Hybrid passive-active controllable joint assist and damping device for wearable exoskeleton

Abstract

The application discloses a kind of passive and active hybrid controllable joint assisted buffering device for wearable exoskeleton.It includes joint upper and lower connecting rod, gyro angle sensor, power mechanism and upper and lower connecting rod binding mechanism;Power mechanism includes motor, electromagnetic clutch, electromagnetic brake, buffering mechanism, gear transmission mechanism;When active assistance, buffering mechanism and joint lower connecting rod are isolated by electromagnetic brake, active flexion / extension movement of joint is realized by motor and electromagnetic clutch, and joint energy is enhanced;When passive buffering, motor and joint are isolated by electromagnetic clutch, passive torque force is transmitted to joint movement by buffering mechanism through gear transmission mechanism by electromagnetic brake.The application can realize active assistance of human joint by controlling the on-off of clutch and brake, does not hinder joint free movement without assistance, can introduce buffering to protect joint and motor in sudden situation such as falling, and has better man-machine cooperation and wearing safety.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of exoskeleton robots, and particularly relates to a joint assistance and buffering device with controllable passive and active hybrid for a wearable exoskeleton. BACKGROUND

[0002] With the rapid development of science and technology, the living standards of the people have been greatly improved, and the medical level and material conditions have been greatly improved. People have gradually developed medical auxiliary facilities that can enhance human performance, especially wearable exoskeleton robots. Wearable exoskeleton systems are widely used in military and civilian applications. With the rapid development of exoskeletons, the joint system, as one of the key technologies in the field of exoskeletons, is particularly important in design, especially in reliability, human engineering, and assistance efficiency. It is urgently required that the exoskeleton joint device develop in the direction of integration, comfort, high-efficiency assistance, and buffering protection. Based on the requirements of assistance effect, comfort, safety, and reliability, a design approach that integrates human coordination and high assistance effect should be adopted. A highly integrated joint device can achieve assistance enhancement and buffering protection of human joints.

[0003] Exoskeleton systems can be used to reduce the load on muscles and bones. According to the use form of the driving energy of the joint device, it can be divided into "active" or "passive". The active joint device includes one or more actuators to help enhance the strength of a specific joint of the human body. The passive joint device does not require additional energy, but only requires a spring or other elastic element to provide a restoring torque and buffering protection. Existing joint devices are mostly motor-driven active joints that can enhance the joint movement ability of the wearer, assist human movement, and improve human function. However, when the wearer uses it carelessly and falls, the lower limb above the joint is stationary relative to the ground, and since the joint device does not have buffering protection, the upper limb above the joint will rotate rapidly with the joint as the rotating shaft. The human body weight causes impact on the joint and damages the joint, and causes a rotating torque impact on the motor. The existing passive joint device has the effect of buffering and protecting the human joint, but cannot achieve active assistance control of the joint and cannot achieve joint capacity enhancement.

[0004] Currently, wearable exoskeleton joint devices have various forms, but still have problems such as complex structure, single function, low integration level, poor wearing comfort, complex control system, and the like. Most products can only complete a single target of buffering protection or active assistance, and cannot effectively respond to complex and variable working environments and sudden situations.

[0005] The Chinese patent application with the application number CN201910152496.7 discloses a knee joint exoskeleton device, in which a single rotating shaft is used to realize the rotating movement of the joint, and stable single-degree-of-freedom joint rotation can be provided. Although the single rotating shaft structure is simple in structure and can assist the wearer to maintain full squat or half squat state, it has single function, low automation degree and cannot realize active assistance effect, and is easy to cause damage to the human body in emergency situations. SUMMARY

[0006] The purpose of the present application is to provide a passive and active hybrid controllable joint assistance and buffering device for wearable exoskeleton, to solve the problems of complex structure, single function and the inability to complete the dual functions of buffering protection and active assistance of most joint devices of wearable exoskeleton in the background art, and to effectively respond to complex and variable working environments and emergency situations.

[0007] The technical solution for achieving the purpose of the present application is a passive and active hybrid controllable joint assistance and buffering device for wearable exoskeleton, comprising an upper joint connecting rod, a gyroscope angle sensor, a power mechanism, a lower joint connecting rod, an upper connecting rod binding mechanism and a lower connecting rod binding mechanism.

[0008] The power mechanism comprises a power mechanism housing, an integrated joint drive motor, an electromagnetic clutch, an electromagnetic brake, an internal rotary buffering mechanism, a driving gear and a driven gear; the power mechanism housing is provided with upper and lower two cavities, the integrated joint drive motor, the electromagnetic clutch, the lower joint connecting rod and the driving gear are sequentially installed in the lower cavity, the electromagnetic brake, the internal rotary buffering mechanism and the driven gear are sequentially installed in the upper cavity, the driving gear and the driven gear are engaged, and the gyroscope sensor is fixed on the upper part of the power mechanism housing by screws to collect movement information.

[0009] When active assistance is needed, the integrated joint drive motor is powered to rotate, the electromagnetic clutch is in the powered attraction state, the electromagnetic brake is in the powered separation state, and the integrated joint drive motor drives the lower joint connecting rod to rotate in the direction of movement control through the electromagnetic clutch; when passive buffering is needed, the integrated joint drive motor is powered off to stop, at this time the electromagnetic clutch is in the powered-off separation state, the electromagnetic brake is in the powered-off locked state, and the internal rotary buffering mechanism is locked at one end, the lower joint connecting rod transmits power to the internal rotary buffering mechanism through the driving gear and the driven gear, and the relative movement speed between the upper joint connecting rod and the lower joint connecting rod is reduced.

[0010] Further, the upper joint connecting rod is composed of an L-shaped rod and a semicircular protrusion arranged at the end of the L-shaped rod, a plurality of threaded holes are formed in the middle of the vertical rod of the L-shaped rod along the length direction for connecting with the exoskeleton limbs at both ends of the joint, the two sides of the vertical rod of the L-shaped rod are connected with the upper connecting rod binding mechanism,

[0011] The upper part of the power mechanism shell is provided with a semicircular recess, and the semicircular protrusion of the upper joint connecting rod is clamped in the semicircular recess of the power mechanism shell and is detachably fixed and connected by screws.

[0012] Further, the lower joint connecting rod is in a Z-like shape, one end of the lower joint connecting rod is matched with the motor end flange shaft through the bearing fixed in the lower joint connecting rod and the motor end flange shaft in the power mechanism, and the power mechanism is provided with a motor flange shaft sleeve for fixing the bearing in the lower joint connecting rod.

[0013] The power mechanism shell is provided with a limiting groove for limiting the rotation of the lower joint connecting rod, and the limiting groove makes the rotation range of the lower joint connecting rod relative to the upper joint connecting rod less than 130-150 degrees.

[0014] A plurality of threaded holes for connecting with the exoskeleton limbs at both ends of the joint are formed in the middle of the other end of the lower joint connecting rod along the length direction, and the two sides of the end of the lower joint connecting rod are connected with the lower connecting rod binding mechanism.

[0015] Further, the upper connecting rod binding mechanism includes an upper connecting rod binding shaft, an upper connecting rod binding shaft end clamping spring, and an upper connecting rod binding block, the upper connecting rod binding block is connected to the two sides of the upper joint connecting rod through the upper connecting rod binding shaft, and the wearer's upper limb is fixedly worn through binding, and a film pressure sensor for collecting human interactive force is arranged on the upper connecting rod binding block.

[0016] The lower connecting rod binding mechanism includes a lower connecting rod binding shaft, a lower connecting rod binding shaft end clamping spring, and a lower connecting rod binding block, the lower connecting rod binding block is connected to the two sides of the lower joint connecting rod through the lower connecting rod binding shaft, and the wearer's lower limb is fixedly worn through binding, and a film pressure sensor for collecting human interactive force is arranged on the lower connecting rod binding block.

[0017] Further, the power mechanism further includes a motor end flange shaft, a motor end flange shaft sleeve, a gear end flange shaft, a gear end flange shaft sleeve, and an end cover.

[0018] The integrated joint driving motor, the motor end flange shaft, the electromagnetic clutch, the motor end flange shaft sleeve, the lower joint connecting rod, the gear end flange shaft, the driving gear, and the gear end flange shaft sleeve are sequentially installed in the lower chamber of the power mechanism shell.

[0019] The integrated joint driving motor is integrated with a driver, a speed reducer, and an encoder, the fixed end of the integrated joint driving motor and the power mechanism shell are detachably fixed and connected through screws, and the output end of the integrated joint driving motor is connected with the electromagnetic clutch through the motor end flange shaft and realizes rotation.

[0020] The lower side of the power mechanism shell is provided with a rectangular recess, the electromagnetic clutch is provided with a rectangular plate, the rectangular plate of the electromagnetic clutch is clamped in the rectangular recess on the lower side of the power mechanism shell and is detachably connected with the power mechanism shell through screws;

[0021] The motor end flange shaft is connected with the joint lower connecting rod through a bearing to realize relative rotation, and a motor end flange shaft sleeve is arranged between the electromagnetic clutch and the joint lower connecting rod to position the bearing; the joint lower connecting rod is connected with the gear end flange shaft through screws, and the driving gear is connected with the gear end flange shaft through screws, so that the transmission from the joint lower connecting rod to the driving gear is completed.

[0022] The driving gear is connected with the end cover through a bearing to realize relative rotation, and a gear end flange shaft sleeve is arranged between the driving gear and the end cover to position the bearing; the end cover is detachably fixedly connected with the power mechanism shell through screws.

[0023] Further, the electromagnetic brake, the internal rotary buffering mechanism, the driven gear and the gear shaft sleeve are sequentially arranged in the upper chamber of the power mechanism shell.

[0024] One end of the electromagnetic brake is detachably fixedly connected with the power mechanism shell through screws, and the other end of the electromagnetic brake is connected with the buffering mechanism rear end cover through screws; the buffering mechanism buffering shaft is connected with the driven gear through screws to realize the transmission between the internal rotary buffering mechanism and the driven gear.

[0025] The driven gear is connected with the end cover through a bearing to realize relative rotation, and a gear shaft sleeve is arranged between the driven gear and the end cover to position the bearing.

[0026] Further, the internal rotary buffering mechanism further comprises a volute spring, a buffering device shell, a buffering shaft sleeve, a buffering mechanism front end cover.

[0027] The internal rotary buffering mechanism further comprises a volute spring, a buffering device shell, a buffering shaft sleeve, a buffering mechanism front end cover.

[0028] The buffering mechanism rear end cover, the volute spring, the buffering device shell, the buffering mechanism buffering shaft, the buffering shaft sleeve and the buffering mechanism front end cover are sequentially connected, and one end of the buffering mechanism rear end cover and the buffering mechanism front end cover is respectively connected with both ends of the buffering device shell through screws to realize the assembly of the internal rotary buffering mechanism.

[0029] The buffering mechanism buffering shaft is connected with the buffering device shell and the buffering mechanism rear end cover through bearings to realize relative rotation, and a buffering shaft sleeve is arranged between the buffering mechanism buffering shaft and the driven gear to position the bearing.

[0030] Further, the power mechanism further comprises a hole check ring, a hole shaft sleeve and an axle end check ring.

[0031] The buffering mechanism buffers the shaft and the electromagnetic brake to realize relative rotation through bearings, the hole uses a check ring and a shaft end check ring to position the bearings, and the hole uses a shaft sleeve to support the bearings.

[0032] Further, the CAN bus communication module and the embedded controller are further included.

[0033] The CAN bus communication module transmits data collected by the internal encoder of the integrated joint driving motor, the gyroscope angle sensor, the film pressure sensor arranged on the upper connecting rod binding mechanism and the lower connecting rod binding mechanism to the embedded controller, the controller calculates the time of controlling the motor, the electromagnetic clutch and the electromagnetic brake to turn on and off according to real-time data information, and the controller controls the corresponding voltage and current signals to control the rotation of the motor and the attraction and separation state of the electromagnetic clutch and the electromagnetic brake.

[0034] A control method of the joint power-assisted buffering device, comprising the following steps:

[0035] Step (1): After the wearer wears the exoskeleton, the length of each connecting rod mechanism of the joint is adjusted, and the initial information collection and calibration of the information collection unit are simultaneously performed.

[0036] Step (2): The wearer performs joint movement, and the human-machine interaction force information of the wearer is collected by the film pressure sensor installed on the upper and lower connecting rod binding mechanisms.

[0037] Step (3): The human-machine interaction force information data collected by the film pressure sensor is transmitted to the embedded controller, the controller identifies the movement intention of the wearer, then amplifies the movement intention, and obtains the required movement information of the joint power-assisted buffering device.

[0038] Step (4): According to the required movement information of the joint power-assisted buffering device, the embedded controller first controls the electromagnetic clutch to be in the attraction state by being powered on, controls the electromagnetic brake to be in the separation state by being powered on at the same time, then controls the motor to rotate, and the torque output by the motor is transmitted to the lower connecting rod of the joint through the electromagnetic clutch in the attraction state, so as to realize the flexion / extension movement of the joint power-assisted buffering device, achieve the effect of power assistance, and use the internal encoder of the motor to monitor the movement information of the joint in real time, feed it back to the controller, complete the closed-loop movement control of the motor, and ensure that the movement state of the joint power-assisted buffering device is the same as that of the wearer's joint.

[0039] Step (5): When the controller controls the driving of the joint power-assisted buffer device, the gyroscope angle sensor on the power mechanism starts to collect the motion information of the connecting rod on the joint, and the controller controls the comparison between the real-time transmitted motion information and the data information of the normal motion of the human joint. When the data difference exceeds the safety threshold, i.e. a sudden situation such as falling occurs, the controller will control the electromagnetic clutch to be powered off to be in a separated state, and control the electromagnetic brake to be powered off to be in a locked working state. The electromagnetic clutch in the separated state will cut off the connection between the motor and the connecting rod below the joint, and the electromagnetic brake will make the internal rotary buffer mechanism intervene, start passive buffering, and the passive torque force generated by the deformation of the scroll spring in the internal rotary buffer mechanism is transmitted to the joint motion through the driving gear and the driven gear, thereby reducing the relative motion speed between the connecting rods above and below the joint.

[0040] Step (6): In the process of passive buffering of the joint power-assisted buffer device, the gyroscope angle sensor on the power mechanism continuously collects the motion information of the connecting rod on the joint and transmits it to the controller and controls the comparison with the data information of the normal motion of the human joint. When the data difference is lower than the safety threshold, i.e. returns to the normal motion condition, the controller will control the electromagnetic brake to be powered on to be in a separated state, and the internal rotary buffer mechanism will be in a free state with the brake failure of the electromagnetic brake. The energy stored in the passive buffering process will be completely released, and other components will not be affected.

[0041] Step (7): Return to step (2) to realize the continuous motion between the wearer and the joint power-assisted buffer device.

[0042] Compared with the prior art, the present application has the following advantages:

[0043] (1) The joint power-assisted buffer device of the present application uses an integrated motor to realize active power assistance and uses a scroll spring to realize passive buffering protection. It can be used to enhance the joint motion function of the wearer, reduce the fatigue of the human body, and start the passive buffering mode when a sudden situation occurs, intervene the elastic buffer device, and offset the rigid impact to protect the joints of the wearer. The motor and the buffer mechanism are integrated and installed inside the joint device, making the joint structure more compact and the quality more lightweight. On the basis of providing good power assistance and protection effect for the joint, the overall complexity of the joint system and the burden of the wearer are reduced.

[0044] (2) The upper and lower connecting rods and the limbs at both ends of the exoskeleton joint are connected by screws to adjust the length, which is more convenient to install and disassemble. In addition, it also realizes the matching between the exoskeleton and different height wearers, and makes it more convenient to adjust the length of the upper and lower connecting rods of the joint.

[0045] (3) The joint power-assisted damping device of the present application uses an integrated motor to actively drive the joint, and the motor integrates a reducer, a driver and an encoder, which has high precision and simple control, and through the use of a small number of sensors, the required human joint movement information can be accurately obtained, and the control difficulty is reduced;

[0046] (5) The joint power-assisted damping device of the present application switches the control of active power assistance and passive damping by controlling the attraction and separation of the clutch and the brake, can realize active power assistance of the human joint, does not hinder the free movement of the joint without power assistance, and can also introduce damping protection for the joint and the motor in the event of a fall, has multiple functions and high safety performance; it can also be used for active, passive and impedance training of patients with paralysis to restore joint muscle strength, has wide application range and strong practicality; the time-sharing work of the clutch and the brake reduces the complexity of the active and passive control strategy, reduces the consumption of electric energy, increases the working time, thereby reduces the weight of the battery and the load of the wearer, and has better human-machine cooperation and wearing safety.

[0047] (6) The control method of the present application is to collect the human interaction force through the film pressure sensor arranged on the upper and lower connecting rods of the joint, use the interaction force to judge the movement intention, control the joint power-assisted movement of the present application, and compare the movement information collected by the gyroscope angle sensor with the data information of the normal movement of the human joint to realize the switching of the multifunctional mode of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a three-dimensional schematic view of the active and passive hybrid controllable joint power-assisted damping device for wearable exoskeleton of the present application.

[0049] Figure 2 It is a front view of the active and passive hybrid controllable joint power-assisted damping device for wearable exoskeleton of the present application.

[0050] Figure 3 It is an exploded schematic view of the active and passive hybrid controllable joint power-assisted damping device for wearable exoskeleton of the present application.

[0051] Figure 4 It is an exploded schematic view of the power mechanism of the present application.

[0052] Figure 5 It is an exploded schematic view of the internal damping mechanism of the present application.

[0053] Figure 6 It is a cross-sectional view of the internal damping mechanism of the present application.

[0054] Figure 7 It is a cross-sectional view of the power mechanism of the present application.

[0055] Figure 8 Explotive diagram of the upper and lower connecting rod binding mechanism of the application.

[0056] Figure 9 Flow chart of the control method of the main and passive hybrid controllable joint assisted buffer device for the wearable exoskeleton of the application.

[0057] Explanation of reference signs:

[0058] 1-Upper joint connecting rod, 2-Gyroscope sensor, 3-Power mechanism, 4-Lower joint connecting rod, 5-Lower connecting rod binding mechanism, 6-Upper connecting rod binding mechanism, 3-1-Power mechanism shell, 3-2-Integrated joint driving motor, 3-3-Motor end flange shaft, 3-4-Electromagnetic clutch, 3-5-Motor flange shaft sleeve, 3-6-Gear end flange shaft, 3-7-Driving gear, 3-8-Gear end flange shaft sleeve, 3-9-End cover, 3-10-Gear shaft sleeve, 3-11-Driven gear, 3-12-Internal rotary buffer mechanism, 3-13-Electromagnetic brake, 3-14-Hole retainer, 3-15-Hole sleeve, 3-16-Shaft end retainer, 3-12-1-Rotary mechanism rear end cover, 3-12-2-Spiral spring, 3-12-3-Buffer device shell, 3-12-4-Buffer mechanism buffer shaft, 3-12-5-Buffer shaft sleeve, 3-12-6-Buffer mechanism front end cover, 5-1-Lower connecting rod binding shaft, 5-2-Lower connecting rod binding shaft end snap spring, 5-3-Lower connecting rod binding block, 6-1-Upper connecting rod binding shaft, 6-2-Upper connecting rod binding shaft end snap spring, 6-3-Upper connecting rod binding block. DETAILED DESCRIPTION

[0059] The technical solutions of the application will be described in detail below in combination with the drawings and specific examples.

[0060] In combination Figures 1-3 , a main and passive hybrid controllable joint assisted buffer device for a wearable exoskeleton, comprising an upper joint connecting rod 1, a gyroscope sensor 2, a power mechanism 3, a lower joint connecting rod 4, a lower connecting rod binding mechanism 5 and an upper connecting rod binding mechanism 6. The upper joint connecting rod 1, the power mechanism 3 and the lower joint connecting rod 4 are connected in sequence, and the device is worn on the human body through the binding blocks of the upper and lower connecting rod binding mechanisms, and finally the flexion / extension action of the human joint can be realized.

[0061] In combination Figure 3 , Figure 4 , Figure 7, the joint connecting rod 1 and the power mechanism 3 are connected by the semicircular protrusion of the joint connecting rod 1 and the semicircular groove of the power mechanism shell 3-1, and are connected by screws. The gyroscope sensor 2 is fixed on the upper part of the power mechanism shell 3-1 in the power mechanism 3 to collect motion information, and then transmits it to the controller. After data processing, the controller controls the on-off power of the electromagnetic clutch and the electromagnetic brake to convert the mode. The power mechanism 3 and the joint connecting rod 4 are matched by the bearing fixed in the joint connecting rod 4 and the motor end flange shaft 3-3 in the power mechanism 3. The motor flange shaft sleeve 3-5 in the power mechanism 3 is used to fix the bearing in the joint connecting rod 4 to prevent movement.

[0062] Among them, the joint connecting rod 1 and the joint connecting rod 4 are designed with threaded holes for fixing and installing the exoskeleton limbs at both ends of the joint.

[0063] Among them, the power mechanism shell 3-1 in the power mechanism 3 has a limiting groove at the lower part, which limits the rotation range of the joint connecting rod 4 relative to the joint connecting rod 1 to 130 degrees.

[0064] Combined Figure 4 , Figure 7 , the power mechanism 3 includes a power mechanism shell 3-1, an integrated joint driving motor 3-2, a motor end flange shaft 3-3, an electromagnetic clutch 3-4, a motor flange shaft sleeve 3-5, a gear end flange shaft 3-6, a driving gear 3-7, a gear end flange shaft sleeve 3-8, an end cover 3-9, a gear shaft sleeve 3-10, a driven gear 3-11, an internal rotary damping mechanism 3-12, an electromagnetic brake 3-13, a hole stop ring 3-14, a hole sleeve 3-15, and an axle end stop ring 3-16.

[0065] The lower half of the power mechanism shell 3-1 has a counterbore on one side, and the fixed end of the integrated joint drive motor 3-2 is fixedly connected through a screw; the output end of the integrated joint drive motor 3-2 is connected with the motor end flange shaft 3-3 through a screw and rotates synchronously; the lower half of the power mechanism shell 3-1 has a rectangular groove on one side, and the outer end of the electromagnetic clutch 3-4 has a rectangular plate; the rectangular plate of the electromagnetic clutch 3-4 is matched with the rectangular groove on one side of the lower half of the power mechanism shell 3-1 and is connected through a screw; the motor end flange shaft 3-3 is matched with the input end of the electromagnetic clutch 3-4 through a hole shaft and transmits power through a flat key, and the output end of the electromagnetic clutch 3-4 is connected with the joint lower connecting rod 4 through a screw to realize synchronous rotation; the motor flange shaft sleeve 3-5 is assembled on the motor end flange shaft 3-3 and is located between the electromagnetic clutch 3-4 and the joint lower connecting rod 4 for axial positioning of the bearings inside the electromagnetic clutch 3-4 and the joint lower connecting rod 4; the gear end flange shaft 3-6 is connected with the joint lower connecting rod 4 and the driving gear 3-7 through a screw, and is matched with the end cover 3-9 through a bearing fixed in the lower part of the end cover 3-9; the gear end flange shaft sleeve 3-8 is used for axial positioning of the bearing; the driving gear 3-7 is connected with the driven gear 3-11 through a gear to transmit power, and the driven gear 3-11 is matched with the end cover 3-9 through a bearing fixed in the upper part of the end cover 3-9; the gear shaft sleeve 3-10 is used for axial positioning of the bearing; the end cover 3-9 is connected with the power mechanism shell 3-1 through a screw for packaging of the power mechanism 3 and positioning of the internal parts of the power mechanism 3; the driven gear 3-11 is connected with the input end cover 3-12-6 of the internal rotary buffering mechanism 3-12 through a screw; the output end cover 3-12-1 of the internal rotary buffering mechanism 3-12 is connected with the output end of the electromagnetic brake 3-13 through a screw; the fixed end of the electromagnetic brake 3-13 is fixedly connected with the power mechanism shell 3-1 through a screw; the buffering shaft 3-12-4 of the buffering mechanism of the internal rotary buffering mechanism 3-12 is matched with the power mechanism shell 3-1 through a bearing fixed in the upper part of the power mechanism shell 3-1; the shaft end check ring 3-16 is fixedly connected with the buffering shaft 3-12-4 of the buffering mechanism through a screw for axial and radial positioning of the bearing.

[0066] In combination Figure 5 , Figure 6The internal rotation buffering mechanism 3-12 comprises a rotation mechanism rear end cover 3-12-1, a volute spring 3-12-2, a buffering device housing 3-12-3, a buffering mechanism buffering shaft 3-12-4, a buffering shaft sleeve 3-12-5 and a buffering mechanism front end cover 3-12-6. The inner end of the volute spring 3-12-2 is connected with the rectangular groove on the buffering mechanism buffering shaft 3-12-4 in a matched mode, and the outer end is installed in the groove on the buffering device housing 3-12-3. One end of the buffering mechanism buffering shaft 3-12-4 is matched with the rotation mechanism rear end cover 3-12-1 through the bearing fixed in the rotation mechanism rear end cover 3-12-1, and the other end is matched with the buffering device housing 3-12-3 through the bearing. The rotation mechanism rear end cover 3-12-1 is fixedly connected with the buffering device housing 3-12-3 through the screw. The buffering mechanism front end cover 3-12-6 is connected with the buffering device housing 3-12-3 through the screw and is used for the axial positioning of the bearing outer ring. The buffering shaft sleeve 3-12-5 is assembled on the buffering mechanism buffering shaft 3-12-4 and is used for the axial positioning of the bearing inner ring. When in the passive buffering protection mode, the outer end of the volute spring 3-12-2 in the internal rotation buffering mechanism 3-12 is fixed down with the braking of the rotation mechanism rear end cover 3-12-1, the inner end of the volute spring 3-12-2 is driven and starts to generate the resistance moment to store the energy. When in the active power assisting mode, the outer end of the volute spring 3-12-2 in the internal rotation buffering mechanism 3-12 is in the free state with the invalidation of the braking of the rotation mechanism rear end cover 3-12-1, the stored energy is released completely, and other components are not affected.

[0067] In combination Figure 8 The lower connecting rod binding mechanism 5 and the upper connecting rod binding mechanism 6 respectively comprise a lower connecting rod binding shaft 5-1, a lower connecting rod binding shaft end snap spring 5-2, a lower connecting rod binding block 5-3, an upper connecting rod binding shaft 6-1, an upper connecting rod binding shaft end snap spring 6-2 and an upper connecting rod binding block 6-3. The lower connecting rod binding shaft end snap spring 5-2, the lower connecting rod binding shaft 5-1 and the lower connecting rod binding block 5-3 are sequentially installed on the joint lower connecting rod 4. The upper connecting rod binding shaft end snap spring 6-2, the upper connecting rod binding shaft 6-1 and the upper connecting rod binding block 6-3 are sequentially installed on the joint upper connecting rod 1. The binding blocks are fixed on the upper and lower limbs of the wearer through the binding belts.

[0068] As Figure 9 It is a control flow diagram of the passive and active hybrid controllable joint power buffering device, and a control method of the passive and active hybrid controllable joint power buffering device for a wearable exoskeleton. The method steps are as follows:

[0069] Step (1): After the wearer wears the exoskeleton containing the joint assistance and buffering device, the machine is turned on, and the length of each connecting rod mechanism on the joint is adjusted to adapt to different wearers. At the same time, initial information collection and calibration of the information collection unit are carried out, and step (2) is entered;

[0070] Step (2): The wearer performs joint movement, and the human-machine interaction force information of the wearer is collected through the film pressure sensor installed on the upper and lower connecting rod binding mechanism, and step (3) is entered;

[0071] Step (3): The human-machine interaction force information data collected by the film pressure sensor is transmitted to the embedded controller, the controller identifies the movement intention of the wearer, then amplifies the movement intention, and obtains the movement information required by the joint assistance and buffering device, and step (4) is entered;

[0072] Step (4): According to the movement information required by the joint assistance and buffering device, the embedded controller first controls the electromagnetic clutch 3-4 to be energized to be in the attracted state, controls the electromagnetic brake 3-13 to be energized to be in the disconnected state, then controls the motor 3-2 to rotate, and the torque output by the motor is transmitted to the lower connecting rod of the joint through the electromagnetic clutch in the attracted state, realizing the flexion / extension movement of the joint assistance and buffering device, achieving the effect of assistance, and using the internal encoder of the motor to monitor the movement information of the joint in real time, feeding back to the controller, completing the closed-loop movement control of the motor, to ensure that the movement state of the joint assistance and buffering device is the same as that of the wearer's joint, and step (5) is entered;

[0073] Step (5): When the controller controls and drives the joint assistance and buffering device, the gyroscope angle sensor 2 on the power mechanism 3 starts to collect the movement information of the upper connecting rod 1 of the joint, and the controller controls and compares the real-time transmitted movement information with the data information of the normal movement of the human body joint. When the data difference exceeds the safety threshold, a sudden situation such as falling occurs, the controller controls the electromagnetic clutch 3-4 to be de-energized to be in the separated state, controls the electromagnetic brake 3-13 to be de-energized to be in the locked state, the electromagnetic clutch in the separated state will cut off the connection between the motor and the lower connecting rod of the joint, and the electromagnetic brake in the locked state will make the internal rotary buffering mechanism 3-12 intervene, start passive buffering, and the passive torque force generated by the deformation of the scroll spring 3-7-2 in the internal rotary buffering mechanism is transmitted to the joint movement through the driven gear 3-11 and the driving gear 3-7, reducing the relative movement speed between the upper and lower connecting rods of the joint, weakening the rigid impact, protecting the wearer, and avoiding joint injury, and step (6) is entered;

[0074] Step (6): In the process of passive buffering of the joint assistance buffering device, the gyroscope angle sensor on the power mechanism continuously collects the motion information of the connecting rod on the joint and transmits it to the controller and controls the comparison with the normal motion data information of the human joint. When the data difference is below the safety threshold, i.e. it returns to the normal motion condition, the controller will control the electromagnetic brake to be energized to be in a separated state. The internal rotary buffering mechanism will be in a free state with the brake failure of the electromagnetic brake. The energy stored in the passive buffering process will be completely released, and other components will not be affected. Go to step (7);

[0075] Step (7): Return to step (2) to realize the continuous motion between the wearer and the joint assistance buffering device.

Claims

1. A joint assist damping device for a wearable exoskeleton, which is controllable by a hybrid of active and passive control, characterized by, The joint upper connecting rod (1), the gyroscope sensor (2), the power mechanism (3), the joint lower connecting rod (4), the upper connecting rod binding mechanism (6) and the lower connecting rod binding mechanism (5) are included. The power mechanism (3) includes a power mechanism shell (3-1), an integrated joint drive motor (3-2), an electromagnetic clutch (3-4), an electromagnetic brake (3-13), an internal rotation damping mechanism (3-12), a driving gear (3-7) and a driven gear (3-11); the power mechanism shell (3-1) is provided with two upper and lower cavities, the integrated joint drive motor (3-2), the electromagnetic clutch (3-4), the joint lower connecting rod (4) and the driving gear (3-7) are sequentially installed in the lower cavity, the electromagnetic brake (3-13), the internal rotation damping mechanism (3-12) and the driven gear (3-11) are sequentially installed in the upper cavity, the driving gear (3-7) and the driven gear (3-11) are engaged, and the gyroscope sensor (2) is fixed on the upper part of the power mechanism shell to collect movement information. When the active assistance is performed, the integrated joint drive motor (3-2) is powered to rotate, the electromagnetic clutch (3-4) is in the powered attraction state, the electromagnetic brake (3-13) is in the powered separation state, and the integrated joint drive motor (3-2) drives the joint lower connecting rod (4) to rotate in the direction of movement control through the electromagnetic clutch (3-4); when the passive damping is performed, the integrated joint drive motor (3-2) is powered off to stop, at this time, the electromagnetic clutch (3-4) is in the powered-off separation state, the electromagnetic brake (3-13) is in the powered-off locked state, and the joint lower connecting rod (4) transmits power to the internal rotation damping mechanism (3-12) through the driving gear (3-7) and the driven gear (3-11), so as to slow down the relative movement speed between the joint upper connecting rod (1) and the joint lower connecting rod (4).

2. The joint assist cushioning device of Claim 1, wherein, The joint upper connecting rod (1) is composed of an L-shaped rod and a semicircular protrusion arranged at the end of the L-shaped rod, a plurality of threaded holes are formed in the middle of the vertical rod of the L-shaped rod along the length direction, which are used for connecting with the exoskeleton limbs at both ends of the joint, the two sides of the vertical rod of the L-shaped rod are connected with the upper connecting rod binding mechanism (6), A semicircular recess is arranged on the upper part of the power mechanism shell (3-1), the semicircular protrusion of the joint upper connecting rod (1) is clamped in the semicircular recess of the power mechanism shell (3-1), and is detachably fixed and connected by screws.

3. The joint assist cushioning device of Claim 2, wherein, The joint lower connecting rod (4) is in a Z-shaped type, one end of the joint lower connecting rod (4) is matched with the motor end flange shaft (3-3) in the power mechanism (3) through the bearing fixed in the joint lower connecting rod (4), and the motor flange shaft sleeve (3-5) for fixing the bearing in the joint lower connecting rod (4) is arranged in the power mechanism (3); The power mechanism shell (3-1) is provided with a limiting groove for limiting the rotation of the joint lower connecting rod (4), and the rotation range of the joint lower connecting rod (4) relative to the joint upper connecting rod (1) is less than 130-150 degrees. A plurality of threaded holes for connecting with the exoskeleton limbs at both ends of the joint are formed in the middle of the other end of the sub-articular connecting rod (4) along the length direction, and the two sides of the end of the sub-articular connecting rod (4) are connected with the sub-articular connecting rod binding mechanism (5).

4. The joint assist cushioning device of Claim 3, wherein, The upper connecting rod binding mechanism (6) comprises an upper connecting rod binding shaft (6-1), an upper connecting rod binding shaft end snap spring (6-2) and an upper connecting rod binding block (6-3). The upper connecting rod binding block (6-3) is connected on both sides of the upper joint connecting rod (1) through the upper connecting rod binding shaft (6-1), and the wearing and fixing of the upper limbs of the wearer are achieved through binding. The upper connecting rod binding block (6-3) is provided with a film pressure sensor for collecting human interaction force. The sub-articular connecting rod binding mechanism (5) comprises a sub-articular connecting rod binding shaft (5-1), a sub-articular connecting rod binding shaft end snap spring (5-2) and a sub-articular connecting rod binding block (5-3). The sub-articular connecting rod binding block (5-3) is connected on both sides of the sub-articular connecting rod (4) through the sub-articular connecting rod binding shaft (5-1), and the wearing and fixing of the lower limbs of the wearer are achieved through binding. The sub-articular connecting rod binding block (5-3) is provided with a film pressure sensor for collecting human interaction force.

5. The joint assist cushioning device of claim 4, wherein, The power mechanism (3) further comprises a motor end flange shaft (3-3), a motor flange shaft sleeve (3-5), a gear end flange shaft (3-6), a gear end flange shaft sleeve (3-8) and an end cover (3-9). The integrated joint driving motor (3-2), the motor end flange shaft (3-3), the electromagnetic clutch (3-4), the motor flange shaft sleeve (3-5), the sub-articular connecting rod (4), the gear end flange shaft (3-6) and the driving gear (3-7) are sequentially installed in the lower chamber of the power mechanism shell (3-1). The integrated joint driving motor (3-2) is integrated with a driver, a speed reducer and an encoder inside. The fixed end of the integrated joint driving motor (3-2) and the power mechanism shell (3-1) are detachably fixedly connected through screws. The output end of the integrated joint driving motor (3-2) is connected with the electromagnetic clutch (3-4) through the motor end flange shaft (3-3) and realizes rotation. The lower side of the power mechanism shell (3-1) is provided with a rectangular groove. The electromagnetic clutch (3-4) is provided with a rectangular small plate. The rectangular small plate of the electromagnetic clutch (3-4) is clamped in the rectangular groove on the lower side of the power mechanism shell (3-1) and is detachably screw-connected with the power mechanism shell (3-1). The motor end flange shaft (3-3) and the sub-articular connecting rod (4) are relatively rotatable through bearing connection. The motor flange shaft sleeve (3-5) is used for positioning the bearing between the electromagnetic clutch (3-4) and the sub-articular connecting rod (4). The sub-articular connecting rod (4) and the gear end flange shaft (3-6) are connected through screws. The driving gear (3-7) is connected with the gear end flange shaft (3-6) through screws, so as to complete the transmission of the sub-articular connecting rod (4) to the driving gear (3-7). The driving gear (3-7) and the end cover (3-9) are connected by bearings to realize relative rotation, and a gear end flange shaft sleeve (3-8) is arranged between the driving gear (3-7) and the end cover (3-9) to position the bearing; the end cover (3-9) and the power mechanism shell (3-1) are detachably fixed and connected by screws.

6. The joint assist cushioning device of claim 5, wherein, The electromagnetic brake (3-13), the internal rotary buffering mechanism (3-12), the driven gear (3-11) and the gear shaft sleeve (3-10) are sequentially arranged in the upper chamber of the power mechanism shell (3-1); One end of the electromagnetic brake (3-13) and the power mechanism shell (3-1) are detachably fixed and connected by screws, and the other end of the electromagnetic brake (3-13) and the buffering mechanism rear end cover (3-12-1) are connected by screws; the buffering mechanism buffering shaft (3-12-4) and the driven gear (3-11) are connected by screws to realize transmission between the internal rotary buffering mechanism (3-12) and the driven gear (3-11). The driven gear (3-11) and the end cover (3-9) are connected by bearings to realize relative rotation, and a gear shaft sleeve (3-10) is arranged between the driven gear (3-11) and the end cover (3-9) to position the bearing.

7. The joint assist cushioning device of Claim 6, wherein, The internal rotary buffering mechanism (3-12) further comprises a spiral spring (3-12-2), a buffering device shell (3-12-3), a buffering shaft sleeve (3-12-5), and a buffering mechanism front end cover (3-12-6); The internal end of the spiral spring (3-12-2) is connected with the buffering mechanism buffering shaft (3-12-4), and the external end is installed in the groove on one side of the buffering device shell (3-12-3); The buffering mechanism rear end cover (3-12-1), the spiral spring (3-12-2), the buffering device shell (3-12-3), the buffering mechanism buffering shaft (3-12-4), the buffering shaft sleeve (3-12-5), and the buffering mechanism front end cover (3-12-6) are sequentially connected, and one end of the buffering mechanism rear end cover (3-12-1) and the buffering mechanism front end cover (3-12-6) are connected with the buffering device shell (3-12-3) at both ends by screws to realize assembly of the internal rotary buffering mechanism (3-12); The buffering mechanism buffering shaft (3-12-4) is connected with the buffering device shell (3-12-3) and the buffering mechanism rear end cover (3-12-1) by bearings to realize relative rotation, and a buffering shaft sleeve (3-12-5) is arranged between the buffering mechanism buffering shaft (3-12-4) and the driven gear (3-11) to position the bearing.

8. The joint assist cushioning device of Claim 7, wherein, The power mechanism (3) further comprises a hole retainer (3-14), a hole sleeve (3-15), and an axle end retainer (3-16); The buffering mechanism buffering shaft (3-12-4) is connected with the electromagnetic brake (3-13) by bearings to realize relative rotation, the hole retainer (3-14) and the axle end retainer (3-16) are used for positioning the bearing, and the hole sleeve (3-15) is used for supporting the bearing of the electromagnetic brake (3-13).

9. The joint assist cushioning device of Claim 8, wherein, It further comprises a CAN bus communication module and an embedded controller. The CAN bus communication module transmits data collected by the internal encoder of the integrated joint driving motor, the gyroscope angle sensor, the film pressure sensor arranged on the upper connecting rod binding mechanism and the lower connecting rod binding mechanism to the embedded controller, the controller calculates the time for controlling the on-off of the motor, the electromagnetic clutch and the electromagnetic brake according to the real-time data information, and outputs corresponding voltage and current signals to control the rotation of the motor and the attraction and separation state of the electromagnetic clutch and the electromagnetic brake.

10. A control method of the joint assist damping device according to any one of claims 1 to 9, characterized by, The method comprises the following steps: Step (1): After the wearer wears the exoskeleton, the length of the upper and lower connecting rod mechanism of the joint is adjusted, and the initial information collection and calibration of the information collection unit are simultaneously performed; Step (2): The wearer performs joint movement, and the human-machine interaction force information of the wearer is collected by the film pressure sensor arranged on the upper and lower connecting rod binding mechanism; Step (3): The human-machine interaction force information data collected by the film pressure sensor is transmitted to the embedded controller, the controller identifies the movement intention of the wearer, then amplifies the movement intention, and obtains the required movement information of the joint power-assisted damping device; Step (4): According to the required movement information of the joint power-assisted damping device, the embedded controller first controls the electromagnetic clutch (3-4) to be in the attraction state by being powered on, controls the electromagnetic brake (3-13) to be in the separation state by being powered on, then controls the integrated joint driving motor (3-2) to rotate, and the torque output by the motor is transmitted to the lower connecting rod of the joint through the electromagnetic clutch in the attraction state, so that the flexion / extension movement of the joint power-assisted damping device is realized, the effect of power assistance is achieved, and the movement information of the joint is monitored in real time by using the internal encoder of the motor, which is fed back to the controller to complete the closed-loop movement control of the motor, so as to ensure that the movement state of the joint power-assisted damping device is the same as that of the wearer's joint; Step (5): When the controller controls and drives the joint power-assisted damping device, the gyroscope sensor (2) on the power mechanism (3) starts to collect the movement information of the upper connecting rod (1) of the joint, the controller controls and compares the real-time transmitted movement information with the data information of the normal movement of the human joint, when the data difference exceeds the safety threshold, i.e. a fall occurs, the controller controls the electromagnetic clutch to be in the separation state by being powered off, controls the electromagnetic brake to be in the locked state by being powered off, the electromagnetic clutch in the separation state separates the connection between the motor and the lower connecting rod of the joint, and the electromagnetic brake is locked to make the internal rotary damping mechanism (3-12) intervene, so that the passive damping is started, the passive torque force generated by the deformation of the scroll spring (3-12-2) in the internal rotary damping mechanism (3-12) is transmitted to the joint movement through the driven gear (3-11) and the driving gear (3-7), and the relative movement speed between the upper and lower connecting rods of the joint is reduced. Step (6): In the process of passive buffering of the joint assistance buffering device, the gyroscope sensor (2) on the power mechanism (3) continuously collects the motion information of the connecting rod (1) on the joint and transmits it to the controller and controls the comparison with the normal motion data information of the human joint. When the data difference is below the safety threshold, i.e. it returns to the normal motion condition, the controller will control the electromagnetic brake to be energized to be in a separated state. The internal rotary buffering mechanism (3-12) will be in a free state due to the brake failure of the electromagnetic brake. The stored energy in the passive buffering process will be completely released, and other components will not be affected. Step (7): Return to step (2) to realize the continuous motion between the wearer and the joint assistance buffering device.

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