Active-passive composite foot, control method thereof, and robot

Abstract

This invention discloses a combined active-passive foot and its control method, as well as a robot. The combined active-passive foot includes: an ankle joint; a first limb rotatably connected to the ankle joint; a second limb rotatably connected to the ankle joint; an active telescopic drive connected to the ankle joint and the first limb; a passive hydraulic damping component connected to the ankle joint and the second limb; and a flow rate sensor disposed on the passive hydraulic damping component and configured to detect the flow rate of hydraulic oil in the passive hydraulic damping component. The flow rate sensor can obtain the flow rate and frequency of the hydraulic oil in the passive hydraulic damping component. The motion state of the combined active-passive foot can be determined based on the flow rate and frequency, thereby enabling corresponding control of the active telescopic drive to match the motion state of the combined active-passive foot and achieve adaptive matching adjustment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a combined active and passive foot, its control method, and a robot. Background Technology

[0002] Prostheses are fitted to robots and amputees to assist them and enable the robot to walk. Jointed prostheses, such as foot structures with ankles, represent a key technological focus and challenge in prosthesis development. Jointed prostheses are classified into passive prostheses, active prostheses, and hybrid active-passive prostheses. Hybrid active-passive prostheses include both active and passive structures.

[0003] In existing technologies, hybrid active-passive prostheses, such as active-passive composite feet, suffer from insufficient matching and coordination between the active and passive structures, making it difficult to achieve adaptive matching and adjustment.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an active-passive composite foot and its control method, as well as a robot, in order to address the above-mentioned defects of the prior art. The aim is to solve the problem that the active and passive structures of the active-passive composite foot are not well matched and coordinated, making it difficult to achieve adaptive matching and adjustment.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A composite active-passive foot, comprising:

[0008] Ankle joint;

[0009] The first limb is rotatably connected to the ankle joint;

[0010] The second limb is rotatably connected to the ankle joint;

[0011] An active telescopic drive unit is connected to the ankle joint and the first limb, respectively;

[0012] A passive hydraulic damping element is connected to the ankle joint and the second limb, respectively.

[0013] A flow rate sensor is disposed on the passive hydraulic damping element and configured to detect the flow rate of hydraulic oil in the passive hydraulic damping element.

[0014] The aforementioned active-passive composite foot, wherein the first limb comprises:

[0015] The first housing has a first mounting groove and a second mounting groove;

[0016] The first mounting slot is configured to mount the active telescopic drive component;

[0017] The second mounting slot is configured to mount a power source, which is configured to supply power to the active telescopic drive.

[0018] The aforementioned active-passive composite foot, wherein the second limb includes:

[0019] The second shell has a wedge-shaped cavity.

[0020] The passive hydraulic damping component includes:

[0021] The cylinder body is rotatably connected to the ankle joint;

[0022] The piston is located inside the cylinder.

[0023] A piston rod is disposed on the piston, extends out of the cylinder body, and is rotatably connected to the second housing;

[0024] A regulating valve is located in the cylinder body;

[0025] The cylinder body is located at the large end of the wedge-shaped cavity, and the piston rod is located at the small end of the wedge-shaped cavity.

[0026] The active-passive composite foot, wherein the active telescopic drive is a linear motor, and the output shaft of the linear motor is rotatably connected to the ankle joint.

[0027] The aforementioned active-passive compound foot, wherein the ankle joint includes:

[0028] First side plate and second side plate;

[0029] The rotating shaft is rotatably connected at both ends to the first side plate and the second side plate, respectively.

[0030] The first connecting beam is connected to the first side plate and the second side plate at both ends, and is rotatably connected to the first housing.

[0031] The rotating shaft is connected to the cylinder and the output shaft of the linear motor, respectively.

[0032] The second housing is rotatably connected to the first side plate and the second side plate respectively.

[0033] The aforementioned active-passive compound foot, wherein the ankle joint further includes:

[0034] The second connecting beam connects the first side plate and the second side plate at both ends, respectively.

[0035] The second connecting beam is located on the side of the first side plate away from the second housing.

[0036] A control method for a combined active and passive pin as described in any of the above claims, comprising the steps of:

[0037] Based on the flow velocity sensor, the flow velocity and flow frequency of hydraulic oil in the passive hydraulic damping component are determined;

[0038] Adjust the damping value of the passive hydraulic damping component according to the flow rate;

[0039] The active telescopic drive is controlled according to the flow frequency.

[0040] The control method for the active-passive composite foot, wherein adjusting the damping value of the passive hydraulic damping component according to the flow rate includes:

[0041] When the flow rate is greater than the preset upper limit flow rate, the damping value of the passive hydraulic damping component is reduced;

[0042] When the flow rate is between a preset lower limit flow rate and a preset upper limit flow rate, the damping value of the passive hydraulic damping component is maintained;

[0043] When the flow rate is less than the preset lower limit flow rate, the damping value of the passive hydraulic damping component is increased.

[0044] The control method for the active-passive composite foot, wherein controlling the active telescopic drive member according to the flow frequency includes:

[0045] When the flow frequency is lower than the preset lower limit frequency, the active telescopic drive is controlled to keep the second limb stationary;

[0046] When the flow frequency is between a preset lower limit frequency and a preset upper limit frequency, the driving frequency of the active telescopic drive is configured as the first driving frequency to drive the second limb to rotate at a low frequency.

[0047] When the flow frequency is higher than the preset upper limit frequency, the driving frequency of the active telescopic drive is configured as the second driving frequency to drive the second limb to rotate at high frequency; the second driving frequency is greater than the first driving frequency.

[0048] A robot comprising: a combined active and passive foot as described in any of the above.

[0049] Beneficial effects: By using a flow rate sensor, the flow rate and frequency of the hydraulic oil in the passive hydraulic damping component can be obtained. The motion state of the active-passive composite foot can be determined by the flow rate and frequency, thereby enabling corresponding control of the active telescopic drive component and matching the motion state of the active-passive composite foot to achieve adaptive matching and adjustment. Attached Figure Description

[0050] Figure 1This is a schematic diagram of the first structure of the active-passive composite foot in an embodiment of the present invention.

[0051] Figure 2 This is a top view of the active-passive composite foot in an embodiment of the present invention.

[0052] Figure 3 yes Figure 2 Sectional view along line A.

[0053] Figure 4 This is a side view of the active-passive composite foot in an embodiment of the present invention.

[0054] Figure 5 yes Figure 4 Sectional view along line B.

[0055] Figure 6 This is a first structural schematic diagram of the ankle joint, passive hydraulic damping component, and active telescopic drive component in an embodiment of the present invention.

[0056] Figure 7 This is a second structural schematic diagram of the ankle joint, passive hydraulic damping component, and active telescopic drive component in an embodiment of the present invention.

[0057] Figure 8 This is a schematic diagram of the structure of the second limb in an embodiment of the present invention.

[0058] Figure 9 This is a schematic diagram of the first structure of the ankle joint in an embodiment of the present invention.

[0059] Figure 10 This is a schematic diagram of the second structure of the ankle joint in an embodiment of the present invention.

[0060] Figure 11 This is a schematic diagram of the first structure of the first limb in an embodiment of the present invention.

[0061] Figure 12 This is a schematic diagram of the second structure of the first limb in an embodiment of the present invention.

[0062] Figure 13 This is a schematic diagram illustrating the functional principle of the passive hydraulic damping component in an embodiment of the present invention.

[0063] Explanation of reference numerals in the attached figures:

[0064] 10. Ankle joint; 11. First lateral plate; 12. Second lateral plate; 13. Rotation axis; 14. First connecting beam; 15. Second connecting beam;

[0065] 20. First limb; 21. First housing; 211. First mounting groove; 212. Second mounting groove;

[0066] 30. Second limb; 31. Second shell; 311. Wedge-shaped cavity;

[0067] 40. Active telescopic drive component;

[0068] 50. Passive hydraulic damping component; 51. Cylinder body; 52. Piston; 53. Piston rod; 54. Control valve; 55. Check valve;

[0069] 60. Flow rate sensor;

[0070] 70. Power supply. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0072] Please also refer to Figures 1-13 This invention provides some embodiments of a combined active and passive pin.

[0073] like Figure 1 and Figure 13 As shown, the active-passive composite pin of the present invention includes:

[0074] Ankle joint 10;

[0075] The first limb 20 is rotatably connected to the ankle joint 10;

[0076] The second limb 30 is rotatably connected to the ankle joint 10;

[0077] An active telescopic drive 40 is connected to the ankle joint 10 and the first limb 20, respectively.

[0078] A passive hydraulic damping element 50 is connected to the ankle joint 10 and the second limb 30, respectively.

[0079] A flow rate sensor 60 is disposed on the passive hydraulic damping element 50 and configured to detect the flow rate of hydraulic oil in the passive hydraulic damping element 50.

[0080] Specifically, both the first limb 20 and the second limb 30 rotate relative to the ankle joint 10. An active telescopic drive 40 connects the ankle joint 10 and the first limb 20, enabling the first limb 20 to rotate relative to the ankle joint 10. A passive hydraulic damping element 50 connects the ankle joint 10 and the second limb 30, and the rotation of the second limb 30 relative to the ankle joint 10 is resisted by the passive hydraulic damping element 50. When the active telescopic drive 40 drives the first limb 20 to rotate relative to the ankle joint 10, it does not necessarily cause the second limb 30 to rotate relative to the ankle joint 10. Whether the second limb 30 rotates relative to the ankle joint 10 depends on the weight of the second limb 30, the ground support force on the second limb 30, and the damping value of the passive hydraulic damping element 50. Hydraulic oil is present in the passive hydraulic damping element 50, and the hydraulic oil flows in the passive hydraulic damping element 50 when the second limb 30 rotates relative to the ankle joint 10. If the first limb 20 rotates faster relative to the ankle joint 10, the hydraulic oil flow rate in the passive hydraulic damping component 50 is higher; if the first limb 20 rotates slower relative to the ankle joint 10, the hydraulic oil flow rate in the passive hydraulic damping component 50 is lower. If the rotation frequency of the first limb 20 relative to the ankle joint 10 is higher, the hydraulic oil flow frequency in the passive hydraulic damping component 50 is higher; if the rotation frequency of the first limb 20 relative to the ankle joint 10 is lower, the hydraulic oil flow frequency in the passive hydraulic damping component 50 is lower. If the rotation angle of the first limb 20 relative to the ankle joint 10 is large, the hydraulic oil flow rate in the passive hydraulic damping component 50 is maintained for a longer time; if the rotation angle of the first limb 20 relative to the ankle joint 10 is small, the hydraulic oil flow rate in the passive hydraulic damping component 50 is maintained for a shorter time. The flow of hydraulic oil is intermittent, and the flow frequency of hydraulic oil varies depending on the movement state of the active and passive combined foot. The flow frequency of hydraulic oil is lowest when stationary; lower when walking; and higher when running.

[0081] The velocity sensor 60 can acquire the speed (i.e., flow rate) and frequency (i.e., flow frequency) of the hydraulic oil flowing in the passive hydraulic damping component 50. If the flow rate of the hydraulic oil in the passive hydraulic damping component 50 is high, the damping value of the passive hydraulic damping component 50 needs to be reduced to decrease the flow rate of the hydraulic oil, making it easier for the second limb 30 to rotate relative to the ankle joint 10. If the flow rate of the hydraulic oil in the passive hydraulic damping component 50 is low, the damping value of the passive hydraulic damping component 50 needs to be increased to help maintain the stationary state of the second limb 30 relative to the ankle joint 10. The motion state of the active and passive composite foot can be determined by the flow rate and flow frequency, thereby enabling corresponding control of the active telescopic drive component 40 to match the motion state of the active and passive composite foot and achieve adaptive matching adjustment.

[0082] In a preferred implementation of this invention, such as Figure 1 , Figure 3 , Figure 11 and Figure 12 As shown, the first limb 20 includes:

[0083] The first housing 21 has a first mounting groove 211 and a second mounting groove 212;

[0084] The first mounting slot 211 is configured to mount the active telescopic drive 40;

[0085] The second mounting slot 212 is configured to mount a power supply 70, which is configured to supply power to the active telescopic drive 40.

[0086] Specifically, the first housing 21 forms a first mounting groove 211 and a second mounting groove 212, which respectively mount the active telescopic drive 40 and the power supply 70. The power supply 70 is electrically connected to the active telescopic drive 40.

[0087] In a preferred implementation of this invention, such as Figures 1-4 and Figure 8 As shown, the second limb 30 includes:

[0088] The second shell 31 has a wedge-shaped cavity 311.

[0089] Specifically, the second shell 31 is wedge-shaped, similar to the shape of a human foot, and a wedge-shaped cavity 311 is formed inside the second shell 31. The wedge shape is a structure with one end smaller and the other end larger.

[0090] In a preferred implementation of this invention, such as Figure 3 and Figure 13 As shown, the passive hydraulic damping element 50 includes:

[0091] The cylinder 51 is rotatably connected to the ankle joint 10;

[0092] Piston 52 is located inside cylinder 51;

[0093] Piston 52 rod is disposed on piston 52, piston 52 rod extends to the outside of cylinder 51 and is rotatably connected to the second housing 31;

[0094] Adjusting valve 54 is disposed in cylinder 51;

[0095] The cylinder 51 is located at the large end of the wedge-shaped cavity 311, and the piston rod 52 is located at the small end of the wedge-shaped cavity 311.

[0096] Specifically, hydraulic oil is contained within cylinder 51, piston 52 is located within cylinder 51, and piston rod is positioned on piston 52 and extends outside cylinder 51. A regulating valve 54 is connected to both the upper and lower halves of cylinder 51, regulating the flow rate of hydraulic oil between them, thereby changing the resistance of the piston 52 to the hydraulic oil, i.e., adjusting the damping value of the passive hydraulic damping element 50. Cylinder 51 is located near the large end of wedge cavity 311, and piston rod is located near the small end of wedge cavity 311. The regulating valve 54 is connected to both the upper and lower halves of cylinder 51 via channels, and flow rate sensor 60 can be located within these channels. The passive hydraulic damping element 50 also includes a check valve 55, through which the regulating valve 54 is connected to cylinder 51. There can be two check valves 55, with different communication directions. For example, one check valve 55 can direct the hydraulic oil from the upper part to the lower part, while the other check valve 55 can direct the hydraulic oil from the lower part to the upper part. The passage can then be divided into an upward passage and a downward passage. When the toes (i.e., the front end of the second limb 30) touch the ground, the piston rod 52 moves inward into the cylinder 51, the piston 52 presses down, and the hydraulic oil in the lower part flows from the upward passage to the upper part. When the heel (i.e., the rear end of the second limb 30) touches the ground, the piston rod 52 moves outward from the cylinder 51, the piston 52 moves upward, and the hydraulic oil in the upper part flows from the downward passage to the lower part. There can be one or two regulating valves 54. When one regulating valve 54 is used, both the regulating valve 54 and the flow rate sensor 60 are located in the upward passage. When there are two regulating valves 54, the two regulating valves 54 are respectively configured in the upward channel and the downward channel. The flow rate sensor 60 is configured in the upward channel, mainly to detect the flow rate of hydraulic oil in the upward channel when the toes (i.e. the front end of the second limb 30) touch the ground.

[0097] In a preferred implementation of this invention, such as Figures 3-7 As shown, the active telescopic drive 40 is a linear motor, and the output shaft of the linear motor is rotatably connected to the ankle joint 10.

[0098] Specifically, the active telescopic drive 40 can be a linear motor. The output shaft of the linear motor is rotatably connected to the ankle joint 10. The main body of the linear motor is rotatably connected to the first housing 21.

[0099] In a preferred implementation of this invention, such as Figures 9-10 As shown, the ankle joint 10 includes:

[0100] First side plate 11 and second side plate 12;

[0101] The rotating shaft 13 is rotatably connected at both ends to the first side plate 11 and the second side plate 12, respectively.

[0102] The first connecting beam 14 is connected to the first side plate 11 and the second side plate 12 at both ends, and is rotatably connected to the first housing 21.

[0103] The rotating shaft 13 is connected to the cylinder 51 and the output shaft of the linear motor respectively; the second housing 31 is rotatably connected to the first side plate 11 and the second side plate 12 respectively.

[0104] Specifically, the first side plate 11 and the second side plate 12 are both vertically arranged and located on both sides of the active telescopic drive member 40 and the passive hydraulic damping member 50, respectively. A first connecting beam 14 connects the first side plate 11 and the second side plate 12, and the first connecting beam 14 is rotatably connected to the first housing 21. A rotating shaft 13 rotates relative to the first side plate 11 and the second side plate 12. The cylinder body 51 is rotatably mounted on the rotating shaft 13. The output shaft of the linear motor can be fixedly connected to the rotating shaft 13 or rotatably connected. The first side plate 11 and the second side plate 12 are rotatably connected to the second housing 31, respectively.

[0105] In a preferred implementation of this invention, such as Figures 9-10 As shown, the ankle joint 10 further includes:

[0106] The second connecting beam 15 is connected to the first side plate 11 and the second side plate 12 at its two ends, respectively.

[0107] The second connecting beam 15 is located on the side of the first side plate 11 away from the second housing 31.

[0108] Specifically, the second connecting beam 15 connects the first side plate 11 and the second side plate 12, and the second connecting beam 15 is away from the second shell 31.

[0109] Based on the active-passive composite pin described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the active-passive composite pin.

[0110] The control method for the active-passive composite pin according to an embodiment of the present invention includes the following steps:

[0111] Step S100: Based on the flow rate sensor, determine the flow rate and flow frequency of the hydraulic oil in the passive hydraulic damping component;

[0112] Step S200: Adjust the damping value of the passive hydraulic damping component according to the flow rate;

[0113] Step S300: Control the active telescopic drive component according to the flow frequency.

[0114] Specifically, based on a flow rate sensor, the flow rate and frequency of the hydraulic oil in the passive hydraulic damping component are acquired. The damping value of the passive hydraulic damping component is adjusted according to the flow rate, and the active telescopic drive component is controlled according to the flow frequency. The damping value of the passive hydraulic damping component is more adapted to the motion state of the combined active and passive foot, and the active telescopic drive component is also more adapted to the motion state of the combined active and passive foot.

[0115] Step S200 specifically includes:

[0116] Step S210: When the flow rate is greater than the preset upper limit flow rate, reduce the damping value of the passive hydraulic damping component;

[0117] Step S220: When the flow rate is between the preset lower limit flow rate and the preset upper limit flow rate, maintain the damping value of the passive hydraulic damping component;

[0118] Step S230: When the flow rate is less than the preset lower limit flow rate, increase the damping value of the passive hydraulic damping component.

[0119] Specifically, the hydraulic oil flow rate is most suitable within a preset flow rate range, which includes a preset upper limit and a preset lower limit. When the flow rate exceeds the preset upper limit, the hydraulic oil flow rate is too high, requiring a reduction in the damping value of the passive hydraulic damping component. When the flow rate is between the preset upper and lower limits, the hydraulic oil flow rate is suitable, allowing the damping value of the passive hydraulic damping component to be maintained. When the flow rate is below the preset lower limit, the hydraulic oil flow rate is too low, allowing an increase in the damping value of the passive hydraulic damping component.

[0120] Step S300 specifically includes:

[0121] Step S310: When the flow frequency is lower than the preset lower limit frequency, control the active telescopic drive to keep the second limb stationary;

[0122] Step S320: When the flow frequency is between a preset lower limit frequency and a preset upper limit frequency, configure the driving frequency of the active telescopic drive as the first driving frequency to drive the second limb to rotate at a low frequency.

[0123] Step S330: When the flow frequency is higher than the preset upper limit frequency, configure the driving frequency of the active telescopic drive component as the second driving frequency to drive the second limb to rotate at high frequency; the second driving frequency is greater than the first driving frequency.

[0124] Specifically, the flow frequency of the hydraulic oil reflects the movement frequency of the active-passive combined foot. When the flow frequency is below a preset lower limit, the active-passive combined foot is stationary, and an active telescopic drive can be configured to keep the second limb stationary. When the flow frequency is between the preset lower limit and the preset upper limit, the active-passive combined foot is in a walking state, and the drive frequency of the active telescopic drive is configured as the first drive frequency to drive the second limb to rotate at a low frequency. When the flow frequency is above the preset upper limit, the active-passive combined foot is in a running state, and the drive frequency of the active telescopic drive is configured as the second drive frequency to drive the second limb to rotate at a high frequency.

[0125] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A control method for a combined active and passive pin, characterized in that, The active-passive composite foot includes: Ankle joint; The first limb is rotatably connected to the ankle joint; The second limb is rotatably connected to the ankle joint; An active telescopic drive unit is connected to the ankle joint and the first limb, respectively; A passive hydraulic damping element is connected to the ankle joint and the second limb, respectively. A flow rate sensor is disposed on the passive hydraulic damping element and configured to detect the flow rate of hydraulic oil in the passive hydraulic damping element; The control method includes the following steps: Based on the flow velocity sensor, the flow velocity and flow frequency of hydraulic oil in the passive hydraulic damping component are determined; Adjust the damping value of the passive hydraulic damping component according to the flow rate; The active telescopic drive is controlled according to the flow frequency.

2. The control method for the active-passive composite pin according to claim 1, characterized in that, Adjusting the damping value of the passive hydraulic damping component according to the flow rate includes: When the flow rate is greater than the preset upper limit flow rate, the damping value of the passive hydraulic damping component is reduced; When the flow rate is between a preset lower limit flow rate and a preset upper limit flow rate, the damping value of the passive hydraulic damping component is maintained; When the flow rate is less than the preset lower limit flow rate, the damping value of the passive hydraulic damping component is increased.

3. The control method for the active-passive composite pin according to claim 1, characterized in that, The step of controlling the active telescopic drive component according to the flow frequency includes: When the flow frequency is lower than the preset lower limit frequency, the active telescopic drive is controlled to keep the second limb stationary; When the flow frequency is between a preset lower limit frequency and a preset upper limit frequency, the driving frequency of the active telescopic drive is configured as the first driving frequency to drive the second limb to rotate at a low frequency. When the flow frequency is higher than the preset upper limit frequency, the driving frequency of the active telescopic drive is configured as the second driving frequency to drive the second limb to rotate at high frequency; the second driving frequency is greater than the first driving frequency.

4. The control method for the active-passive composite pin according to any one of claims 1 to 3, characterized in that, The first limb includes: The first housing has a first mounting groove and a second mounting groove; The first mounting slot is configured to mount the active telescopic drive component; The second mounting slot is configured to mount a power source, which is configured to supply power to the active telescopic drive.

5. The control method for the active-passive composite pin according to claim 4, characterized in that, The second limb includes: The second shell has a wedge-shaped cavity. The passive hydraulic damping component includes: The cylinder body is rotatably connected to the ankle joint; The piston is located inside the cylinder. A piston rod is disposed on the piston, extends out of the cylinder body, and is rotatably connected to the second housing; A regulating valve is located in the cylinder body; The cylinder body is located at the large end of the wedge-shaped cavity, and the piston rod is located at the small end of the wedge-shaped cavity.

6. The control method for the active-passive composite pin according to claim 5, characterized in that, The active telescopic drive is a linear motor, and the output shaft of the linear motor is rotatably connected to the ankle joint.

7. The control method for the active-passive composite pin according to claim 6, characterized in that, The ankle joint includes: First side plate and second side plate; The rotating shaft is rotatably connected at both ends to the first side plate and the second side plate, respectively. The first connecting beam is connected to the first side plate and the second side plate at both ends, and is rotatably connected to the first housing. The rotating shaft is connected to the cylinder and the output shaft of the linear motor, respectively. The second housing is rotatably connected to the first side plate and the second side plate respectively.

8. The control method for the active-passive composite pin according to claim 7, characterized in that, The ankle joint also includes: The second connecting beam connects the first side plate and the second side plate at both ends, respectively. The second connecting beam is located on the side of the first side plate away from the second housing.

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