube wall is provided with a plurality of holes at equal intervals, and the back rod mechanism is matched with a spring pressing sheet to realize a length adjusting function and can adapt to wearers with different sizes; the back bar mechanism 120 connects the back plate structure 110 and the waist plate structure 130, and has a function of transmitting and distributing load from the back to the waist.
Referring to fig. 4, the flexible binding system 002 is used for wearing the rigid bionic support assembly 001 on a human body, adopts a design concept of rigid-flexible coupling, establishes a buffer space between the rigid bionic support assembly 002 and the flexible binding system 001, makes the rigid structure not directly attach to the human body, can significantly improve wearing comfort and man-machine matching degree, and comprises: back binding 210, shoulder straps 220, waist binding 230, thigh binding 240, thigh binding 250.
Referring to fig. 4, the back binding 210 is made of a high elastic net material, and elastic slots are sewn around for detachable connection with the back plate structure 110, and the back binding 210 is always attached to the back of the human body, and a buffer space is reserved between the back of the human body and the back plate structure 110.
Referring to fig. 4, the shoulder strap 220 is made of a woven material and a memory sponge, and has an upper end fixedly connected to the back plate structure 110 through a reserved interface on the back plate structure 110 and a lower end connected to the waist tying 230 through a binding band and a connector.
Referring to fig. 4, the waist tying 230 is made of a low elastic woven material at both ends, a high elastic mesh material in the middle, and slits sewn at both sides, and the waist panel structure 130 is inserted into the slits and connected by means of adhesion; the middle high elastic position of the waist binding 230 is supported and stretched by the waist plate structure 130 after being installed, and is always attached to the waist of the human body when being worn, and a buffer space is reserved between the waist of the human body and the waist plate structure 130.
Referring to fig. 5, the shoulder joint assisting module 003 is tightly held and connected with the tail end of the large arm assembly 004 through an output shaft thereof, is worn on a human body through the large arm binding 240, and outputs an assisting moment along with the angle change of the large arm to support arm load in the process of lifting the heavy object by the arm of a wearer, so as to realize active assisting in the process of lifting the heavy object by the upper limb. Furthermore, the shoulder joint assisting module 003 adopts a passive compliant assisting method, based on the rigidity characteristics of the joints of the human body and biomechanical analysis of the movement of the human body, and through the design of the elastic energy storage element and the cam mechanism, no external energy source is needed, and the assisting moment matched with the movement speed and the acceleration characteristics of the human body can be generated; the shoulder joint assisting module 003 adopts a light-weight and high-integration design, the output torque of the single shoulder joint assisting module 003 is not less than 30Nm, the assisting force of not less than 18kg can be provided, and the weight is not more than 600g.
Referring to fig. 1 and 5, the large arm assemblies 004 are symmetrically fixed at two sides of the back plate structure 110, are detachably connected through screws, and are used for supporting the shoulder joint assisting module 003 and transmitting arm loads to the back and the waist; the single-side large arm assembly 004 adopts a self-adaptive mechanism, and can realize rapid fitting of the shoulder joint of a human body through compounding 3 rotational degrees of freedom and 1 rotational degree of freedom at the tail end in different planes of a space, thereby meeting the requirements of 3 degrees of freedom of movement of the working space of the ball-and-socket joint of the shoulder and meeting the requirements of extension and dislocation translation of the shoulder function to a certain extent; the single-sided large arm assembly 004 includes a first link 410, a second link 420, a third link 430, a base 440, a coil spring mechanism 450.
Referring to fig. 5, the first link 410 and the second link 420, the second link 420 and the third link 430, and the third link 430 and the base 440 are respectively connected by a first shaft system, a second shaft system and a third shaft system; limiting structures with different angles are arranged in the three shafting mechanisms so as to meet the design requirements of the self-adaptive mechanism; the lower ends of the second shaft system 420 and the third shaft system 430 are provided with a coil spring mechanism 450, and the lower ends are connected in a holding mode, so that the large arm assembly 004 can be automatically retracted to ensure that the shoulder joint power assisting module 003 is more attached to a human body, and meanwhile, the exoskeleton putting-on and taking-off time is shortened.
Referring to fig. 6, the waist connection assembly 005 for connecting the rigid bionic support assembly 001 and the thigh assembly 007 is a connection body between the upper and lower limbs of the exoskeleton of the present invention, and includes a waist connection 510 and a waist fixing 520. The waist connecting piece 510 is provided with a plurality of hole sites at the center, and is fixedly connected with the lower end part of the back rod mechanism 120 and the back plate structure 110 through screws; the waist connecting piece 510 bilateral symmetry is equipped with a plurality of hole sites for the detachable connection both sides waist mounting 520 can adjust waist connecting assembly 005 waistline through the adjustment of multirow fixed hole site, in order to adapt to different size wearers. One end of the waist fixing piece 520 is detachably connected with the waist connecting structure 510, and the other end of the waist fixing piece is fixedly connected with a mounting flange in the hip joint assisting module 006 through screws; the waist fixing member 520 is made of carbon fiber material and is matched with the waist and hip curves of a human body by adopting a light bionic design.
Referring to fig. 6 and 7, the hip joint assisting module 006 includes a mounting flange 610, a joint module 640, and an output flange 630; one end of the plane of the mounting flange 610 is fixedly connected with one end of the waist fixing member 520 by a screw to be used as a fixing main body of the joint module 640; the outer edge part of the joint module 640 is fixedly connected with one end of the circular ring of the mounting flange 610 through a screw, the inner ring part is fixedly connected with the output flange 630 through a screw, and the other end of the output flange 630 is connected with the thigh assembly 007 through a pin shaft, so that the rotation of the thigh assembly 007 around the hip joint is realized; in the process of carrying the wearer in a bending way, the auxiliary moment is output along with the lumbar angle change so as to support lumbar loads, and the power assisting mode and the size are intelligent and self-adaptive, so that the active power assisting in the process of carrying the heavy objects in a bending way can be realized. Furthermore, the planetary reducer joint module 640 adopts an integrated design, and comprises an outer rotor motor, a single-stage planetary reducer, a driver and a magnetic induction angle sensor; the planetary reducer is embedded inside the outer rotor motor, the inner gear ring of the planetary reducer is fixed with the inner ring stator and the shell of the motor, the outer ring rotor of the motor drives the sun gear of the planetary reducer to move, and the planetary gear carrier outputs for the driving mechanism; the output torque of the individual hip joint assist module 006 is not less than 50Nm, can provide not less than 25kg assist, and can weigh not more than 900g.
Referring to fig. 7, the thigh assembly 007 includes a thigh link 710, a thigh body 720, a thigh support 730, a pallet 740, etc., the upper end of the thigh link 710 is connected with the output flange 630 through a shaft pin, and the lower end is connected with the thigh body 720 through a micro displacement sensor assembly 810; the thigh body 720 is of streamline design and is matched with the thigh curve of a human body; one end of the plane of the thigh support 730 is fixedly connected with the lower end of the thigh main body 720 by a screw; the supporting plate 740 is of a curved surface composite material structure, the inner side of the curved surface is matched with the thigh circumference of the human body so as to ensure the fit with the human body, and a round hole is formed in the outer side of the curved surface so as to be connected with the thigh supporting piece 730.
Referring to fig. 8, the motion sensing module 008 includes a micro-displacement sensor 810, a gyroscopic sensor 820, a wireless pressure glove 830; the micro-displacement sensor 810 is installed in the middle of the thigh on both sides of the exoskeleton, i.e., between the thigh link 710 and the thigh body 720, for use as a control input and sensing a movement pattern; the gyro sensor 820 is respectively mounted on the back of the exoskeleton and the thigh ends at both sides, i.e. the back plate structure 110 and the thigh body 720, for sensing the motion gesture and performing the motion pattern recognition; the wireless pressure glove 830 is worn on the hands of an operator and is used for sensing the pressure in the process of lifting the hands.
The power supply module is placed in the waist bags at two sides of the waist binding 230, so that the power supply module can be quickly replaced and maintained; the power module can output the input voltage (36V to 42V) of the power battery into four types of standard voltages of 36V, 12V, 5V and 3.3V through a voltage reduction and voltage stabilization circuit in the energy management system, and the four types of standard voltages are respectively used as energy input of the hip joint power assisting module 006 and the motion sensing module 008.
Taking the whole flow operation of a material warehouse as an example, the materials transported in factory production are escort to the material warehouse through a transport vehicle, the height of the floor of a carriage of the transport vehicle is about 1.5 meters from the ground, the stacking height of a material box is generally not more than 1 meter, 4 persons cooperatively operate (2 persons on the vehicle and 2 persons under the vehicle) during unloading, the material box is moved to the tail of the vehicle by the personnel on the vehicle and delivered to the ground, the ground personnel after receiving the material box are put into a trolley or moved to the warehouse by the personnel, the warehouse is manually stacked, and the stacking height is 2-3 meters; during storage, the storage needs to be checked and unstacked regularly and also needs to be carried manually; the ex-warehouse process is the same; after leaving the warehouse, the goods and materials are sent to a destination by a transport vehicle, and the goods and materials box is required to be manually transported to a final use position.
Referring to fig. 9, during the carrying process, a person wears the exoskeleton to bend down to carry the material box, the carrying intention of the wearer is identified through the sensor network information of the motion sensing module 008, and the hip joint assisting modules 006 located on two sides of the exoskeleton provide assisting moment for the trunk extension of the wearer to enhance the waist region force of the wearer; meanwhile, the extensible intelligent self-adaptive elastic pull rope mechanism provides vertical upward auxiliary pulling force to offset the gravity of the material box, and transfers the load of the upper limbs to the back of a wearer, so that the waist and knee strain is relieved.
Referring to fig. 10, in the lifting process, a person wears an exoskeleton upper limb lifting material box, an assisting moment is provided for the shoulder of a wearer by a shoulder joint assisting module 003 positioned on the exoskeleton upper limb, and the load of the upper limb is transferred to the back of the wearer through a large arm assembly 004, so that the fatigue of the large arm muscles is relieved.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (8)
1. The active and passive composite multi-joint assistance carrying exoskeleton system is characterized by comprising a rigid bionic supporting component, a flexible binding system, a shoulder joint assistance module, a large arm component, a waist connecting component, a hip joint assistance module, a thigh component, a motion sensing module and a power supply module;
the rigid bionic supporting component is used as a supporting main body of the exoskeleton, is used for connecting and fixing other modules, and has the function of load transmission redistribution;
the flexible binding system is used for wearing the rigid bionic supporting component on a human body, and a buffer space is established between the rigid bionic supporting component and the flexible binding system, so that the rigid structure is not directly attached to the human body;
the shoulder joint assisting modules are symmetrically fixed on the large arm assembly and are used for providing assisting moment matched with the movement speed and acceleration characteristics of the shoulder joint of a human body;
the large arm assemblies are symmetrically fixed on two sides of the rigid bionic supporting assembly, are used for supporting the shoulder joint power-assisted modules and transmitting arm loads to the back and the waist;
The waist connecting component is fixed on the waist of a human body through a flexible binding system and is used for connecting the rigid bionic supporting component and the thigh component and simultaneously connected with the hip joint power-assisted module;
The hip joint power assisting module is fixed on the waist connecting component and connected with the thigh component, and is used for providing auxiliary moment matched with the movement speed and acceleration characteristics of the hip joint of a human body;
the upper end of the thigh assembly is connected with the output flange, and the lower end of the thigh assembly is connected with the thigh main body piece;
the motion sensing module is used for sensing motion gestures and recognizing motion modes and is used as control input;
The power module is arranged in a waist bag of the flexible binding system and is used for providing energy for the hip joint power-assisting module and the motion sensing module;
the shoulder joint assisting module and the hip joint assisting module are connected with a human body through the rigid bionic support assembly, the big arm assembly and the thigh assembly and are used for providing auxiliary torque for the shoulder joint and the hip joint in the whole process of carrying operation;
The auxiliary moment at the different joints is matched with a corresponding auxiliary moment curve according to the rotation angle of the cooperative motion of the shoulder joint and the hip joint in the operation process;
The shoulder joint assisting module adopts a passive flexible assisting method, and generates assisting moment matched with the movement speed and acceleration characteristics of the shoulder joint of a human body through an elastic energy storage element and a cam mechanism;
The hip joint assisting module comprises a mounting flange, a joint module and an output flange;
One end of the plane of the mounting flange is fixedly connected with one end of a waist fixing piece of the waist connecting component through a screw to serve as a fixing main body of the joint module; the outer edge part of the joint module is fixedly connected with one end of the circular ring of the mounting flange, the inner ring part of the joint module is fixedly connected with the output flange, and the other end of the output flange is connected with the thigh assembly, so that active assistance at the hip joint is realized;
The motion sensing module comprises a micro-displacement sensor, a gyroscope sensor and a wireless pressure glove; the micro-displacement sensors are arranged in the middles of thighs on two sides of the exoskeleton and are used as control input and sensing motion modes; the gyroscope sensors are respectively arranged at the back of the exoskeleton and the tail ends of thighs at two sides and are used for sensing motion postures and recognizing motion modes; the wireless pressure glove is worn on the hands of an operator and used for sensing pressure in the process of carrying and lifting the hands.
2. The exoskeleton system of claim 1 wherein the rigid biomimetic support assembly comprises a backboard structure, a back bar mechanism, a lumbar plate structure;
The middle part of the backboard structure is provided with a plurality of hole sites which are used for being fixedly connected with the upper end of the back rod mechanism; a plurality of hole sites are symmetrically arranged at the two sides of the back plate structure and are used for detachably connecting the big arm assemblies at the two sides; the upper part of the backboard structure is provided with a shoulder strap interface;
the back rod mechanism is formed by nesting a plurality of light carbon fiber tubes with different diameters, a plurality of hole sites are formed in the tube wall at equal intervals, and a length adjusting function is realized by matching with a spring pressing sheet; the back rod mechanism connects the back plate structure with the waist plate structure and transfers and distributes load from the back to the waist;
The waist plate structure is characterized in that a plurality of hole sites are arranged in the center of the waist plate structure and used for fixing a waist connecting component and a back rod mechanism; the waist plate structure is of a U-shaped structure, and is not directly attached to the back of a human body after being worn, so that dislocation and play of the exoskeleton in the operation process are reduced.
3. The exoskeleton system of claim 2 wherein the flexible binding system comprises a back binding, shoulder straps, waist binding, thigh binding;
The back binding is made of a high-elasticity net material, elastic slots are sewn around the back binding and are used for being detachably connected with the back plate structure, the back binding is always attached to the back of a human body after being worn, and a buffer space is reserved between the back of the human body and the back plate structure;
the upper end of the shoulder strap is fixedly connected with the backboard structure through a reserved interface on the backboard structure, and the lower end of the shoulder strap is in binding connection with the waist through a binding belt and a connector;
The waist binding two sides are made of low-elasticity woven materials, the middle is made of high-elasticity mesh materials, the two sides are sewed with slots, and the two ends of the waist plate structure are inserted into the slots and connected in a pasting mode; the middle high-elasticity position of the waist binding after the waist binding is supported and stretched by the waist plate structure, the waist binding is always attached to the waist of a human body when the waist binding is worn, and a buffer space is reserved between the waist of the human body and the waist plate structure;
the large arm binding is fixedly connected with the shoulder joint power assisting module by rivets and is fixed with the large arm of the human body by flexible binding belts;
The thigh binding is fixed with the thigh of the human body through a flexible binding belt.
4. The exoskeleton system of claim 3 wherein the shoulder joint assistance module is in clasping connection with the end of the large arm assembly via its own output shaft and is worn on the human body via the large arm, and the shoulder joint assistance module outputs an assistance torque to support the arm load following the large arm angle change during lifting of the weight by the arm of the wearer, thereby achieving active assistance at the shoulder joint.
5. The exoskeleton system of claim 1, wherein the large arm assembly adopts an adaptive mechanism, and the rapid fitting of the shoulder joint of the human body is realized through compounding of 3 rotational degrees of freedom and 1 rotational degree of freedom at the tail end in different planes of a space, so that the requirement of 3 degrees of freedom of the working space of the shoulder ball-and-socket joint is met, and the requirements of extension and dislocation translation of the shoulder function to a certain extent are met.
6. The exoskeleton system of claim 1 wherein the single-sided forearm assembly includes a first link, a second link, a third link, a base, a coil spring mechanism;
The first connecting rod is connected with the second connecting rod, the second connecting rod is connected with the third connecting rod, and the third connecting rod is connected with the base through a first shaft system, a second shaft system and a third shaft system respectively; limiting structures with different angles are arranged in the three shafting mechanisms; the lower ends of the second shaft system and the third shaft system are provided with coil spring mechanisms which are connected in a holding mode, so that the large arm assembly can be automatically retracted to ensure that the shoulder joint assisting module is more attached to a human body, and meanwhile, the exoskeleton putting-on and taking-off time is shortened.
7. The exoskeleton system of claim 1 wherein the lumbar connection assembly comprises a lumbar connection and a lumbar fixation;
the waist connecting piece is provided with a plurality of hole sites in the middle, and the hole sites are fixedly connected with the lower end of the back rod mechanism of the rigid bionic supporting component and the back plate structure through screws; the waist connecting piece is symmetrically provided with a plurality of hole sites at two sides for detachably connecting the waist fixing pieces at two sides, and the waistline of the waist connecting component can be adjusted through the adjustment of a plurality of rows of fixing hole sites so as to adapt to wearers with different sizes;
One end of the waist fixing piece is detachably connected with the waist connecting structure, and the other end of the waist fixing piece is fixedly connected with a mounting flange in the hip joint power assisting module through screws.
8. The exoskeleton system of claim 1 wherein the thigh assembly comprises a thigh link, a thigh body, a thigh support, a pallet; the upper end of the thigh connecting piece is connected with an output flange of the hip joint assisting module through a shaft pin, and the lower end of the thigh connecting piece is connected with the thigh main body piece through a micro-displacement sensor assembly of the motion sensing module;
the thigh main body piece is streamline and is matched with the thigh curve of a human body; one end of the plane of the thigh support piece is fixedly connected with the lower end of the thigh main body piece through a screw; the support plate is of a curved surface composite material structure, the inner side dimension of the curved surface is matched with the thigh circumference of a human body so as to ensure the fit with the human body, and a round hole is formed in the outer side of the curved surface and used for connecting thigh supporting pieces.
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| CN118650604A (en) * | 2024-08-16 | 2024-09-17 | 中科携行(北京)科技有限公司 | A passive exoskeleton-assisted robot suitable for carrying and transporting |
| CN119159558A (en) * | 2024-09-26 | 2024-12-20 | 国网湖北省电力有限公司超高压公司 | Exoskeleton-assisted robots |
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| CN112372625A (en) * | 2020-11-30 | 2021-02-19 | 北京精密机电控制设备研究所 | Shoulder joint power-assisted passive exoskeleton robot |
| CN114378790A (en) * | 2022-01-11 | 2022-04-22 | 西北工业大学 | A full-body exoskeleton for handling assistance |
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| US9504623B2 (en) * | 2010-04-09 | 2016-11-29 | Ekso Bionics, Inc. | Exoskeleton load handling system and method of use |
| CN106493714B (en) * | 2016-12-16 | 2019-01-08 | 江苏大学 | A kind of ectoskeleton carrying power-assisting robot |
| CN114800436B (en) * | 2017-09-07 | 2024-11-22 | 重庆市牛迪科技发展有限公司 | An exoskeleton |
| KR102174522B1 (en) * | 2019-06-04 | 2020-11-04 | 주식회사 엔젤로보틱스 | Body Assisting Device |
| CN113352303B (en) * | 2021-07-03 | 2022-08-09 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
| CN115122304A (en) * | 2022-07-13 | 2022-09-30 | 重庆理工大学 | Passive type artificial carrying auxiliary exoskeleton |
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| CN112372625A (en) * | 2020-11-30 | 2021-02-19 | 北京精密机电控制设备研究所 | Shoulder joint power-assisted passive exoskeleton robot |
| CN114378790A (en) * | 2022-01-11 | 2022-04-22 | 西北工业大学 | A full-body exoskeleton for handling assistance |
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