Heterogeneous exoskeleton multistage synchronous linkage telescopic outer limb and working method thereof

Abstract

The invention discloses a heterogeneous exoskeleton multistage synchronous linkage telescopic outer limb and a working method thereof.The outer limb comprises a driving mechanism, an exoskeleton connecting shell, multistage telescopic mechanisms and a spherical foot end component, the driving mechanism and the exoskeleton connecting shell are connected through screws, and the multistage telescopic mechanisms are sequentially connected through guide rails; the spherical foot end part is connected with the three-stage telescopic mechanism through a bolt; according to the method, human body movement is analyzed through the control system, the telescopic state of the outer limbs is controlled, and closed loop control is achieved. The working end can rotate conveniently, the working device can be replaced conveniently, and the working device can adapt to different kinds of work easily.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and in particular relates to a heterogeneous exoskeleton with multi-stage synchronous linkage and telescopic exolimbs and a working method thereof. Background Art

[0002] The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb is a wearable intelligent power-assisting device. The telescopic exolimb structure has been widely used in engineering practice. Its advantages are: flexible telescopic, large load-bearing capacity, and can provide assistance to the user for a long time under the allowable load. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb benefits from its flexible telescopic ability and can adapt to the height of the user within the telescopic range. At present, the synchronous linkage exolimb is mainly used on heterogeneous exoskeletons.

[0003] Chinese patent document 209579608U records a multi-stage linkage telescopic extension arm, which has three stages of linkage telescopic extension arms. Each stage of the extension arm is connected by sliding and is connected to an electric push rod. However, after the telescopic extension arm moves to the appropriate position, the staff needs to manually fix the extension arm, which is inconvenient to use. Because it is mostly used on engineering vehicles or other means of transportation, it has a long operating distance and a high operating height, but the telescopic extension arm has only three stages, and the extension range is limited.

[0004] Another example is Chinese patent document 110864061B, which records a spring energy storage multi-stage electric telescopic rod, which consists of multiple telescopic tubes nested in each other, an electric control component used to control the spring energy storage component to release elastic potential energy or accumulate elastic potential energy, and the telescopic joint component is set to switch between an extended state, a shortened state, and an intermediate state between the two states. Although the structure is ingenious, it is complex and difficult to process and install. At the same time, it keeps the spring in a compressed state for a long time, resulting in a short service life of the spring and inaccurate control of the telescopic length.

[0005] Therefore, there is no effective solution to the above technical problems. Summary of the invention

[0006] The purpose of the present invention is to provide a heterogeneous exoskeleton with multi-stage synchronous linkage telescopic exolimbs to solve the problem that the swinging back and forth of the legs of the heterogeneous exoskeleton interferes with the user.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] On the one hand, the present invention provides a heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb, including a driving mechanism, an exoskeleton connection shell, a multi-stage telescopic mechanism, and a spherical foot end component. The driving mechanism and the exoskeleton connection shell are connected by screws, the multi-stage telescopic mechanism is connected in sequence by guide rails, and the spherical foot end component is connected to the three-stage telescopic mechanism by bolts.

[0009] The multi-stage telescopic mechanism includes: a primary telescopic mechanism, a secondary telescopic mechanism, and a tertiary telescopic mechanism; the primary telescopic mechanism, the secondary telescopic mechanism, and the tertiary telescopic mechanism are connected in sequence through guide rails, synchronous pulleys, and synchronous toothed belts, the synchronous pulleys and the synchronous toothed belts are interlocked, and the guide rails and the sliders in the guide rails connect the telescopic mechanisms at each stage.

[0010] The first-stage telescopic mechanism, the second-stage telescopic mechanism and the third-stage telescopic mechanism have the same structure, including a telescopic mechanism housing, a synchronous pulley, a synchronous toothed belt, a toothed buckle and a guide rail. The synchronous pulley, the synchronous toothed belt and the toothed buckle are interlocked with each other. The side wall of the telescopic mechanism housing is provided with evenly distributed fixing holes that match the guide rail. There is one on each side of the telescopic mechanism housing, and the guide rail is installed on the outer side through the fixing holes, and the guide rail slider is installed on the inner side; the synchronous pulley is connected to the telescopic mechanism housing through a shaft, the synchronous toothed belt is connected to the synchronous pulley, and the toothed buckle is connected to the telescopic mechanism housing through a screw.

[0011] The driving mechanism includes a motor, a screw rod, a ball screw, and a housing connector, which are connected in sequence; the motor and the screw rod are connected by threads, and the screw rod and the ball screw are connected by threads, wherein the ball screw and the housing connector are connected by a first screw, and the housing connector is connected to the telescopic mechanism housing of the first-level telescopic mechanism by bolts.

[0012] The exoskeleton connection shell is connected to the primary telescopic mechanism through the guide rail.

[0013] The spherical foot end component is connected to the three-stage telescopic mechanism through bolts.

[0014] On the other hand, the present invention also provides a working method for a heterogeneous exoskeleton with multi-level synchronous linkage of telescopic exolimbs, which uses human-machine collaborative control and utilizes surface electromyography sensors to collect human muscle electrical signals, predict the body's movement intention and knee joint angle, and control the swing amplitude and telescopic state of the telescopic exolimb in combination with a preset working mode and working environment. The pressure sensor installed in the spherical foot end component senses the contact state between the telescopic exolimb and the surrounding environment to control the elongation of the telescopic exolimb, analyzes human movement through the control system, controls the telescopic state of the exolimb, and realizes a closed control loop.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the multi-stage linkage telescopic outer limb structure of the present invention can freely telescope during the forward and backward swinging process, and only controlling one stage of telescopic mechanism can control the synchronous telescopic mechanisms of all levels, thereby reducing interference to the user.

[0016] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 It is an assembly diagram of the present invention;

[0019] Figure 2 It is an axial exploded view of the present invention;

[0020] Figure 3 It is an exploded view of the telescopic mechanism of the present invention;

[0021] Figure 4 It is a cross-sectional view of the telescopic mechanism of the present invention;

[0022] Figure 5 An exploded diagram of the driving mechanism of the present invention;

[0023] Figure 6 It is a flow chart of the control method of the present invention.

[0024] The reference numerals in the figure are: exoskeleton connection shell (1), primary telescopic mechanism (2), secondary telescopic mechanism (3), tertiary telescopic mechanism (4), spherical foot end component (5), driving mechanism (6), telescopic mechanism shell (2-1), synchronous pulley (2-2), synchronous toothed belt (2-3), toothed buckle (2-4), guide rail (2-5), gasket (2-6), motor (6-1), lead screw (6-2), ball screw (6-3), shell connector (6-4), first screw (6-5). DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The present invention relates to a heterogeneous exoskeleton with multi-stage synchronous linkage and telescopic exolimbs. Figure 1-5 , including a driving mechanism 6, an exoskeleton connection shell 1, a multi-stage telescopic mechanism, and a spherical foot end component 5. The driving mechanism 6 and the exoskeleton connection shell 1 are connected by screws, the multi-stage telescopic mechanism is connected in sequence by guide rails, and the spherical foot end component 5 is connected to the three-stage telescopic mechanism 4 by bolts.

[0027] The multi-stage telescopic mechanism includes: a primary telescopic mechanism 2, a secondary telescopic mechanism 3, and a tertiary telescopic mechanism 4; the primary telescopic mechanism 2, the secondary telescopic mechanism 3, and the tertiary telescopic mechanism 4 are connected in sequence through a guide rail 2-5, a synchronous pulley 2-2, and a synchronous toothed belt 2-3, the synchronous pulley 2-2 and the synchronous toothed belt 2-3 are interlocked with each other, and the guide rail 2-5 and the slider in the guide rail 2-5 connect the telescopic mechanisms at each stage.

[0028] The first-stage telescopic mechanism 2, the second-stage telescopic mechanism 3 and the third-stage telescopic mechanism 4 have the same structure, including a telescopic mechanism housing 2-1, a synchronous pulley 2-2, a synchronous toothed belt 2-3, a toothed buckle 2-4 and a guide rail 2-5. The synchronous pulley 2-2, the synchronous toothed belt 2-3 and the toothed buckle 2-4 are interlocked with each other. The side wall of the telescopic mechanism housing 2-1 is provided with evenly distributed fixing holes that match the guide rail 2-5. The telescopic mechanism housing 2-1 has one on each side, and the guide rail 2-5 is installed on the outer side through the fixing holes, and the guide rail 2-5 slider is installed on the inner side; the synchronous pulley 2-2 is connected to the telescopic mechanism housing 2-1 through a shaft, the synchronous toothed belt 2-3 is connected to the synchronous pulley 2-2, and the toothed buckle 2-4 is connected to the telescopic mechanism housing 2-1 through screws.

[0029] The driving mechanism 6 includes a motor 6-1, a screw rod 6-2, a ball screw 6-3, and a shell connector 6-4, which are connected in sequence; the motor 6-1 is connected to the screw rod 6-2 by threads, and the screw rod 6-2 is connected to the ball screw 6-3 by threads, wherein the ball screw 6-3 and the shell connector 6-4 are connected by a first screw 6-5, and the shell connector 6-4 is connected to the telescopic mechanism shell 2-1 of the first-level telescopic mechanism 2 by bolts.

[0030] The exoskeleton connection shell 1 is connected to the primary telescopic mechanism 2 through the guide rails 2-5.

[0031] The spherical foot end component 5 is connected to the three-stage telescopic mechanism 4 through bolts.

[0032] The present application also provides a method for working a heterogeneous exoskeleton with multi-stage synchronous linkage to extend and retract the external limbs. Figure 6, using human-machine collaborative control, surface electromyography sensors are used to collect human muscle electrical signals, predict human movement intentions and knee joint angles, and combine preset working modes and working environments to control the swing amplitude and telescopic state of the telescopic external limbs. The pressure sensor installed in the spherical foot end component 5 senses the contact state between the telescopic external limbs and the surrounding environment to control the elongation of the telescopic external limbs. The control system analyzes human movement, controls the telescopic state of the external limbs, and realizes a closed control loop.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A heterogeneous exoskeleton with multi-level synchronous linkage and telescopic exolimbs, characterized in that: The invention comprises a driving mechanism (6), an exoskeleton connection shell (1), a multi-stage telescopic mechanism, and a spherical foot end component (5); the driving mechanism (6) and the exoskeleton connection shell (1) are connected by screws, the multi-stage telescopic mechanism is connected in sequence by guide rails, and the spherical foot end component (5) and the three-stage telescopic mechanism (4) are connected by bolts.

2. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb according to claim 1, characterized in that: The multi-stage telescopic mechanism comprises: a primary telescopic mechanism (2), a secondary telescopic mechanism (3), and a tertiary telescopic mechanism (4); the primary telescopic mechanism (2), the secondary telescopic mechanism (3), and the tertiary telescopic mechanism (4) are connected in sequence through a guide rail (2-5), a synchronous pulley (2-2), and a synchronous toothed belt (2-3); the synchronous pulley (2-2) and the synchronous toothed belt (2-3) are interlocked with each other, and the guide rail (2-5) and a slider in the guide rail (2-5) connect the telescopic mechanisms at each stage.

3. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb according to claim 2, characterized in that: The first-stage telescopic mechanism (2), the second-stage telescopic mechanism (3), and the third-stage telescopic mechanism (4) have the same structure, and include a telescopic mechanism housing (2-1), a synchronous pulley (2-2), a synchronous toothed belt (2-3), a toothed buckle (2-4), and a guide rail (2-5). The synchronous pulley (2-2), the synchronous toothed belt (2-3), and the toothed buckle (2-4) are interlocked with each other. The side wall of the telescopic mechanism housing (2-1) is provided with uniformly distributed and aligned with the The guide rail (2-5) has two fixing holes that match each other, and the telescopic mechanism housing (2-1) has one on each side, the guide rail (2-5) is installed on the outer side through the fixing hole, and the guide rail (2-5) slider is installed on the inner side; the synchronous pulley (2-2) is connected to the telescopic mechanism housing (2-1) through a shaft, the synchronous toothed belt (2-3) is connected to the synchronous pulley (2-2), and the toothed buckle (2-4) is connected to the telescopic mechanism housing (2-1) through a screw.

4. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb according to claim 3, characterized in that: The driving mechanism (6) comprises a motor (6-1), a screw rod (6-2), a ball screw (6-3), and a housing connecting member (6-4), which are connected in sequence; the motor (6-1) and the screw rod (6-2) are connected via threads, and the screw rod (6-2) and the ball screw (6-3) are connected via threads, wherein the ball screw (6-3) and the housing connecting member (6-4) are connected via a first screw (6-5), and the housing connecting member (6-4) is connected to the telescopic mechanism housing (2-1) of the primary telescopic mechanism (2) via bolts.

5. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb according to claim 2, characterized in that: The exoskeleton connection shell (1) is connected to the primary telescopic mechanism (2) via the guide rail (2-5).

6. The heterogeneous exoskeleton multi-stage synchronous linkage telescopic exolimb according to claim 2, characterized in that: The spherical foot end component (5) is connected to the three-stage telescopic mechanism (4) via bolts.

7. A method for operating a heterogeneous exoskeleton with multi-stage synchronous linkage and telescopic exolimbs according to any one of claims 1 to 6, characterized in that: Human-machine collaborative control is used, surface electromyography sensors are used to collect human muscle electrical signals, predict the human body's movement intention and knee joint angle, and combined with the preset working mode and working environment, the swing amplitude and extension state of the telescopic external limbs are controlled. The contact state of the telescopic external limbs with the surrounding environment is sensed by a pressure sensor installed in the spherical foot end component (5) to control the extension amount of the telescopic external limbs. The control system analyzes human body movement and controls the extension state of the external limbs to achieve a control closed loop.

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