Joint angle adjusting device and method and power-assisted exoskeleton

Abstract

The invention discloses a joint angle adjusting device, an adjusting method and a power-assisted exoskeleton, the joint angle adjusting device comprises a limb main body, and the limb main body comprises a limb main body connecting part, a first rotating joint, a first limb structure, a second rotating joint, a joint angle adjusting mechanism and a second limb structure. The joint angle adjusting mechanism is provided with a feedback system, and the feedback system obtains the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor so as to determine the second joint adduction required angle. The joint angle adjusting mechanism comprises a driving unit and an angle adjusting block, the angle adjusting block is provided with a limiting supporting face, the driving unit drives the angle adjusting block to move so as to change the position relation between the limiting supporting face and the third limiting block, and then the second joint adduction required angle is limited. The device can control the second rotary joint to limit the adduction angle of the second limb structure in real time.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeletons, and in particular to a joint angle adjustment device, a joint angle adjustment method, and a power-assisted exoskeleton. Background Art

[0002] In the process of implementing this application, the inventors found that there are at least the following problems in the prior art. At present, when the existing power-assisted exoskeletons are worn and used, the active joints have the freedom to rotate forward and backward and the freedom to swing inward and outward. The rotational freedom is relatively large, which can easily cause the limbs to touch the human chest during rotation, posing a safety hazard.

[0003] When working with a power-assisted exoskeleton, the operator needs to control the amplitude of the inward and outward swing of the active joints, and try to avoid the limbs from touching the human chest during the rotation process. This undoubtedly increases the complexity and difficulty of operating the power-assisted exoskeleton. Summary of the invention

[0004] The present application aims to solve at least one of the above-mentioned technical problems in the prior art to a certain extent. To this end, the present application provides a joint angle adjustment device that can control the adduction angle of the second rotation joint in real time, improve the flexibility and stability during the lifting of heavy objects, and improve the safety of the power-assisted exoskeleton.

[0005] The embodiment of the present application also provides a joint angle adjustment method for controlling the above-mentioned joint angle adjustment device.

[0006] The embodiment of the present application also provides a power-assisted exoskeleton using the above-mentioned joint angle adjustment device.

[0007] According to an embodiment of the first aspect of the present application, a joint angle adjustment device is provided, including a limb body, the limb body including a limb body connection part; a first rotary joint, the first rotary joint including a first joint connection block rotatably connected to the limb body connection part and a first joint motor installed at the limb body connection part, the driving shaft of the first joint motor is connected to the first joint connection block to drive the first joint connection block to rotate forward and backward, and the first joint motor has a first encoder for obtaining the real-time angle of the first joint motor; a first limb structure, the upper part of the first limb structure is connected to the first joint connection block, so that it is driven by the first joint connection block to rotate forward and backward; a second rotary joint, the second rotary joint includes a second joint connection block rotatably connected to the lower part of the first limb structure and a second joint motor installed at the lower part of the first limb structure, the driving shaft of the second joint motor is connected to the second joint connection block to drive the second joint connection block to rotate forward and backward, and the second joint motor has a second encoder for obtaining the real-time angle of the second joint motor; a second limb structure, the upper part of the second limb structure is connected to the second joint connection block to drive The second joint connection block drives the forward and backward rotation, and the second limb structure is rotationally connected to the second joint connection block so that the second limb structure can swing inward and outward relative to the second joint connection block. The second joint connection block is provided with a third limit block to limit the angle of the inward swing of the second limb structure; a three-dimensional force sensor directly or indirectly installed at the lower end of the second limb structure; and a joint angle adjustment mechanism, the joint angle adjustment mechanism is provided with a feedback system for collecting the signal of the first encoder, the signal of the second encoder and the signal of the three-dimensional force sensor, the feedback signal obtains the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor to determine the required angle of adduction of the second joint, the joint angle adjustment mechanism includes a drive unit installed on the second limb structure and an angle adjustment block connected to the drive unit, the angle adjustment block has a limit support surface for pressing the third limit block, the drive unit drives the angle adjustment block to move to change the positional relationship between the limit support surface and the third limit block, thereby limiting the required angle of adduction of the second joint.

[0008] According to an embodiment of the first aspect of the present application, a joint angle adjustment device is provided, wherein the angle adjustment block is directly or indirectly equipped with a displacement sensor to identify the real-time position of the angle adjustment block, and the displacement sensor is communicatively connected with the feedback system.

[0009] According to an embodiment of the first aspect of the present application, a joint angle adjustment device is provided, wherein the limiting support surface is an arc surface.

[0010] According to an embodiment of the first aspect of the present application, a joint angle adjustment device is provided, wherein the joint angle adjustment mechanism also includes a moving member, which is installed on the second limb structure through a third sliding component so that the moving member can slide along the length direction of the second limb structure, the driving end of the driving unit is connected to one end of the moving member, and the angle adjustment block is arranged at the other end of the moving member.

[0011] According to an embodiment of the first aspect of the present application, the driving unit is an electric push rod, the electric push rod is fixed on the second limb structure, and a driving push rod of the electric push rod is fixed to the moving member.

[0012] According to an embodiment of the first aspect of the present application, the joint angle adjustment device also includes the end actuator, the end actuator is installed at the lower end of the second limb structure, and the three-dimensional force sensor is installed on the end actuator.

[0013] According to an embodiment of the second aspect of the present application, a joint angle adjustment method is provided, using the joint angle adjustment device described in the embodiment of the first aspect of the present application, comprising the following steps:

[0014] Collect the signal of the first encoder to obtain the real-time angle of the first joint motor; collect the signal of the second encoder to obtain the real-time angle of the second joint motor; collect the signal of the three-dimensional force sensor to obtain the real-time data of the three-dimensional force sensor; determine the required adduction angle of the second joint through the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor;

[0015] According to the required adduction angle of the second joint, the target position of the angle adjustment block is determined, the real-time position of the angle adjustment block is obtained through the displacement sensor, and the real-time position is compared with the target position. According to the comparison result between the real-time position and the target position, the driving unit drives the angle adjustment block to move to the target position, thereby limiting the required adduction angle of the second joint.

[0016] According to an embodiment of the second aspect of the present application, the required adduction angle of the second joint is determined based on the first formula:

[0017]

[0018] in, is the required adduction angle of the second joint, μ is the weight coefficient, F is the real-time data of the three-dimensional force sensor, α is the real-time angle of the first joint motor, and β is the real-time angle of the second joint motor.

[0019] According to an embodiment of the second aspect of the present application, the target position of the angle adjustment block is determined based on a second formula, the second formula:

[0020]

[0021] Wherein, L is the target position data of the angle adjustment block, A is the length of the outer hub of the second rotary joint, d is the diameter of the angle adjustment block, It is the required angle of adduction of the second joint.

[0022] According to an embodiment of the third aspect of the present application, there is provided a power-assisted exoskeleton, comprising the joint angle adjustment device described in the embodiment of the first aspect of the present application.

[0023] Based on the above technical solution, the embodiments of the present application have at least the following beneficial effects: the above technical solution, first, by obtaining the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor, the required adduction angle of the second joint is determined; then the angle adjustment block is moved to change the positional relationship between the limit support surface and the third limit block, thereby changing the angle limit of the adduction of the second limb structure and defining the required adduction angle of the second joint. The present application can control the adduction angle limit of the second rotating joint on the second limb structure in real time, improve the flexibility and stability in the process of lifting heavy objects, improve the safety of the power-assisted exoskeleton, and is particularly suitable for scenes requiring high-intensity operations such as lifting poles in the power grid industry, effectively alleviating the labor intensity of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application is further described below in conjunction with the accompanying drawings and embodiments;

[0025] Figure 1 is a schematic diagram of the structure of the limb body in the embodiment of the present application;

[0026] Figure 2 is a structural schematic diagram of a joint angle adjustment mechanism in an embodiment of the present application;

[0027] Figure 3 is a cross-sectional view of the joint angle adjustment mechanism in an embodiment of the present application;

[0028] Figure 4 is a front view of the limb body in the embodiment of the present application, wherein the angle between the second limb structure and the second joint connection block is 180°;

[0029] Figure 5 yes Figure 4 The B-direction partial view;

[0030] Figure 6 is a schematic structural diagram of the second limb structure adducted in the first embodiment;

[0031] Figure 7 It is a structural schematic diagram of the second limb structure adducted in the second embodiment.

[0032] Reference numerals: limb body connecting portion 100, limb body connecting seat 111;

[0033] A first rotating joint 200, a first joint motor 211, a first joint connecting block 221, a first limiting block 222, and a second limiting block 223;

[0034] A first limb structure 300, a first upper arm connection block 311, and a second upper arm connection block 321;

[0035] A second rotating joint 400, a second joint motor 411, a second joint connecting block 421, a third limiting block 422, an angle limiting surface 423, and a fourth limiting block 424;

[0036] Joint angle adjustment mechanism 500, electric push rod 511, moving member 512, slider 513, clamping block 514, angle adjustment block 521, position limiting support surface 522;

[0037] The second limb structure 600, the first connecting block 611 of the forearm, the slide hole 612, the second connecting block 621 of the forearm;

[0038] End effector 700 . DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0045] Refer to the following Figures 1 to 5 This embodiment describes a joint angle adjustment device, including a limb body, the limb body including a limb body connection part 100, a first rotation joint 200, a first limb structure 300, a second rotation joint 400, a joint angle adjustment mechanism 500 and a second limb structure 600.

[0046] like Figure 1 The limb body connection part 100 includes a limb body connection seat 111, and the limb body connection seat 111 is used to connect with the exoskeleton body.

[0047] The first rotary joint 200 includes a first joint motor 211 and a first joint connection block 221. The first joint motor 211 is installed on the limb main body connection part 100, the first joint connection block 221 is rotatably connected to the limb main body connection part 100, and the driving shaft of the first joint motor 211 is connected to the first joint connection block 221 to drive the first joint connection block 221 to rotate forward and backward.

[0048] The upper portion of the first limb structure 300 is connected to the first joint connection block 221 so as to be driven by the first joint connection block 221 to rotate forward and backward.

[0049] like Figure 1 As shown, when describing the actions of the first rotational joint 200 and the first limb structure 300, a three-dimensional orthogonal coordinate system can also be used for description. The X1Y1Z1 coordinate system used to describe the actions of the first rotational joint 200 and the first limb structure 300 is an orthogonal coordinate system that includes an X1 axis, a Y1 axis, and a Z1 axis. Sometimes the direction parallel to the X1 axis is referred to as the "X1 direction" or the "inside-out direction", the direction parallel to the Y1 axis is referred to as the "Y1 direction" or the "front-back direction", and the direction parallel to the Z1 axis is referred to as the "Z1 direction" or the "up-down direction". The Y1 axis is orthogonal to the X1 axis, and the Z1 axis is orthogonal to the X1 axis and the Y1 axis. The drive shaft of the first joint motor 211 is arranged along the X1 direction. It can be understood that the first joint motor 211 drives the first joint connection block 221 to rotate forward and backward along the X1 axis, and the first joint connection block 221 drives the first limb structure 300 to rotate forward and backward along the X1 axis. It should be emphasized that Figure 1 The X1Y1Z1 coordinate system identified in the figure is described based on the state where the limb body is completely drooping. If the first limb structure 300 rotates along the X1 axis, the position of the Y1 axis should also be understood to have changed. This will make it clearer to understand the technical solution of this application.

[0050] In some embodiments, the first limb structure 300 has the freedom to swing inward and outward. Specifically, the first limb structure 300 is connected to the first joint connection block 221 by rotation about the Y1 axis, and the first limb structure 300 can swing about the Y1 axis. Figure 1 In the limb body shown, the first limb structure 300 is completely drooped. At this time, the first joint motor 211 is at the preset zero position. If the first joint motor 211 drives the first joint connection block 221 to rotate, the position of the Y1 axis also changes. The Y1 axis can be understood as the axis of the hinge between the first limb structure 300 and the first joint connection block 221. In addition, the first joint connection block 221 is provided with a first limit block 222 for limiting the angle of the first limb structure 300 to swing outward; the first joint connection block 221 is provided with a second limit block 223 for limiting the angle of the first limb structure 300 to retract.

[0051] The second rotating joint 400 includes a second joint connecting block 421 rotatably connected to the lower part of the first limb structure 300 and a second joint motor 411 installed at the lower part of the first limb structure 300. The driving shaft of the second joint motor 411 is connected to the second joint connecting block 421 to drive the second joint connecting block 421 to rotate forward and backward.

[0052] The upper portion of the second limb structure 600 is connected to the second joint connection block 421 so as to be driven by the second joint connection block 421 to rotate forward and backward.

[0053] like Figure 1 As shown, when describing the movement of the second rotation joint 400 and the second limb structure 600, a three-dimensional orthogonal coordinate system can also be used for description. The X2Y2Z2 coordinate system used to describe the movement of the second rotation joint 400 and the second limb structure 600 is an orthogonal coordinate system including an X2 axis, a Y2 axis, and a Z2 axis. Sometimes the direction parallel to the X2 axis is referred to as the "X2 direction" or the "inside-out direction", the direction parallel to the Y2 axis is referred to as the "Y2 direction" or the "front-back direction", and the direction parallel to the Z2 axis is referred to as the "Z2 direction" or the "up-down direction". The Y2 axis is orthogonal to the X2 axis, and the Z2 axis is orthogonal to the X2 axis and the Y2 axis. The driving shaft of the second joint motor 411 is arranged along the X2 direction. It can be understood that the second joint motor 411 drives the second joint connection block 421 to rotate forward and backward along the X2 axis, and the second joint connection block 421 drives the second limb structure 600 to rotate forward and backward along the X2 axis. It should be emphasized that Figure 1 The X2Y2Z2 coordinate system identified in the figure is described based on the state in which the limb body is completely drooping. If the second limb structure 600 rotates along the X2 axis, the position of the Y2 axis should also be understood to have changed. Moreover, when the position of the first limb structure 300 changes, the position of the X2Y2Z2 coordinate system also changes. When understanding the technical solution of the present application, it should be understood in combination with the actions and real-time positions of each structure.

[0054] Combination Figure 2 The second limb structure 600 is rotatably connected to the second joint connection block 421, so that the second limb structure 600 can swing inward and outward relative to the second joint connection block 421, thereby realizing the second limb structure 600 has the freedom to swing inward and outward. Figure 1 and Figure 2 The second limb structure 600 is connected to the second joint connection block 421 by rotation about the Y2 axis, and the second limb structure 600 can swing about the Y2 axis. Figure 1In the limb body shown, the second limb structure 300 is completely drooped. At this time, the second joint motor 411 is at the preset zero position. If the second joint motor 411 drives the second joint connecting block 421 to rotate, the position of the Y2 axis also changes. The Y2 axis can be understood as the axis of the hinge shaft between the second limb structure 300 and the second joint connecting block 421.

[0055] The second joint connection block 421 is provided with a third limit block 422 to limit the angle of the inward swing of the second limb structure 600, specifically through the angle limit surface 423 of the third limit block 422; the second joint connection block 421 is provided with a fourth limit block 424 to limit the angle of the outward swing of the second limb structure 600.

[0056] A three-dimensional force sensor is directly or indirectly mounted on the lower end of the second limb structure 600. Figure 1 As shown, the joint angle adjustment device also includes an end effector 700 , which is mounted on the lower end of the second limb structure 600 , and a three-dimensional force sensor is mounted on the end effector 700 .

[0057] The first joint motor 211 has a first encoder for obtaining the real-time angle of the first joint motor 211; the second joint motor 411 has a second encoder for obtaining the real-time angle of the second joint motor 411. The joint angle adjustment mechanism 500 is provided with a feedback system, which is used to collect signals from the first encoder, the second encoder, and the three-dimensional force sensor. The feedback system obtains the real-time angle of the first joint motor, the real-time angle of the second joint motor, and the real-time data of the three-dimensional force sensor to determine the required adduction angle of the second joint.

[0058] Combination Figure 2 and Figure 3 The joint angle adjustment mechanism 500 includes a driving unit installed on the second limb structure 600 and an angle adjustment block 521 connected to the driving unit. The angle adjustment block 521 has a limit support surface 522 for pressing the third limit block 422. The driving unit drives the angle adjustment block 521 to move to change the positional relationship between the limit support surface 522 and the third limit block 422. In practical applications, the driving unit is an electric push rod 511, which is fixed on the second limb structure 600, and the driving push rod of the electric push rod 511 is fixed to the moving member 512.

[0059] In practical applications, the joint angle adjustment device is suitable for application to an upper limb power-assisted exoskeleton, specifically, the limb body is an arm, the limb body connection part 100 is an arm connection part, the first rotation joint 200 is a shoulder rotation joint, the first limb structure 300 is an upper arm structure, the second rotation joint 400 is an elbow rotation joint, the joint angle adjustment mechanism 500 is an elbow joint angle adjustment mechanism, the second limb structure 600 is a forearm structure, and the end actuator 700 is a hand actuator.

[0060] It is understandable that when the second limb structure 600 is driven by the operator to swing inward around the Y2 axis, when the limiting support surface 522 of the angle adjustment block 521 contacts the angle limiting surface 423 of the third limiting block 422, the second limb structure 600 can no longer swing inward, thereby limiting the angle of the second rotation joint inward. Figure 2 and Figure 3 The electric push rod 511 drives the movable member 512 to move, thereby changing the positional relationship between the limit support surface 522 and the third limit block 422. When the second limb structure 600 swings inward around the Y2 axis, the adduction angle limit will also change. The technical solution of the present application limits the required adduction angle of the second joint by adjusting the positional relationship between the angle adjustment block 521 and the third limit block 422.

[0061] In some of the embodiments, the limit support surface 522 is an arc surface, which can ensure that the limit support surface 522 of the angle adjustment block 521 is accurately in contact with the angle limit surface 423 of the third limit block 422, and the contact force of the two surfaces is also uniform. In addition, when calculating the positional relationship between the limit support surface 522 and the angle limit surface 423, the limit support surface 522 is set to an arc surface, and the distance from the limit support surface 522 to the axis of the arc surface is constant. Taking the axis of the arc surface as the baseline position, the positional relationship between the axis of the arc surface and the angle limit surface 423 is calculated, and the positional relationship between the limit support surface 522 and the angle limit surface 423 can be deduced. It can also be understood that the arc surface also makes it easier to calculate the required adduction angle of the second joint, which is convenient for timely adjusting the position of the angle adjustment block 521 and limiting the required adduction angle of the second joint. Of course, in other embodiments, the angle adjustment block may also be arranged according to a conventional limit block structure, that is, the limit support surface is a plane, but since the position of the angle adjustment block changes as the second limb structure moves, when the angle adjustment block contacts the third limit block, it is usually the edge of the limit support surface that contacts the third limit block, that is, the angular position of the angle adjustment block contacts the angle limit surface, and the force is concentrated on the angular position of the angle adjustment block, which can easily cause angular wear of the angle adjustment block, and the distance to the angular position cannot be calculated using a certain reference position of the angle adjustment block, which makes it difficult to accurately limit the required angle of adduction of the second joint.

[0062] In practical applications, as the weight is lifted, the second limb structure 600 needs to gradually retract inward relative to the second rotary joint 400, so that the weight moves toward the human body, otherwise it will cause excessive eccentricity and instability of the human body, so it is necessary to accurately control the adduction angle of the second rotary joint. This application determines the required adduction angle of the second joint by obtaining the real-time angle of the first joint motor, the real-time angle of the second joint motor, and the real-time data of the three-dimensional force sensor; then the angle adjustment block 521 is moved to change the position relationship between the limit support surface 522 and the third limit block 422, thereby changing the angle limit of the adduction of the second limb structure 600, and then limiting the required adduction angle of the second joint. This application is applied to the upper limb power-assisted exoskeleton, which can control the adduction angle limit of the second rotary joint 400 to the second limb structure 600 in real time, improve the flexibility and stability in the process of lifting heavy objects, and improve the safety of the upper limb power-assisted exoskeleton. It is particularly suitable for scenes such as lifting poles in the power grid industry that require high-intensity upper limb operations, effectively alleviating the labor intensity of workers and improving work efficiency. Of course, it is not only applicable to the power grid industry, but can also be extended to other fields that require high-intensity upper limb work, such as construction, logistics handling, etc.

[0063] Furthermore, the angle adjustment block 521 is directly or indirectly equipped with a displacement sensor to identify the real-time position of the angle adjustment block 521, and the displacement sensor is connected to the feedback system for communication. In the above technical solution, the target position of the angle adjustment block 521 is determined according to the required adduction angle of the second joint. Since the position of the angle adjustment block 521 is adjusted in real time, it is necessary to first identify the real-time position of the angle adjustment block 521 through the displacement sensor, and the feedback system obtains the real-time position information collected by the displacement sensor, and then according to the comparison result between the real-time position and the target position, if the comparison result is a difference, the drive unit drives the angle adjustment block 521 to move to the target position, thereby limiting the required adduction angle of the second joint.

[0064] Specifically, if Figure 1As shown, the first limb structure 300 includes a first connecting block 311 of the upper arm and a second connecting block 321 of the upper arm. The first connecting block 311 of the upper arm and the second connecting block 321 of the upper arm are connected by a first sliding assembly. The first sliding assembly can be provided to include a first slideway provided on the first connecting block 311 of the upper arm and a first slide rail provided on the second connecting block 321 of the upper arm. The first slideway and the first slide rail cooperate with each other. After adjusting the positions of the first connecting block 311 of the upper arm and the second connecting block 321 of the upper arm, the two are fastened by fasteners. In this way, the length of the first limb structure 300 can be adjusted. Similarly, the second limb structure 600 includes a first forearm connecting block 611 and a second forearm connecting block 621, and the first forearm connecting block 611 and the second forearm connecting block 621 are connected via a second sliding assembly, and the second sliding assembly can be provided to include a second slideway provided on the first forearm connecting block 611 and a second slide rail provided on the second forearm connecting block 621, and the second slideway and the second slide rail cooperate with each other. After adjusting the positions of the first forearm connecting block 611 and the second forearm connecting block 621, the two are fastened together by fasteners, so that the length of the second limb structure 600 can be adjusted.

[0065] Reference Figure 2 and Figure 3 The joint angle adjustment mechanism 500 further includes a moving member 512, which is mounted on the second limb structure 600 through a third sliding assembly so that the moving member 512 can slide along the length direction of the second limb structure 600, the driving end of the driving unit is connected to one end of the moving member 512, and the angle adjustment block 521 is arranged at the other end of the moving member 512. The third sliding assembly includes a slide hole 612 arranged on the second limb structure 600 and a plurality of sliders 513 arranged on the moving member 512, and a block 514 is arranged after the slider 513 passes through the slide hole 612 to restrict the slider 513 in the slide hole 612. It can be understood that the slide hole 612 is arranged along the length direction of the first connecting block 611, and the movable member 512 is limited by the slider 513 deep in the slide hole 612, and can slide along the slide hole 612, that is, slide along the length direction of the first connecting block 611. When the electric push rod 511 drives the movable member 512 to slide, the angle adjustment block 521 is also equivalent to sliding along the length direction of the first connecting block 611, thereby changing the positional relationship with the third limit block 422.

[0066] The embodiment of the present application also presents a power-assisted exoskeleton, including the above-mentioned joint angle adjustment device.

[0067] The present application also provides a method for adjusting the joint angle, using the above-mentioned joint angle adjustment device, comprising the following steps:

[0068] Step S1, the second rotation joint 400 is in a 180° state with respect to the second limb structure 600, specifically, the angle between the second limb structure 600 and the second joint connection block 421 is 180°, such as Figure 4 shown.

[0069] Step S2, collecting the signal of the first encoder to obtain the real-time angle of the first joint motor; collecting the signal of the second encoder to obtain the real-time angle of the second joint motor; collecting the signal of the three-dimensional force sensor to obtain the real-time data of the three-dimensional force sensor.

[0070] The required adduction angle of the second joint is determined by the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor; specifically, the required adduction angle of the second joint is determined based on the first formula.

[0071] First formula:

[0072] in, is the required adduction angle of the second joint, μ is the weight coefficient, F is the real-time data of the three-dimensional force sensor, α is the real-time angle of the first joint motor, and β is the real-time angle of the second joint motor.

[0073] μ is the weight coefficient, which is related to the load weight. If the load weight is between 0-5kg, μ=1; if the load weight is between 5-10kg, μ=1.2. F is the real-time data of the three-dimensional force sensor, so it is necessary to take the derivative to obtain an accurate value. The limb body is completely drooping. At this time, the first joint motor 211 is at the preset zero position, and then the real-time angle of the first joint motor is obtained through the first encoder; the second joint motor 411 is at the preset zero position, and then the real-time angle of the second joint motor is obtained through the second encoder.

[0074] For example, α = 10°, β = 15°, μ = 1, and F changes by 0.03 within a time interval of Δt = 0.1. .

[0075] Step S3, determining the target position of the angle adjustment block 521 according to the required adduction angle of the second joint. Specifically, the target position of the angle adjustment block 521 is determined based on the second formula.

[0076] Second formula:

[0077] L=Asin + d; wherein L is the target position data of the angle adjustment block 521, A is the outer hub length of the second rotary joint 400, and d is the diameter of the angle adjustment block, is the required adduction angle of the second joint. For example, A=50mm, d=13mm, and combined with the above The value is calculated to be L = 35.64 mm. The outer diameter of the rotating flange of the second joint connection block 421 is the outer hub length of the second rotating joint 400, which can be referred to Figure 5 To understand.

[0078] Then, the real-time position of the angle adjustment block 521 is obtained through the displacement sensor, and the real-time position is compared with the target position. According to the comparison result between the real-time position and the target position, the electric push rod 511 drives the angle adjustment block 521 to move to the target position, thereby limiting the required adduction angle of the second joint.

[0079] The following shows two different The required adduction angle of the second joint corresponding to the value is illustrated by taking the second limb structure 600 reaching the maximum adduction angle.

[0080] Embodiment 1, refer to Figure 6 , at this time the second joint adduction angle required At this time, the limiting support surface 522 of the angle adjustment block 521 contacts the angle limiting surface 423 of the third limiting block 422, and the second limb structure 600 can no longer swing inward, reaching the maximum inward angle.

[0081] Example 2, refer to Figure 7 , at this time the second joint adduction angle required At this time, the limiting support surface 522 of the angle adjustment block 521 contacts the angle limiting surface 423 of the third limiting block 422, and the second limb structure 600 can no longer swing inward, reaching the maximum inward angle.

[0082] In both embodiments, the required angle of adduction of the second joint is first obtained. value, and then adjust the real-time position of the angle adjustment block 521 in real time to make it reach the target position, thereby limiting the required adduction angle of the second joint.

[0083] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A joint angle adjustment device, characterized in that: Comprising a limb body, the limb body comprising Limb-body connection; A first rotary joint, the first rotary joint comprises a first joint connection block rotatably connected to the limb main body connection part and a first joint motor installed at the limb main body connection part, a driving shaft of the first joint motor is connected to the first joint connection block to drive the first joint connection block to rotate forward and backward, and the first joint motor has a first encoder for obtaining a real-time angle of the first joint motor; A first limb structure, wherein the upper portion of the first limb structure is connected to the first joint connection block so as to be driven by the first joint connection block to rotate forward and backward; a second rotary joint, the second rotary joint comprising a second joint connection block rotatably connected to the lower part of the first limb structure and a second joint motor installed at the lower part of the first limb structure, a driving shaft of the second joint motor being connected to the second joint connection block to drive the second joint connection block to rotate forward and backward, and the second joint motor having a second encoder for obtaining a real-time angle of the second joint motor; a second limb structure, wherein the upper portion of the second limb structure is connected to the second joint connection block so as to be driven by the second joint connection block to rotate forward and backward, the second limb structure is rotationally connected to the second joint connection block so that the second limb structure can swing inward and outward relative to the second joint connection block, and the second joint connection block is provided with a third limit block to limit the inward swinging angle of the second limb structure; a three-dimensional force sensor mounted directly or indirectly on the lower end of the second limb structure; as well as A joint angle adjustment mechanism, wherein the joint angle adjustment mechanism is provided with a feedback system for collecting signals from the first encoder, signals from the second encoder and signals from the three-dimensional force sensor, wherein the feedback system obtains the real-time angle of the first joint motor, the real-time angle of the second joint motor and real-time data of the three-dimensional force sensor to determine the required adduction angle of the second joint, wherein the joint angle adjustment mechanism comprises a drive unit installed on the second limb structure and an angle adjustment block connected to the drive unit, wherein the angle adjustment block has a limit support surface for pressing against the third limit block, wherein the drive unit drives the angle adjustment block to move to change the positional relationship between the limit support surface and the third limit block, thereby limiting the required adduction angle of the second joint.

2. The joint angle adjustment device according to claim 1, characterized in that: The angle adjustment block is directly or indirectly equipped with a displacement sensor to identify the real-time position of the angle adjustment block, and the displacement sensor is communicatively connected with the feedback system.

3. The joint angle adjustment device according to claim 2, characterized in that: The position limiting support surface is an arc surface.

4. The joint angle adjustment device according to claim 3, characterized in that: The joint angle adjustment mechanism also includes a moving component, which is installed on the second limb structure through a third sliding component so that the moving component can slide along the length direction of the second limb structure. The driving end of the driving unit is connected to one end of the moving component, and the angle adjustment block is arranged at the other end of the moving component.

5. The joint angle adjustment device according to claim 4, characterized in that: The driving unit is an electric push rod, which is fixed on the second limb structure, and a driving push rod of the electric push rod is fixed to the moving component.

6. The joint angle adjustment device according to any one of claims 3 to 5, characterized in that: The joint angle adjustment device also includes the end actuator, which is installed at the lower end of the second limb structure, and the three-dimensional force sensor is installed on the end actuator.

7. A method for adjusting a joint angle, characterized in that: Using the joint angle adjustment device according to any one of claims 3 to 6 comprises the following steps: Collect the signal of the first encoder to obtain the real-time angle of the first joint motor; collect the signal of the second encoder to obtain the real-time angle of the second joint motor; collect the signal of the three-dimensional force sensor to obtain the real-time data of the three-dimensional force sensor; determine the required adduction angle of the second joint through the real-time angle of the first joint motor, the real-time angle of the second joint motor and the real-time data of the three-dimensional force sensor; According to the required adduction angle of the second joint, the target position of the angle adjustment block is determined, the real-time position of the angle adjustment block is obtained through the displacement sensor, and the real-time position is compared with the target position. According to the comparison result between the real-time position and the target position, the driving unit drives the angle adjustment block to move to the target position, thereby limiting the required adduction angle of the second joint.

8. The joint angle adjustment method according to claim 7, characterized in that: Determine the required adduction angle of the second joint based on the first formula: in, is the required adduction angle of the second joint, μ is the weight coefficient, F is the real-time data of the three-dimensional force sensor, α is the real-time angle of the first joint motor, and β is the real-time angle of the second joint motor.

9. The joint angle adjustment method according to claim 8, characterized in that: The target position of the angle adjustment block is determined based on the second formula: Wherein, L is the target position data of the angle adjustment block, A is the length of the outer hub of the second rotary joint, d is the diameter of the angle adjustment block, It is the required angle of adduction of the second joint.

10. A power-assisted exoskeleton, characterized in that: A joint angle adjustment device comprising any one of claims 1 to 6.

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