Lightweight human body assisting method and assister based on single driving actuator

Abstract

The present application relates to a kind of lightweight human power-assisted methods based on single drive executor, including being respectively arranged in the two sides of human hip joint rotatory mechanism that can drive two sides of thigh relative to crotch do front and back alternate motion;Rotatory mechanism includes rotatory base in the side of hip joint and the drive rod that can drive leg relative to rotatory base swing;The drive rod in the two sides of hip joint under the action of same drive executor, drive thigh to realize the alternate swing relative to crotch.Single drive executor controls left and right legs, reduces cost, power consumption, weight, improves overall power-assisted performance, and it is extremely convenient to control.Rotatory base and drive executor are rigidly connected;Drive executor is suspended in one side of human body;The drive rod that relative to rotatory base rotates generates power directly acting on two legs, makes two legs separate and merge, and is irrelevant to crotch;Therefore, crotch only needs to bear part of power-assisted device weight, and there is no local labor-saving, global labor-intensive situation.

Description

Technical Field

[0001] This invention relates to the field of human exoskeleton walking assistance, and more particularly to a lightweight human assistance method based on a single-drive actuator. Background Technology

[0002] Existing lower body assistive devices are generally installed in the hips or waist. In terms of power, they mostly use drive electrodes or hydraulic drives. The drive motors are typically designed with drive units located on either side of the thighs, driving the alternating movement of the left and right legs.

[0003] For example, application number CN202010364008.1, entitled "An Assisted Walking and Support Mechanism," includes a left leg, a right leg, a foot, a waist wearable module, and an auxiliary support telescopic rod. The left and right legs are respectively equipped with a foot. The left and right legs respectively include a hip joint connector, a thigh support rod, a thigh rope drive mechanism, a knee joint connector, a calf support rod, a calf rope drive mechanism, an ankle joint connector, and a shock absorption module. The hip joint connector is connected to the waist wearable module. The thigh support rod is connected to the hip joint connector, and the two can rotate relative to each other.

[0004] The aforementioned approach of using one actuator per joint does offer more flexible assistance, such as aiding in standing up, which is helpful for medical and industrial users. However, for travel or outdoor activities where users need to walk or run extensively, this flexibility is unnecessary and can become a constraint due to weight and cost.

[0005] Since the actuator is the main factor determining the cost and weight of a human assistive device, using two independent actuators means a higher price, greater weight, and higher power consumption, requiring a larger battery to achieve the same battery life. The heavier device also increases the physical exertion required by the user and adds to the difficulty of control.

[0006] At the same time, since the assist device is installed in the waist or hip, when the drive actuator provides force to the thigh, the thigh will also output a counterforce to the drive actuator. Since the drive actuator is fixed in the lower back, it will inevitably exert a counterforce on the waist or hip, and the waist or hip muscle groups need to bear the above-mentioned counterforce.

[0007] Therefore, although the user finds it easier to lift their leg, the muscles in their waist and hips need to exert more effort. This results in a situation where local effort is reduced, but overall effort is required. Summary of the Invention

[0008] The technical problem to be solved by this invention is to address existing problems by providing a lightweight human assistance method based on a single drive actuator, which reduces the reaction force exerted on the waist and hips when the drive actuator provides force to the thigh.

[0009] This invention provides the following technical solution: a lightweight human assistance method based on a single drive actuator, comprising a left drive mechanism for driving the left leg of a human body, a right drive mechanism for driving the right leg of a human body, and a drive actuator for supplying power to the left drive mechanism and the right drive mechanism; The drive actuator delivers torque to the left drive mechanism and transmits the reaction force received by the left drive mechanism when driving the left leg of the human body to the right drive mechanism, which serves as the power for the right drive mechanism to drive the right leg of the human body.

[0010] Furthermore, the torque output end of the drive actuator is connected to the left drive mechanism to supply torque to the left drive mechanism. The drive actuator body is fixed on the right drive mechanism to supply the reaction force received by the left drive mechanism when driving the left leg of the human body to the right drive mechanism as the power for the right drive mechanism to drive the right leg of the human body.

[0011] The present invention also discloses a lightweight human body assist device based on a single drive actuator, comprising a left drive mechanism, a right drive mechanism, and a drive actuator; The left drive mechanism includes a left rotating base and a left drive rod that swings relative to the left rotating base; The right drive mechanism includes a right rotating base and a right drive rod that swings relative to the right rotating base; The drive actuator includes a left transmission cable connected to the left drive rod and a right transmission cable connected to the right drive rod, an auxiliary transmission cable connecting the left drive rod and the right drive rod, and a drive motor that drives the left transmission cable and the right transmission cable to move. The drive motor pulls the left transmission cable, causing the left drive rod to swing relative to the left rotating base; during the swing of the left drive rod, the auxiliary transmission cable drives the right drive rod to swing in the opposite direction to the left drive rod. The drive device pulls the right transmission cable, causing the right drive rod to swing relative to the right rotating base; during the swing of the right drive rod, the auxiliary transmission cable drives the left drive rod to swing in the opposite direction to the right drive rod.

[0012] Furthermore, the connection points of the left transmission cable and the auxiliary transmission cable with respect to the left drive rod are respectively located on both sides of the swing direction of the left drive rod; The connection points of the right drive cable and the auxiliary drive cable with respect to the right drive rod are located on both sides of the swing direction of the right drive rod.

[0013] Furthermore, the drive includes a ball screw, a slide that reciprocates along the ball screw, and a driver that drives the ball screw to rotate. The left side of the slide is connected to the left drive cable, and the right side is connected to the right drive cable.

[0014] Furthermore, it also includes a rigid support; a left rotating base and a right rotating base are respectively fixed on both sides of the rigid support; the drive actuator is fixed on the rigid support.

[0015] Furthermore, the rotating base is fixed to the hip area by an elastic band wrapped around the human body; the rotating base includes a left rotating base and a right rotating base.

[0016] Furthermore, the rotating base can swing relative to the elastic band.

[0017] Furthermore, the rotating base and the elastic band are connected by a rotating ball head.

[0018] Furthermore, the left and right drive rods are fixedly connected to the thighs by flexible straps.

[0019] The beneficial effects of this invention compared to the prior art are as follows: 1. By controlling both legs with a single drive actuator, the action and reaction forces of the drive actuator are directly applied to both legs, solving the problem of the human waist and back being subjected to reaction forces in existing devices. At the same time, compared with the existing dual-drive system, this invention reduces one drive actuator, thereby reducing cost, power consumption, and weight, improving overall assist performance, and making it extremely convenient to control.

[0020] 2. By using the left and right drive rods in conjunction with the auxiliary transmission cable, swinging one drive rod will cause the other drive rod to swing in the opposite direction; Under this action, when the driver drives the slide to slide to the right, the sliding slide pulls the left transmission cable, causing the left drive rod to swing; at this time, the driver applies a force to the left drive rod through the left transmission cable. Regarding the reaction force, the reaction force is transmitted from the left drive rod to the right drive rod through the auxiliary transmission cable, thus achieving the technical effect of directly applying the action and reaction forces of the drive actuator to the legs.

[0021] 3. The rotating base of the drive device is rigidly connected to the drive actuator; the drive actuator is suspended on one side of the human body; the assistance generated by the drive rod rotating relative to the rotating base acts directly on the two legs, causing the legs to separate and come together, and is unrelated to the hips; therefore, the hips only need to bear part of the weight of the assist device, and there will be no situation where local effort is saved but global effort is required. Attached Figure Description

[0022] Figure 1This is a diagram illustrating the force principle of the present invention; Figure 2 This is a force analysis diagram of the present invention under use; Figure 3 This is a schematic diagram of the basic structure of the present invention; Figure 4 This is a schematic diagram of the human body using the present invention; Figure 5 This is a force analysis diagram of human walking. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described more clearly and completely below with reference to the accompanying drawings in the embodiments of this invention.

[0024] like Figure 1-2 As shown, the present invention provides a method comprising a left drive mechanism 11 for driving the left leg of a human body, a right drive mechanism 12 for driving the right leg of a human body, and a drive actuator 10 for supplying power to the left drive mechanism 11 and the right drive mechanism 12; The drive actuator 10 delivers torque to the left drive mechanism 11 and transmits the reaction force received by the left drive mechanism 11 when driving the left leg of the human body to the right drive mechanism 12, which serves as the power for the right drive mechanism 12 to drive the right leg of the human body.

[0025] The torque output end of the drive actuator 10 is connected to the left drive mechanism 11 to supply torque to the left drive mechanism 11. The body of the drive actuator 10 is fixed on the right drive mechanism 12 and supplies the reaction force received by the left drive mechanism 11 when driving the left leg of the human body to the right drive mechanism 12 as the power for the right drive mechanism 12 to drive the right leg of the human body.

[0026] like Figure 3-4 As shown, the present invention also discloses a lightweight human body assist device based on a single drive actuator, including a left drive mechanism 11, a right drive mechanism 12 and a rigid support 3; a left rotating base 50 and a right rotating base 60 are respectively fixed on both sides of the rigid support 3; the drive actuator 10 is fixed on the rigid support 3.

[0027] The left drive mechanism 11 includes a left rotating base 50 and a left drive rod 51 that swings relative to the left rotating base 50; The right drive mechanism 12 includes a right rotating base 60 and a right drive rod 61 that swings relative to the right rotating base 60; The drive actuator 10 includes a left drive cable 21 connected to the left drive rod 51 and a right drive cable 22 connected to the right drive rod 61, an auxiliary drive cable 23 connecting the left drive rod 51 and the right drive rod 61, and a drive motor 13 that drives the left drive cable 21 and the right drive cable 22 to move. Among them, the connection points of the left drive cable 21 and the auxiliary drive cable 23 with respect to the left drive rod 51 are respectively located on both sides of the swing direction of the left drive rod 51; The connection points of the right drive cable 22 and the auxiliary drive cable 23 with respect to the right drive rod 61 are located on both sides of the swing direction of the right drive rod 61.

[0028] The drive motor 13 pulls the left transmission band 21, causing the left drive rod 51 to swing relative to the left rotating base 50; while the left drive rod 51 is swinging, it drives the right drive rod 61 to swing in the opposite direction to the left drive rod 51 through the auxiliary transmission band 23. The drive unit 10 pulls the right transmission cable 22, causing the right drive rod 61 to swing relative to the right rotating base 60; while the right drive rod 61 is swinging, the auxiliary transmission cable 23 drives the left drive rod 51 to swing in the opposite direction to the right drive rod 61.

[0029] The drive unit 13 of the present invention includes a ball screw 132, a slide 133 that reciprocates along the ball screw 132, and a driver 131 that drives the ball screw 132 to rotate. The left side of the slide 133 is connected to the left drive cable 21, and the right side is connected to the right drive cable 22.

[0030] The rotating base is fixed to the hips via an elastic cord 71 that wraps around the body. The rotating base includes a left rotating base 50 and a right rotating base 60. The rotating base is connected to the elastic band 71 via a rotating ball joint, allowing relative rotation between the rotating base and the elastic band 71, enabling the wearer to squat freely. Specifically, during squatting, the elastic band 71 remains relatively stationary relative to the waist, while relative rotation occurs between the rotating base and the elastic band 71.

[0031] The left drive rod 51 and the right drive rod 61 are fixedly connected to the thigh by a flexible strap 6.

[0032] like Figure 5 As shown in Figures A and B, during normal walking, the human body applies rotational torque to the bones of the left thigh 91 and right thigh 92 through muscle contraction and relaxation, thereby achieving the walking action.

[0033] like Figure 5 As shown in Figure C, traditional exoskeletons provide assistance by installing two drive controllers on the left and right sides.

[0034] Specifically, with Figure 5 The existing equipment, taking C as an example, uses gears or shafts to transmit rotational force to fix the power output mechanism to the back or waist. Walking is achieved by rotating the leg drive rod connected to the thigh around the power output mechanism. The leg drive rod applies a rotational torque to the legs to achieve the walking action, but it also creates a reaction torque on the power output mechanism, which is applied to the back or waist.

[0035] Compared with the prior art, the present invention uses a single drive controller to drive the left drive mechanism and the right drive mechanism; the left and right drive rods are linked by the auxiliary transmission cable 23, and the swing of one drive rod can drive the other drive rod to swing in the opposite direction. Under this action, when the driver 131 drives the slide to slide to the right, the sliding slide pulls the left transmission cable, causing the left drive rod 51 to swing; at this time, the driver 131 applies a force to the left drive rod 51 through the left transmission cable 21. Regarding the reaction force, the reaction force is transmitted from the left drive rod 51 to the right drive rod 61 through the auxiliary transmission cable 23, thus achieving the technical effect of directly applying the action force and reaction force of the drive actuator to the legs.

[0036] In this invention, the force intention of the human body can also be obtained through a force intention sensor, such as a force sensor; the force intention sensor is used by a central processing unit to perform pattern recognition using a mathematical model, and is converted into a drive signal for the motor, which is then transmitted to the thigh through a mechanical structure to provide assistance.

[0037] This invention features low cost and stable structure. The method uses a single drive actuator to control both legs, reducing cost, power consumption, and weight, while improving overall assist performance. It is also extremely convenient to control. Secondly, the rotating base is rigidly connected to the drive actuator 1; the drive actuator 1 is suspended on one side of the body; the assist generated by the drive rod 5 rotating relative to the rotating base directly acts on both legs, allowing them to separate and rejoin, independent of the hips. Therefore, the hips only need to bear part of the weight of the assist device, avoiding a situation where localized effort is reduced while overall effort is increased.

[0038] The above specific embodiments are only for illustrating the technical concept and structural features of the present invention, and are intended to enable those skilled in the art to implement them. However, the above content does not limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit and essence of the present invention should fall within the scope of protection of the present invention.

Claims

1. A lightweight human body assistive device based on a single-drive actuator, characterized in that: It includes a left drive mechanism (11), a right drive mechanism (12), a drive actuator (10), and a rigid support (3). The left drive mechanism (11) includes a left rotating base (50) and a left drive rod (51) that swings relative to the left rotating base (50). The right drive mechanism (12) includes a right rotating base (60) and a right drive rod (61) that swings relative to the right rotating base (60). The left drive rod (51) and the right drive rod (61) are fixedly connected to the thigh by a flexible strap (6); The drive actuator (10) includes a left transmission cable (21) connecting the left drive rod (51) and a right transmission cable (22) connecting the right drive rod (61), an auxiliary transmission cable (23) connecting the left drive rod (51) and the right drive rod (61), and a drive motor (13) that drives the left transmission cable (21) and the right transmission cable (22) to move. A left rotating base (50) and a right rotating base (60) are respectively fixed on both sides of the rigid bracket (3). The drive actuator (10) is fixed on the rigid bracket (3). The drive motor (13) pulls the left transmission cable (21), causing the left drive rod (51) to swing relative to the left rotating base (50); while the left drive rod (51) is swinging, the auxiliary transmission cable (23) causes the right drive rod (61) to swing in the opposite direction to the left drive rod (51). The drive motor (13) pulls the right transmission cable (22), causing the right drive rod (61) to swing relative to the right rotating base (60); during the swing of the right drive rod (61), the auxiliary transmission cable (23) drives the left drive rod (51) to swing in the opposite direction to the right drive rod (61).

2. The lightweight human body assistive device based on a single-drive actuator according to claim 1, characterized in that: The connection points of the left drive lever (21) and the auxiliary drive lever (23) with respect to the left drive rod (51) are respectively located on both sides of the swing direction of the left drive rod (51); The connection points of the right drive lever (22) and the auxiliary drive lever (23) with respect to the right drive rod (61) are respectively located on both sides of the swing direction of the right drive rod (61).

3. The lightweight human body assistive device based on a single-drive actuator according to claim 1 or 2, characterized in that: The drive unit (13) includes a ball screw (132), a slide (133) that reciprocates along the ball screw (132), and a driver (131) that drives the ball screw (132) to rotate; the slide (133) is connected to the left drive arm (21) on the left side and to the right drive arm (22) on the right side.

4. The lightweight human body assistive device based on a single-drive actuator according to claim 1, characterized in that: The rotating base is fixed to the hip by an elastic band (71) wrapped around the human body; the rotating base includes a left rotating base (50) and a right rotating base (60).

5. The lightweight human body assistive device based on a single-drive actuator according to claim 4, characterized in that: The rotating base can swing relative to the elastic band (71).

6. The lightweight human body assistive device based on a single-drive actuator according to claim 5, characterized in that: The rotating base is connected to the elastic band (71) via a rotating ball head.

Images