A semi-active exoskeleton robot using a gear four-bar linkage transmission

Abstract

The invention relates to a semi-active exoskeleton robot using a gear four-bar linkage transmission, comprising a back frame mechanism, a hip joint connection mechanism, a thigh mechanism, a calf mechanism and an ankle joint mechanism; an inertial measurement unit is arranged on the outside of the back frame mechanism, and a thigh gyroscope and a calf gyroscope are arranged on the thigh mechanism and the calf mechanism respectively. The beneficial effects of the invention are as follows: a thigh drive motor is connected to a transmission pinion, the transmission pinion is connected to a transmission gearwheel, a fisheye bearing is mounted on the transmission gearwheel, and the main components are concentrated at the root of the thigh, close to the center of gravity of the human body, so that the drive motor is moved upward, and the moment of inertia of the thigh drive motor relative to the human body is greatly reduced; the transmission gearwheel replaces the original moving part in the traditional four-bar synchronous transmission, and the gearwheel and the calf mechanism are connected by a fisheye bearing connecting rod, so that the motor rotation drives the synchronous rotation of the knee joint, and the control performance is significantly improved without dead points.

Description

Technical Field

[0001] The invention belongs to the technical field of lower limb exoskeleton, and in particular relates to a semi-active exoskeleton robot which adopts a gear four-bar linkage transmission. Background Art

[0002] Power-assisted exoskeletons are widely used in the military, industrial and rehabilitation fields. As modern wearable equipment, they are mainly used to enhance the mobility of the human body while providing protection for the wearer. With the progress of society and the acceleration of aging, human exoskeletons have developed rapidly.

[0003] In the utility model patent with patent number CN215132743U, a multi-axis knee joint exoskeleton structure is disclosed. This exoskeleton structure converts linear transmission into rotation of the knee joint by pulling the calf component through the extension and contraction of the rod in the four-bar linkage mechanism, making it difficult to achieve real-time control of the mechanism. In the invention patent application with patent number CN109124990A, a lower limb rehabilitation exoskeleton and exoskeleton robot are disclosed, which also use a four-bar structure to assist the knee and ankle joints. The structure of the four-bar linkage mechanism limits the motor to rotate back and forth within a certain range, and an angle limit needs to be set. At the same time, the structure of the transmission connection between the rods is complex, and a damping device is required to overcome the problem of "dead points" in the quadrilateral mechanism when a specific motor rotates to a specific angle, which easily causes the exoskeleton to be bloated and heavy, resulting in inconvenience in use. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a semi-active exoskeleton robot that adopts a gear four-bar linkage transmission.

[0005] The semi-active exoskeleton robot adopts a gear four-bar linkage transmission, and comprises a back frame mechanism, a hip joint connection mechanism, a thigh mechanism, a calf mechanism and an ankle joint mechanism; an inertial measurement unit is arranged on the outer side of the back frame mechanism, and a thigh gyroscope and a calf gyroscope are arranged on the thigh mechanism and the calf mechanism respectively;

[0006] The hip joint connection mechanism is arranged at the bottom of the back frame mechanism; the hip joint connection mechanism comprises a hip joint adjustment mechanism and a spring spring, the spring spring is arranged at both ends of the hip joint adjustment mechanism, and the spring spring is connected to the thigh mechanism through a thigh connection limit device;

[0007] A transmission pinion and a transmission gear are provided on the upper outer side of the thigh mechanism, the transmission pinion is connected to the thigh drive motor, and the lower part of the transmission pinion is meshed and connected to the transmission gear; the lower end of the thigh mechanism is connected to the calf mechanism through a bearing, one end of a fisheye bearing connecting rod is connected to the surface of the transmission gear, and the other end of the fisheye bearing connecting rod is connected to the calf mechanism;

[0008] The bottom of the calf mechanism is connected to the plantar buffer rod through a buffer device; the ankle joint mechanism includes a rubber ground contact sleeve and a buffer spring, one end of the buffer spring is connected to the rubber ground contact sleeve, and the other end is connected to the plantar buffer rod through an ankle joint bearing. A pressure sensor is also provided at the bottom of the rubber ground contact sleeve.

[0009] As a preferred embodiment: a fisheye bearing is fixedly provided on the surface of the transmission gear, and a fisheye bearing is also provided on the shank mechanism; the two ends of the fisheye bearing connecting rod are respectively connected to the fisheye bearing on the shank mechanism and the fisheye bearing on the surface of the transmission gear.

[0010] As a preferred embodiment: the thigh mechanism includes a thigh telescopic rod and a thigh leg rod, and the upper part of the thigh leg rod is connected to the thigh telescopic rod through a slot; the calf mechanism includes a calf leg rod and a calf telescopic rod, and the lower part of the calf leg rod is also connected to the calf telescopic rod through a slot.

[0011] As a preferred embodiment: a thigh length adjustment pressure rod is provided between the thigh telescopic rod and the thigh leg rod, and there is also a thigh threaded hole short rod; when the thigh length adjustment pressure rod is in a downward pressing state, the thigh threaded hole short rod squeezes and fixes the thigh telescopic rod and the thigh leg rod; when the thigh length adjustment pressure rod is in a raised state, the thigh telescopic rod slides and connects to the slot in the thigh leg rod;

[0012] A calf length adjustment pressure rod is provided between the calf leg rod and the calf telescopic rod, and there is a calf threaded hole short rod. The structures of the calf length adjustment pressure rod and the calf threaded hole short rod are the same as those of the thigh length adjustment pressure rod and the thigh threaded hole short rod.

[0013] As a preferred embodiment, the buffer device is arranged at the lower part of the calf telescopic rod, the buffer device comprises a buffer spring and a calf buffer rod, the calf telescopic rod further comprises a calf telescopic plate; the lower section of the calf telescopic plate is hollow, the buffer spring is arranged in the hollow area of ​​the lower section of the calf telescopic plate, and the lower end of the buffer spring is connected to the top end of the calf buffer rod;

[0014] The upper half of the calf buffer rod is larger than the lower half, a calf buffer cover is provided at the lower end of the calf expansion plate, an opening is provided on the calf buffer cover, and the size of the opening is between the upper half and the lower half of the calf buffer rod, the lower half of the calf buffer rod extends out of the calf expansion plate through the opening of the calf buffer cover, and the lower end of the calf buffer rod is fixedly connected to the plantar buffer rod.

[0015] As a preferred embodiment: the thigh connection limit device includes a thigh free rod, a thigh limit plate and a free rod anti-slip screw; an opening is provided at the upper part of the thigh telescopic rod, and a through hole is provided from the top of the opening to the top of the thigh telescopic rod, and an arc-shaped baffle is provided above the edge of the hole; the lower part of the thigh free rod is threadedly connected with the screw part of the free rod anti-slip screw in the hole, and a thigh limit plate is provided on the thigh free rod at a position higher than the top of the hole, and the thigh limit plate is also arc-shaped.

[0016] Preferably, the ankle joint mechanism also includes a plantar wiring groove and a plantar buffer groove, the plantar buffer groove is arranged on the side of the ankle joint mechanism, and the buffer spring is arranged in the plantar buffer groove; the plantar wiring groove is arranged on the surface of the rubber ground contact cover, and one end of the plantar wiring groove is connected to the mounting hole of the pressure sensor.

[0017] As a preferred embodiment, the hip joint adjustment mechanism comprises a waist adjustment inner sleeve, a hip adjustment hook, a hip joint adjustment rod and a hip adjustment button, the waist adjustment inner sleeve is connected to the hip joint adjustment rod on both sides, a hip adjustment hook is provided on each side of the waist adjustment inner sleeve, and the hip adjustment hook is connected to the hip adjustment button;

[0018] In the initial state, one end of the hip adjustment hook is connected to the hip joint adjustment rod. When the hip adjustment button is pressed down, the hip adjustment hook is separated from the hip joint adjustment rod.

[0019] The control method of the semi-active exoskeleton robot using a gear four-bar linkage transmission comprises the following steps:

[0020] Step 1: Wear the exoskeleton robot; use the inertial measurement unit on the outside of the back frame as a reference point, collect initial information of the knee joint encoder based on the data obtained by the thigh gyroscope and the calf gyroscope, and build a mathematical model of the exoskeleton robot;

[0021] Step 2: The wearer starts to move, and the inertial measurement unit collects the wearer's lower limb movement data. The posture change of the exoskeleton robot is calculated by the position change of the thigh gyroscope and the calf gyroscope relative to the reference point, and then the movement information of the human joint is obtained;

[0022] Step 3: The microprocessor adaptively modifies the model according to the motion information obtained in step 2, calculates the optimal torque required to execute the current motion, and controls the output of the thigh drive motor;

[0023] Step 4: The microprocessor continuously monitors whether the movement of the lower limb exoskeleton mechanism is correct, and inputs it into the processor as feedback to complete the closed-loop control of the joint drive mechanism.

[0024] The beneficial effects of the present invention are:

[0025] 1) The present invention connects the thigh drive motor with the transmission pinion, the transmission pinion is connected with the transmission gear, the fisheye bearing is installed on the transmission gear, and the main components are concentrated at the root of the thigh, close to the center of gravity of the human body, so that the drive motor is moved upward, which greatly reduces the rotational inertia of the thigh drive motor relative to the human body, and solves the problem of large inertia moment of the existing exoskeleton knee joint drive device relative to the hip joint.

[0026] 2) The transmission pinion of the present invention transmits the kinetic energy of the thigh drive motor to the transmission gear, so that the transmission gear replaces the prime mover in the traditional four-bar synchronous transmission, which greatly simplifies the four-bar structure; and the gear and the calf mechanism are connected by a fisheye bearing connecting rod, so that the motor rotation drives the synchronous rotation of the knee joint, the control performance is significantly improved and there is no dead point.

[0027] 3) The present invention has a built-in buffer spring at the bottom of the calf telescopic rod to form a buffer device, and a buffer spring is arranged in the ankle joint mechanism, which can effectively reduce the impact force from the ground.

[0028] 4) The present invention adjusts the dimensions of the hip joint through a hip joint adjustment mechanism, and adjusts the lengths of the thigh mechanism and the calf mechanism through a thigh length adjustment lever and a calf length adjustment lever, so that the exoskeleton robot can adapt to the usage needs of people of different body shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of a semi-active exoskeleton robot using a gear four-bar linkage transmission according to the present invention;

[0030] Figure 2 It is a schematic diagram of the back frame mechanism and the hip joint connection mechanism of the present invention;

[0031] Figure 3 It is a schematic diagram of the hip joint torsion spring of the present invention;

[0032] Figure 4 It is a schematic diagram of the hip joint adjustment mechanism of the present invention;

[0033] Figure 5 It is a schematic diagram of the thigh mechanism of the present invention;

[0034] Figure 6 It is a schematic diagram of the transmission gear of the thigh mechanism of the present invention;

[0035] Figure 7 This is a schematic diagram of the thigh limiting mechanism of the present invention;

[0036] Figure 8 It is a schematic diagram of the calf mechanism of the present invention;

[0037] Fig. 9 It is a schematic diagram of the calf buffer mechanism of the present invention;

[0038] Fig.10 It is a schematic diagram of the ankle joint mechanism of the present invention;

[0039] Fig.11 It is a schematic diagram of the internal structure of the ankle joint of the present invention;

[0040] Fig.12 This is a flow chart of the control method of the present invention.

[0041] Description of the accompanying drawings: back frame mechanism 1, hip joint connection mechanism 2, thigh mechanism 3, calf mechanism 4, ankle joint mechanism 5, hip adjustment cover 201, hip joint adjustment mechanism 202, hip joint connection frame 203, spring spring 204, waist adjustment inner sleeve 2021, hip adjustment hook 2022, hip joint adjustment rod 2023, hip adjustment button 2024, thigh strap 301, thigh gear housing 302, threaded hole short rod 303, thigh telescopic rod 304, thigh connection limit device 305, thigh length adjustment pressure rod 306, thigh drive motor 307, thigh gyroscope cover 308, thigh gyroscope 309, transmission pinion 310, transmission gear 311, fisheye bearing 312, Thigh leg rod 313, thigh free rod 3051, thigh limiting plate 3052, free rod anti-slip screw 3053, calf strap 401, fisheye bearing connecting rod 402, bearing 403, calf leg rod 404, calf gyroscope 405, calf gyroscope cover 406, calf length adjustment pressure rod 407, threaded hole short rod 408, calf telescopic rod 409, calf telescopic plate 4091, buffer spring 4092, calf buffer cover 4093, calf buffer rod 4094, sole rubber pad 501, sole front plate 502, sole rear plate 503, ankle joint bearing 504, sole buffer rod 505, sole wiring groove 506, sole buffer groove 507, rubber ground contact sleeve 508, buffer spring 509. DETAILED DESCRIPTION

[0042] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0043] Embodiment 1

[0044] As an example, Figures 1 to 11 As shown, a semi-active exoskeleton robot using a gear four-bar linkage transmission includes a back frame mechanism 1, a hip joint connection mechanism 2, a thigh mechanism 3, a calf mechanism 4 and an ankle joint mechanism 5; an inertial measurement unit is provided on the outside of the back frame mechanism 1, and a thigh gyroscope 309 and a calf gyroscope 405 are provided on the thigh mechanism 3 and the calf mechanism 4, respectively, and corresponding thigh gyroscope covers 308 and calf gyroscope covers 406 are also provided. With the inertial measurement unit on the outside of the back frame mechanism 1 as a reference point, the thigh gyroscope 309 and the calf gyroscope 405 can detect and record the motion state of the thigh mechanism 3 and the calf mechanism 4, so as to obtain the real-time motion state data of the wearer, and provide a basis for the calculation of the microprocessor.

[0045] like Figures 2 to 4 As shown, the hip joint connection mechanism 2 is arranged at the bottom of the back frame mechanism 1; the hip joint connection mechanism 2 includes a hip joint adjustment mechanism 202 for adjusting the hip joint dimension and a spring 204 for assisting the thigh mechanism 3 to swing; the hip joint adjustment mechanism 202 includes a waist adjustment inner sleeve 2021, a hip adjustment hook 2022, a hip joint adjustment rod 2023 and a hip adjustment button 2024; two hip joint adjustment rods 2023 are symmetrically inserted on both sides of the waist adjustment inner sleeve 2021; a hip adjustment hook 2022 is respectively provided on both sides of the waist adjustment inner sleeve 2021; and the hip adjustment hook 2022 is connected to the hip adjustment button 2024;

[0046] In the initial state, one end of the hip adjustment hook 2022 is connected to the hip joint adjustment rod 2023, specifically, the hip adjustment hook 2022 is stuck in the grooves at different positions on the surface of the hip joint adjustment rod 2023 to fix the position of the hip joint adjustment rod 2023 on both sides of the waist adjustment inner sleeve 2021, and the other end is tilted, and the tilted end of the hip adjustment hook 2022 contacts the hip adjustment button 2024. When the overall width of the hip joint adjustment mechanism 202 needs to be adjusted, the hip adjustment button 2024 is pressed down, and the originally tilted end of the hip adjustment hook 2022 falls down, and the end originally stuck in the groove on the surface of the hip joint adjustment rod 2023 is tilted and separated from the hip joint adjustment rod 2023, so that the length of the hip joint adjustment rod 2023 exposed on both sides of the waist adjustment inner sleeve 2021 can be changed by pulling. After adjusting to a suitable length, the hip adjustment button 2024 is released, and the hip adjustment hook 2022 and the hip joint adjustment rod 2023 are fixed again.

[0047] Hip joint connecting frames 203 are connected to both ends of the hip joint adjustment mechanism 202, and clockwork springs 204 are arranged on the hip joint connecting frames 203 at both ends of the hip joint adjustment mechanism 202. The clockwork spring 204 includes a torsion spring structure, and a hip adjustment cover plate 201 is arranged outside the clockwork spring 204. The clockwork spring 204 is connected to the thigh mechanism 3 through a thigh connection limit device 305. When the thigh mechanism 3 swings back and forth, the torsion spring inside the clockwork spring 204 stores and releases elastic force to provide assistance to the thigh mechanism 3.

[0048] like Figure 5 and Figure 7As shown, the thigh connection limiting device 305 includes a thigh free rod 3051, a thigh limiting plate 3052 and a free rod anti-slip screw 3053; an opening is provided at the upper part of the thigh telescopic rod 304, a through hole is provided from the top of the opening to the top of the thigh telescopic rod 304, and an arc-shaped baffle is provided above the edge of the hole; the lower part of the thigh free rod 3051 is threadedly connected with the screw part of the free rod anti-slip screw 3053 in the hole, and a thigh limiting plate 3052 is provided at a position higher than the top of the hole on the thigh free rod 3051, and the thigh limiting plate 3052 is also arc-shaped. When the thigh mechanism 3 rotates to a certain angle along the vertical axis, the thigh limiting plate 3052 abuts against the arc-shaped baffle above the edge of the hole to limit the rotation angle, which can prevent the wearer's thigh from excessively rotating in special circumstances and avoid danger.

[0049] like Figure 5 As shown, the thigh mechanism 3 includes a thigh telescopic rod 304 and a thigh leg rod 313, and the upper part of the thigh leg rod 313 is connected to the thigh telescopic rod 304 through a slot; a thigh length adjustment pressure rod 306 is provided between the thigh telescopic rod 304 and the thigh leg rod 313, and there is also a thigh threaded hole short rod 303, forming a length adjustment mechanism of the thigh mechanism 3; when the thigh length adjustment pressure rod 306 is in a downward pressing state, the thigh threaded hole short rod 303 squeezes and fixes the thigh telescopic rod 304 and the thigh leg rod 313; when the thigh length adjustment pressure rod 306 is in a raised state, the thigh telescopic rod 304 slides to connect the slot in the thigh leg rod 313, and the overall length of the thigh mechanism 3 can be adjusted to match wearers of different heights. The thigh mechanism 3 also includes a thigh strap 301, which is provided on the inner side of the thigh leg rod 313 and is used to bind the thigh mechanism 3.

[0050] like Figure 6 As shown, a transmission pinion 310 and a transmission gear 311 are provided on the outer upper part of the thigh leg rod 313. The transmission pinion 110 is connected to the thigh drive motor 307, and the transmission pinion 310 is meshedly connected to the transmission gear 311 at the bottom; a fisheye bearing 312 is fixed on the surface of the transmission gear 311.

[0051] like Figure 8As shown, the lower end of the thigh mechanism 3 is connected to the calf mechanism 4 through a bearing 403. The calf mechanism 3 includes a calf leg rod 404 and a calf telescopic rod 409, and the lower part of the calf leg rod 404 is also connected to the calf telescopic rod 409 through a slot. A calf length adjustment pressure rod 407 is provided between the calf leg rod 404 and the calf telescopic rod 409, and there is a calf threaded hole short rod 408. The structure of the calf length adjustment pressure rod 407 and the calf threaded hole short rod 408 is the same as that of the thigh length adjustment pressure rod 306 and the thigh threaded hole short rod 303. The length adjustment function of the calf mechanism 4 can be switched by lifting the calf length adjustment pressure rod 407. The calf mechanism 4 also includes a calf strap 401, which is provided on the inner side of the calf leg rod 404 and is used to bind the calf mechanism 4.

[0052] The calf mechanism 4 is also provided with a fisheye bearing; the fisheye bearing 312 on the surface of the transmission gear 311 is connected to one end of the fisheye bearing connecting rod 402, and the other end of the fisheye bearing connecting rod 402 is connected to the fisheye bearing on the calf mechanism 4. Thus, the thigh rod 313, the line connecting the axis of the transmission gear 311 to the fisheye bearing 312, the line connecting the axis of the bearing 403 to the fisheye bearing on the calf mechanism 4, and the fisheye bearing connecting rod 402 form a four-bar linkage.

[0053] When the thigh drive motor 307 is running, the transmission pinion 310 meshes with the transmission gear 311 below to make it rotate accordingly, and the fisheye bearing 312 begins to rotate around the axis of the transmission gear 311, pulling the fisheye bearing connecting rod 402 from one end, causing the calf mechanism 4 at the other end of the fisheye bearing connecting rod 402 to be displaced accordingly. Since one end of the calf mechanism 4 is connected to the lower end of the thigh mechanism 3 through the bearing 403, the displacement is converted into the rotation of the calf mechanism 4 around the bearing 403, so that the power-assisted process of rotation is driven by rotation synchronously, and the thigh drive motor 307 rotates in the same direction throughout the whole process, and there is no need to set a limit. It only needs to adjust the rotation frequency of the thigh drive motor 307 to change the rotation speed of the calf mechanism 4 around the bearing 403. In addition, the thigh drive motor 307, the transmission pinion 310 and the transmission gear 311 are all arranged on the upper part of the outer side of the thigh leg rod 313, which is closer to the center of gravity of the human body, so the torque generated on the human body is greatly reduced, which reduces the resistance drive device to the wearer and improves comfort.

[0054] like Fig. 9 and Fig.10As shown, the bottom of the calf mechanism 4 is connected to the sole buffer rod 505 through a buffer device; the buffer device is arranged at the lower part of the calf telescopic rod 409, and the buffer device includes a buffer spring 4092 and a calf buffer rod 4094, and the calf telescopic rod 409 also includes a calf telescopic plate 4091; the lower section of the calf telescopic plate 4091 is hollow, the buffer spring 4092 is arranged in the hollow area of ​​the lower section of the calf telescopic plate 4091, and the lower end of the buffer spring 4092 is connected to the top of the calf buffer rod 4094;

[0055] The upper half of the calf buffer rod 4094 is larger than the lower half, and the lower end of the calf expansion board 4091 is provided with a calf buffer cover plate 4093, and the calf buffer cover plate 4093 is provided with an opening, and the size of the opening is between the upper half and the lower half of the calf buffer rod 4094. The lower half of the calf buffer rod 4094 extends out of the calf expansion board 4091 through the opening of the calf buffer cover plate 4093, and the upper half is stuck in the hollow area of ​​the lower half of the calf expansion board 4091; the lower end of the calf buffer rod 4094 is fixedly connected to the sole buffer rod 505 at the top of the ankle joint mechanism 5. When the sole of the foot lands, a part of the impulse received by the calf buffer rod 4094 acts on the buffer spring 4092, thereby extending the impact process time and reducing the impact force received by the calf mechanism 4.

[0056] At the same time, the present invention optimizes the design of the leg rod cross-sections of various parts of the exoskeleton, reducing the cross-sectional area while ensuring the strength, so as to reduce the weight of the exoskeleton, avoid burdening the wearer, and improve the wearing comfort of the human body.

[0057] like Fig.10 and Fig.11 As shown, the ankle joint mechanism 5 includes a rubber ground contact sleeve 508 and a buffer spring 509. One end of the buffer spring 509 is connected to the rubber ground contact sleeve 508, and the other end is connected to the sole buffer rod 505 through the ankle joint bearing 504, so that the ankle joint mechanism 5 can rotate with the wearer's foot at the ankle joint bearing 504, thereby improving the degree of freedom; a pressure sensor is also provided at the bottom of the rubber ground contact sleeve 508. The ankle joint mechanism 5 also includes a sole wiring groove 506 and a sole buffer groove 507. The sole buffer groove 507 is provided on the side of the ankle joint mechanism 5, and the buffer spring 509 is provided in the sole buffer groove 507, which can further reduce the impact force brought by the bottom surface during walking; the sole wiring groove 506 is provided on the surface of the rubber ground contact sleeve 508, and one end of the sole wiring groove 506 is connected to the mounting hole of the pressure sensor, which is convenient for the wiring of the pressure sensor. The rubber ground contact sleeve 508 is provided with a front sole plate 502 and a rear sole plate 503. By dividing the sole of the foot into two parts, the front and rear parts, and covering the upper part with a sole rubber pad 501, the ankle joint mechanism 5 can better fit the wearer's foot changes when walking, thereby improving comfort.

[0058] Embodiment 2

[0059] According to the semi-active exoskeleton robot using a gear four-bar linkage transmission proposed in the first embodiment, this embodiment provides a method for using the exoskeleton robot, such as Fig.12 As shown, the specific steps include:

[0060] Step 1: Wear the exoskeleton robot, adjust the dimensions of the hip joint through the hip joint adjustment mechanism 202, adjust the lengths of the thigh mechanism 3 and the calf mechanism through the thigh length adjustment lever 306 and the calf length adjustment lever 407, respectively, and then tie them up through the thigh strap 301 and the calf strap 401; use the inertial measurement unit on the outside of the back frame mechanism 1 as a reference point, collect initial information of the knee joint encoder based on the data obtained by the thigh gyroscope 309 and the calf gyroscope 405, and build a mathematical model of the exoskeleton robot;

[0061] Step 2: The wearer starts to move, and the inertial measurement unit collects the wearer's lower limb movement data. The microprocessor calculates the posture change of the exoskeleton robot through the position change of the thigh gyroscope 309 and the calf gyroscope 405 relative to the reference point, and then obtains the movement information of the human joints;

[0062] Step 3: The microprocessor adaptively modifies the model according to the motion information obtained in step 2, calculates the optimal torque required to perform the current motion, and controls the output of the thigh drive motor 307;

[0063] Step 4: The microprocessor continuously monitors whether the movement of the lower limb exoskeleton mechanism is correct, and inputs it into the processor as feedback to complete the closed-loop control of the joint drive mechanism.

Claims

1. A semi-active exoskeleton robot using a gear four-bar linkage transmission, characterized in that: include: A back frame mechanism (1), a hip joint connection mechanism (2), a thigh mechanism (3), a calf mechanism (4) and an ankle joint mechanism (5); an inertial measurement unit is provided on the outside of the back frame mechanism (1), and a thigh gyroscope (309) and a calf gyroscope (405) are provided on the thigh mechanism (3) and the calf mechanism (4) respectively; The hip joint connection mechanism (2) is arranged at the bottom of the back frame mechanism (1); the hip joint connection mechanism (2) comprises a hip joint adjustment mechanism (202) and a spring spring (204); the spring spring (204) is arranged at both ends of the hip joint adjustment mechanism (202); the spring spring (204) is connected to the thigh mechanism (3) via a thigh connection limit device (305); A transmission pinion (310) and a transmission gear (311) are provided at the upper outer portion of the thigh mechanism (3), the transmission pinion (310) is connected to a thigh drive motor (307), and the lower portion of the transmission pinion (310) is meshedly connected to the transmission gear (311); the lower end of the thigh mechanism (3) is connected to the calf mechanism (4) via a bearing (403), one end of a fisheye bearing connecting rod (402) is connected to the surface of the transmission gear (311), and the other end of the fisheye bearing connecting rod (402) is connected to the calf mechanism (4); the thigh mechanism (3) comprises a thigh telescopic rod (304) and a thigh leg rod (313), and the upper portion of the thigh leg rod (313) is connected to the thigh telescopic rod (304) via a slot; the calf mechanism (4) comprises a calf leg rod (404) and a calf telescopic rod (409), and the lower portion of the calf leg rod (404) is also connected to the calf telescopic rod (409) via a slot; A thigh length adjustment pressure rod (306) is provided between the thigh telescopic rod (304) and the thigh leg rod (313), and a thigh threaded hole short rod (303) is also provided; when the thigh length adjustment pressure rod (306) is in a downward pressing state, the thigh threaded hole short rod (303) squeezes and fixes the thigh telescopic rod (304) and the thigh leg rod (313); when the thigh length adjustment pressure rod (306) is in a raised state, the thigh telescopic rod (304) is slidably connected to a slot in the thigh leg rod (313); a calf length adjustment pressure rod (407) is provided between the calf leg rod (404) and the calf telescopic rod (409), and a calf threaded hole short rod (408) is provided; the structures of the calf length adjustment pressure rod (407) and the calf threaded hole short rod (408) are the same as those of the thigh length adjustment pressure rod (306) and the thigh threaded hole short rod (303); The bottom of the calf mechanism (4) is connected to the sole buffer rod (505) via a buffer device; the ankle joint mechanism (5) comprises a rubber ground contact sleeve (508) and a buffer spring (509); one end of the buffer spring (509) is connected to the rubber ground contact sleeve (508) and the other end is connected to the sole buffer rod (505) via an ankle joint bearing (504); a pressure sensor is also provided at the bottom of the rubber ground contact sleeve (508); the buffer device is provided at the lower part of the calf telescopic rod (409), the buffer device comprises a buffer spring sheet (4092) and a calf buffer rod (4094); the calf telescopic rod (409) further comprises a calf telescopic plate (4091); the lower section of the calf telescopic plate (4091) is hollow, and the buffer spring sheet (4092) is arranged in the hollow area of ​​the lower section of the calf expansion and contraction plate (4091), and the lower end of the buffer spring (4092) is connected to the top of the calf buffer rod (4094); the upper section of the calf buffer rod (4094) is larger than the lower section, and the lower end of the calf expansion and contraction plate (4091) is provided with a calf buffer cover plate (4093), and the calf buffer cover plate (4093) is provided with an opening, and the size of the opening is between the upper section and the lower section of the calf buffer rod (4094), and the lower section of the calf buffer rod (4094) extends out of the calf expansion and contraction plate (4091) through the opening of the calf buffer cover plate (4093), and the lower end of the calf buffer rod (4094) is fixedly connected to the sole buffer rod (505); The thigh connection limiting device (305) comprises a thigh free rod (3051), a thigh limiting plate (3052) and a free rod anti-slipping screw (3053); an opening is provided at the upper portion of the thigh telescopic rod (304); a through hole is provided from the top of the opening to the top of the thigh telescopic rod (304); an arc-shaped baffle is provided above the edge of the hole; the lower portion of the thigh free rod (3051) is threadedly sleeved with the screw portion of the free rod anti-slipping screw (3053) in the hole; a thigh limiting plate (3052) is provided on the thigh free rod (3051) at a position higher than the top of the hole; the thigh limiting plate (3052) is also arc-shaped; The hip joint adjustment mechanism (202) comprises a waist adjustment inner sleeve (2021), a hip adjustment hook (2022), a hip joint adjustment rod (2023) and a hip adjustment button (2024); the waist adjustment inner sleeve (2021) is connected to the hip joint adjustment rod (2023) on both sides; a hip adjustment hook (222) is provided on each side of the waist adjustment inner sleeve (2021); the hip adjustment hook (2022) is connected to the hip adjustment button (2024); in an initial state, one end of the hip adjustment hook (2022) is connected to the hip joint adjustment rod (2023); when the hip adjustment button (2024) is pressed downward, the hip adjustment hook (2022) is separated from the hip joint adjustment rod (2023).

2. The semi-active exoskeleton robot using a gear four-bar linkage transmission according to claim 1 is characterized in that: A fisheye bearing (312) is fixedly provided on the surface of the transmission gear (311), and a fisheye bearing is also provided on the shank mechanism (4); two ends of the fisheye bearing connecting rod (402) are respectively connected to the fisheye bearing on the shank mechanism (4) and the fisheye bearing (312) on the surface of the transmission gear (311).

3. The semi-active exoskeleton robot using a gear four-bar linkage transmission according to claim 1 is characterized in that: The ankle joint mechanism (5) further comprises a sole wiring groove (506) and a sole buffer groove (507); the sole buffer groove (507) is arranged on the side of the ankle joint mechanism (5), and the buffer spring (509) is arranged in the sole buffer groove (507); the sole wiring groove (506) is arranged on the surface of the rubber ground contact sleeve (508), and one end of the sole wiring groove (506) is connected to the mounting hole of the pressure sensor.

4. The control method of the semi-active exoskeleton robot using a gear four-bar linkage transmission as claimed in claim 1, characterized in that: The following steps are involved: Step 1, wearing the exoskeleton robot; using the inertial measurement unit outside the back frame mechanism (1) as a reference point, collecting initial information of the knee joint encoder based on data obtained by the thigh gyroscope (309) and the calf gyroscope (405), and constructing a mathematical model of the exoskeleton robot; Step 2: The wearer starts to move, and the inertial measurement unit collects the wearer's lower limb movement data, calculates the posture change of the exoskeleton robot through the position change of the thigh gyroscope (309) and the calf gyroscope (405) relative to the reference point, and then obtains the movement information of the human body joints; Step 3: The microprocessor adaptively modifies the model according to the motion information obtained in step 2, calculates the optimal torque required to execute the current motion, and controls the output of the thigh drive motor (307); Step 4: The microprocessor continuously monitors whether the movement of the lower limb exoskeleton mechanism is correct, and inputs it into the processor as feedback to complete the closed-loop control of the joint drive mechanism.

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