A multifunctional fiber-reinforced driven flexible exo-limb robot

Abstract

The present invention discloses a multifunctional fiber-reinforced driven flexible external limb robot, which relates to the technical field of wearable robots. A variety of reinforcing fiber arrangements are combined to realize complex movements of the flexible external limb robot in three-dimensional space. It includes a fiber-reinforced drive system, an end effector, an integrated controller and a flexible wearable component. The integrated controller is fixedly connected to the flexible wearable component. One end of the fiber-reinforced drive system is connected to the integrated controller, and the other end is connected to the end effector. The fiber-reinforced drive system is controlled by the integrated controller to drive the end effector to move. It has the characteristics of light configuration, comfortable wearing, high safety, rigid-flexible integration, and diversified functions.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable robots, and in particular to the design of flexible external limb robots. Background Art

[0002] At present, motor dysfunction caused by diseases such as aging and stroke has become an important issue of concern to our society. The design of wearable robots can help people with limb motor dysfunction to carry out daily activities. As a wearable external appendage, the exo-limb robot can improve or expand the wearer's activity and operation capabilities by imitating the original limb functions of humans and combining the human body's movement intentions, providing a feasible idea for solving this problem. On the other hand, with the vigorous development of my country's aerospace industry, the assembly and maintenance of aircraft and other equipment have become normalized. However, due to factors such as high operating precision requirements, cumbersome procedures, complex working conditions, and narrow operating space, it is difficult for a single worker or traditional industrial robot to directly complete the task independently. The exo-limb robot can support the workpiece or the ground to assist workers in completing long-term overhead or near-ground space operations. It can also play a collaborative role in guiding drilling, assisting welding, lifting heavy objects, and delivering tools. In summary, it can be seen that the exo-limb robot has broad application prospects and important research significance in the fields of industrial production, medical rehabilitation, elderly care, disability assistance, and life services.

[0003] At present, exo-limb robots are mainly composed of rigid parts, which are large in size, bulky and complex in structure, and not flexible in movement, which can easily cause human imbalance and greatly reduce the portability and wearing comfort. In addition, for specific application scenarios, such as life assistance for hemiplegic patients and aircraft assembly and maintenance in uncomfortable postures, exo-limb robots are required to take into account the functions of upper and lower limbs, as well as to switch between rigid support and flexible operation. However, there is no exo-limb robot that meets the above requirements. Summary of the invention

[0004] In response to the above problems, the present invention proposes a multifunctional fiber-reinforced driven flexible exo-limb robot, which combines a variety of reinforcing fiber arrangements to achieve complex movements of the flexible exo-limb robot in three-dimensional space.

[0005] The technical solution of the present invention is: it includes a fiber-reinforced drive system, an end effector 1-6, an integrated controller 1-2 and a flexible wearable component 1-5, the integrated controller 1-2 is fixedly connected to the flexible wearable component 1-5, one end of the fiber-reinforced drive system is connected to the integrated controller 1-2, and the other end is connected to the end effector 1-6, and the fiber-reinforced drive system is controlled by the integrated controller 1-2 to drive the end effector 1-6 to move.

[0006] Furthermore, the fiber-reinforced drive system includes a fiber-reinforced drive unit 1-3 and a connecting ring 1-4, wherein a plurality of fiber-reinforced drive units 1-3 arranged in parallel and maintained in parallel form a group, and two groups of fiber-reinforced drive units 1-3 are connected via a connecting ring 1-4 and maintained in series. After each fiber-reinforced drive unit 1-3 is powered on in series and parallel, the integrated controller performs separate control.

[0007] Further, the fiber-reinforced drive units 1-3 are axially extended fiber-reinforced drive units, radially expanded fiber-reinforced drive units, curved fiber-reinforced drive units or torsional fiber-reinforced drive units;

[0008] The axially extended fiber-reinforced drive unit comprises a first elastic cavity 3-1 and a first reinforcing fiber 3-2, wherein the first reinforcing fiber 3-2 is wound around the outer periphery of the elastic cavity 3-1 in a symmetrical double helix manner, and an angle between the winding direction of the reinforcing fiber 3-2 and the circumferential direction of the elastic cavity 3-1 is close to 0°;

[0009] The radial expansion fiber reinforced drive unit comprises a second elastic cavity 4-1 and a second reinforcing fiber 4-2, wherein the second reinforcing fiber 4-2 is wound around the outer periphery of the second elastic cavity 4-1 in a symmetrical double helix manner, and the angle between the winding direction of the second reinforcing fiber 4-2 and the circumferential direction of the second elastic cavity 4-1 is close to 90°;

[0010] The curved fiber-reinforced drive unit includes a third elastic cavity 5-1, a third reinforcing fiber 5-2 and a strain limiting layer 5-3, the third reinforcing fiber 5-2 is wound around the outer periphery of the third elastic cavity 5-1 in a symmetrical double helix manner, and the angle between the winding direction of the third reinforcing fiber 5-2 and the circumferential direction of the third elastic cavity 5-1 is close to 0°, the strain limiting layer 5-3 is made of a non-stretchable material, and is arranged in the third elastic cavity 5-1 along the axial direction of the third elastic cavity 5-1;

[0011] The torsional fiber-reinforced drive unit includes a fourth elastic cavity 6-1 and fourth reinforcing fibers 6-2. The fourth reinforcing fibers 6-2 are wound around the outer periphery of the fourth elastic cavity 6-1 in a single or double helix manner.

[0012] The fiber-reinforced drive unit is mainly composed of an elastic cavity, reinforcing fibers and a strain limiting layer. By changing the arrangement of the reinforcing fibers, different deformation modes of the fiber-reinforced drive unit can be achieved, such as axial elongation, radial expansion, bending, torsion, etc.; by combining different reinforcing fiber arrangements, specific actions can be achieved.

[0013] Furthermore, the fiber-reinforced drive unit is provided with power source and control instructions by an integrated controller, which includes devices such as a compressed air source, a solenoid valve, and a control panel. After being packaged using integrated technology, it is placed on the back of the human body, which can effectively reduce the wearable load. By regulating the input air pressure of the fiber-reinforced drive unit through the integrated controller, the deformation amplitude and load intensity of the flexible external limb can be adjusted, thereby realizing the conversion between rigid support and flexible operation of the external limb robot.

[0014] Furthermore, the end effector 1-6 installed at the end of the fiber-reinforced drive system is a suction cup, a clamp, a gripper or a supporter, etc., to achieve function switching under different tasks.

[0015] The flexible exo-limb robot contacts the human body through flexible wearable parts. The design of the flexible wearable parts should follow the principles of uniform interactive pressure distribution and maximum human-machine parallel stiffness. The material should be selected from composite flexible materials or fiber textile materials with high tensile stiffness to reduce the contact pressure and shear force of the human body's wearing parts.

[0016] The present invention can realize different modal deformations of the fiber-reinforced drive unit, such as axial elongation, radial expansion, bending, torsion, etc., by changing the arrangement of the reinforcing fibers; by combining a variety of reinforcing fiber arrangements, the complex movement of the flexible exo-limb robot in three-dimensional space can be realized. By changing the input air pressure of each module fiber-reinforced drive unit, the deformation amplitude and load intensity of the exo-limb can be adjusted. The multi-module fiber-reinforced drive unit forms a fiber-reinforced drive system in various ways such as series / parallel connection. A variety of actuators such as suction cups, clamps, grippers, and supports are installed at the end of the fiber-reinforced drive system. The fiber-reinforced drive system is worn on the human body through a flexible wearable component. The fiber-reinforced driven flexible exo-limb robot can meet the requirements of both rigid support and flexible operation, and is universal for upper and lower limbs. It has the characteristics of light configuration, comfortable wearing, high safety, rigid-flexible integration, and diversified functions.

[0017] The beneficial effects of the present invention are:

[0018] 1. The robot is composed of a fiber-reinforced drive unit, which is light and soft, easy to carry, not easy to cause harm to the human body, and reduces the burden on the wearer. By changing the fiber arrangement of the drive unit, the multi-modal deformation of the fiber-reinforced drive can be achieved, compensating for the scale difference between the upper and lower limbs of the human body, and realizing complex movements in three-dimensional activities and working spaces, meeting the requirements of taking into account the functions of the upper and lower limbs of the external limbs.

[0019] 2. The power source of the fiber-reinforced actuator is compressed gas. The deformation amplitude and load intensity of the actuator can be changed by adjusting the input air pressure intensity. With the help of the rigid-flexible coupling between the rigid reinforced fiber fabric, strain limiting layer and flexible elastic cavity in the fiber-reinforced drive unit structure, combined with the intensity and frequency adjustment of the input air pressure, the stiffness of the actuator in different deformation directions can be controlled. For example, it exhibits high specific strength when stretched and has good flexibility when bent, while meeting the requirements of the conversion between rigid support and flexible operation capabilities of the external limbs.

[0020] 3. The robot body is composed of multiple fiber-reinforced drive units connected in a mixed series / parallel manner, which can ensure the flexibility and support strength of the external limbs while meeting the diversity of external limb movement modes.

[0021] 4. The robot can switch between a variety of end effectors, and with the multi-modal deformation and multi-directional stiffness adjustment of the fiber-reinforced drive system, it can meet the multi-functional needs of different work or life scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the flexible exolimb robot.

[0023] Figure 2 Schematic diagram of the fiber-reinforced drive system structure.

[0024] Figure 3 This is a schematic diagram of the structure of an axially extended fiber-reinforced drive unit.

[0025] Figure 4 Schematic diagram of the structure of a radially expanded fiber-reinforced drive unit.

[0026] Figure 5 Schematic diagram of the structure of a curved fiber-reinforced drive unit.

[0027] Figure 6 Schematic diagram of the structure of a torsional fiber-reinforced drive unit.

[0028] In the figure: 1-1, human body, 1-2, integrated controller, 1-3, fiber-reinforced drive unit, 1-4, connecting ring, 1-5, flexible wearable component, 1-6, end effector; 2-1, elastic cavity, 2-2, reinforced fiber, 2-3, strain limiting layer. DETAILED DESCRIPTION

[0029] In order to clearly illustrate the technical features of this patent, this patent is elaborated in detail below through a specific implementation method and in combination with its accompanying drawings.

[0030] like Figure 1As shown, its structural relationship is as follows: the flexible exo-limb robot is composed of a fiber-reinforced drive system, an end effector 1-6, an integrated controller 1-2 and a flexible wearable component 1-5. A plurality of fiber-reinforced drive units 1-3 are connected in series and in parallel through a connecting ring 1-4 to form a fiber-reinforced drive system. A detachable and replaceable end effector 1-6, such as a suction cup, a clamp, a gripper, a supporter, etc., is installed at the end of the fiber-reinforced drive system to achieve function switching under different tasks. The compressed air source, solenoid valve, control panel and other devices are assembled using integrated packaging technology to form an integrated controller, which is then placed in a backpack behind the human body; the flexible exo-limb robot is worn on the human body 1-1 through the flexible wearable component 1-5, which improves the safety and comfort of the user and reduces the burden of the user.

[0031] Preferably, when developing the fiber-reinforced drive units 1-3, the configuration dimensions should be selected with reference to anthropometry.

[0032] Preferably, the flexible wearable component 1-5 is made of flexible material, and a composite flexible material or fiber textile material with high tensile stiffness should be selected; the design should follow the principles of uniform distribution of interactive pressure and maximum human-machine parallel stiffness, and disperse the interactive pressure to the waist, abdomen, shoulders and other parts of the human body 1-1 to reduce the contact pressure and shear force of the wearing parts of the human body.

[0033] Preferably, Figure 2 As shown, the structural relationship is: a plurality of fiber-reinforced drive units 1-3 are connected in parallel and embedded in the connecting ring 1-4 to form a fiber-reinforced drive module, and then a plurality of fiber-reinforced drive modules are connected in series through the connecting ring 1-4 to form a fiber-reinforced drive system.

[0034] Preferably, the number of fiber-reinforced drive units 1-3 included in the fiber-reinforced drive system should be determined based on the end support strength requirements of the flexible exo-limb robot.

[0035] Preferably, different deformation modes of the fiber-reinforced drive units 1-3 can be achieved by changing the arrangement of the reinforcing fibers.

[0036] Preferably, Figure 3 As shown, when the first reinforcing fiber 3-2 is wound around the outer periphery of the first elastic cavity 3-1 in a symmetrical double helix manner, and the angle between the winding direction of the first reinforcing fiber 3-2 and the circumferential direction of the first elastic cavity 3-1 is small (close to 0°), the fiber-reinforced unit can achieve axial extension when inflated, and can be shortened and reset when deflated.

[0037] Preferably, Figure 4As shown, when the second reinforcing fiber 4-2 is wound around the outer periphery of the second elastic cavity 4-1 in a symmetrical double helix manner, and the angle between the winding direction of the second reinforcing fiber 4-2 and the circumferential direction of the second elastic cavity 4-1 is large (close to 90°), the fiber-reinforced unit can achieve radial expansion when inflated, and can shrink and reset when deflated.

[0038] Preferably, Figure 5 As shown, when the third reinforcing fiber 5-2 is wound around the outer periphery of the third elastic cavity 5-1 in a symmetrical double helix manner, and a strain limiting layer 5-3 made of a non-stretchable material is added, the fiber reinforced unit can bend when inflated, and the bending direction is toward one side of the strain limiting layer 5-3, and can bend in the opposite direction to reset when deflated and the pressure is released.

[0039] Preferably, Figure 6 As shown, when the fourth reinforcing fiber 6-2 is wound around the outer periphery of the fourth elastic cavity 6-1 in a single spiral manner, the fiber-reinforced unit can achieve a twisting action when inflated, and can reversely twist and reset when deflated.

[0040] During the design phase of the robot, it is necessary to design the robot according to the requirements of its range of motion. Figure 3 , Figure 4 , Figure 5 , Figure 6 The fiber-reinforced drive unit structure with different deformation modes is rationally designed to arrange the reinforcing fibers of the fiber-reinforced drive unit; and according to the end load strength requirements of the robot, Figure 2 The fiber-reinforced drive system structure reasonably determines the number of fiber-reinforced drive units and the series-parallel configuration method.

[0041] For example, when the wearer needs a flexible external limb to realize the function of the lower limb to assist walking, the bending fiber-reinforced drive unit plays a major role, simulating the rotation of the leg joints. When the wearer needs a flexible external limb to act as an upper limb to pick up distant objects, the axial extension fiber-reinforced drive unit plays a major role; then the bending fiber-reinforced drive unit plays a major role, used to place the object at a nearby designated location. When the wearer needs a flexible external limb to act as an upper limb to turn the handle to open the door, the torsional fiber-reinforced drive unit plays a major role. When the wearer needs a flexible external limb to support the ground and overhead workpieces during aircraft assembly and maintenance in an uncomfortable posture, the radial expansion fiber-reinforced drive unit plays a major role, increasing the cross-sectional area of ​​the flexible external limb to increase the support strength.

[0042] During the implementation phase of the robot, the flexible exo-limb robot needs to be worn on the human body 1-1 through the flexible wearable component 1-5, and the integrated controller 1-2 supplies power and issues control instructions. Each fiber-reinforced drive unit 1-3 realizes a specific deformation mode according to the above design to complete the robot's specified action.

[0043] There are many specific implementation ways of the present invention. The above is only the preferred implementation mode of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A multifunctional fiber-reinforced drive flexible exo-limb robot, characterized in that: The invention comprises a fiber-reinforced drive system, an end effector (1-6), an integrated controller (1-2) and a flexible wearable component (1-5), wherein the integrated controller (1-2) is fixedly connected to the flexible wearable component (1-5), one end of the fiber-reinforced drive system is connected to the integrated controller (1-2), and the other end is connected to the end effector (1-6), and the fiber-reinforced drive system is controlled by the integrated controller (1-2) to drive the end effector (1-6) to move; The fiber-reinforced drive system comprises a fiber-reinforced drive unit (1-3) and a connecting ring (1-4); a plurality of fiber-reinforced drive units (1-3) arranged in parallel and maintained in parallel form a group; two groups of fiber-reinforced drive units (1-3) are connected via the connecting ring (1-4) and maintained in series; The fiber-reinforced drive unit (1-3) is an axially extended fiber-reinforced drive unit, a radially expanded fiber-reinforced drive unit, a curved fiber-reinforced drive unit or a torsional fiber-reinforced drive unit; By changing the arrangement of the reinforcing fibers, different deformation modes of the fiber-reinforced drive unit can be achieved, including axial elongation, radial expansion, bending, and torsion; by combining different reinforcing fiber arrangements, the specified action can be achieved; The axially extended fiber-reinforced drive unit comprises a first elastic cavity (3-1) and a first reinforcing fiber (3-2), wherein the first reinforcing fiber (3-2) is wound around the outer periphery of the elastic cavity (3-1) in a symmetrical double helix manner, and the angle between the winding direction of the reinforcing fiber (3-2) and the circumferential direction of the elastic cavity (3-1) is close to 0°; The radially expanding fiber-reinforced drive unit comprises a second elastic cavity (4-1) and second reinforcing fibers (4-2), wherein the second reinforcing fibers (4-2) are wound around the outer periphery of the second elastic cavity (4-1) in a symmetrical double helix manner, and an angle between the winding direction of the second reinforcing fibers (4-2) and the circumferential direction of the second elastic cavity (4-1) is close to 90°; The bent fiber-reinforced drive unit comprises a third elastic cavity (5-1), third reinforcing fibers (5-2) and a strain limiting layer (5-3); the third reinforcing fibers (5-2) are wound around the periphery of the third elastic cavity (5-1) in a symmetrical double helix manner, and the angle between the winding direction of the third reinforcing fibers (5-2) and the circumferential direction of the third elastic cavity (5-1) is close to 0°; the strain limiting layer (5-3) is made of a non-stretchable material and is arranged in the third elastic cavity (5-1) along the axial direction of the third elastic cavity (5-1); The torsional fiber-reinforced drive unit comprises a fourth elastic cavity (6-1) and fourth reinforcing fibers (6-2), wherein the fourth reinforcing fibers (6-2) are wound around the outer circumference of the fourth elastic cavity (6-1) in a single or double helix manner.

2. A multifunctional fiber-reinforced drive flexible exo-limb robot according to claim 1, characterized in that: The fiber-reinforced drive unit is provided with a power source and control instructions by an integrated controller, and the input air pressure of the fiber-reinforced drive unit is regulated by the integrated controller.

3. The multifunctional fiber-reinforced driven flexible exo-limb robot according to claim 1, characterized in that: The end effector (1-6) is a suction cup, a clamp, a gripper or a support.

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