CN109223456B - Lower limb exoskeleton robot system based on man-machine terminal interaction - Google Patents

Abstract

Translated fromChinese

一种基于人机末端交互的下肢外骨骼机器人系统，它涉及一种下肢外骨骼机器人。本发明解决了现有的下肢外骨骼与人体的贴合性较差、穿戴不舒适、人机交互信息不准确，导致人机跟随效果差，助力效果不明显的问题。所述背架下部对称设置有两个髋关节支架，髋关节支架的一端通过内收外展轴与背架1转动连接，每个髋关节支架的自由端通过髋部内外旋转轴与相应的髋关节转动连接，每个髋关节通过髋部屈伸轴与相应的大腿杆连接，每个大腿杆的上部设置有一个惯性单元，每个大腿杆的下部通过一个膝关节与相应的小腿杆的上端连接，气动弹簧的一端与背架连接，气动弹簧的另一端与相应的一个髋关节支架连接。本发明用于下肢外骨骼机器人。

A lower limb exoskeleton robot system based on human-machine terminal interaction, which relates to a lower limb exoskeleton robot. The invention solves the problems of poor fit between the existing lower limb exoskeleton and the human body, uncomfortable wearing and inaccurate human-machine interaction information, resulting in poor human-machine following effect and insignificant boosting effect. The lower part of the back frame is symmetrically provided with two hip joint brackets, one end of the hip joint bracket is rotatably connected with the back frame 1 through the adduction and abduction axis, and the free end of each hip joint bracket is connected to the corresponding hip joint through the internal and external rotation axis of the hip. The joints are connected in rotation, each hip joint is connected with the corresponding thigh rod through the hip flexion and extension axis, the upper part of each thigh rod is provided with an inertial unit, and the lower part of each thigh rod is connected with the upper end of the corresponding calf rod through a knee joint , one end of the pneumatic spring is connected with the back frame, and the other end of the pneumatic spring is connected with a corresponding hip joint bracket. The present invention is used for lower limb exoskeleton robot.

Description

Translated fromChinese

一种基于人机末端交互的下肢外骨骼机器人系统A lower limb exoskeleton robot system based on human-machine terminal interaction

技术领域technical field

本发明涉及一种下肢外骨骼机器人，具体涉及一种基于人机末端交互的下肢外骨骼机器人系统。The invention relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot system based on human-machine terminal interaction.

背景技术Background technique

外骨骼机器人是一种融合了传感技术、控制技术等多种技术的可穿戴设备，特别地，下肢外骨骼机器人是一种与人体下肢结构相类似的的外骨骼机器人，能够帮助穿戴者实现助力行走、下肢康复、上下楼梯等动作。An exoskeleton robot is a wearable device that integrates various technologies such as sensing technology and control technology. Assist in walking, lower limb rehabilitation, up and down stairs, etc.

下肢外骨骼机器人主要髋关节、膝关节与踝关节构成，拥有15个自由度，包括腰部旋转、髋部伸屈、髋部外展、髋部内外旋转、膝部伸屈、踝部伸屈、踝部旋转、踝部内外翻。The lower limb exoskeleton robot is mainly composed of hip joints, knee joints and ankle joints, with 15 degrees of freedom, including waist rotation, hip extension and flexion, hip abduction, hip internal and external rotation, knee extension and flexion, ankle extension and flexion, Ankle rotation, ankle inversion.

目前，现有的下肢外骨骼与人体的贴合性较差、穿戴不舒适、人机交互信息不准确，导致人机跟随效果差，助力效果不明显。At present, the existing lower extremity exoskeletons have poor fit with the human body, are uncomfortable to wear, and have inaccurate human-machine interaction information, resulting in poor human-machine following effects and insignificant boosting effects.

发明内容SUMMARY OF THE INVENTION

本发明为解决现有的下肢外骨骼与人体的贴合性较差、穿戴不舒适、人机交互信息不准确，导致人机跟随效果差，助力效果不明显的问题，进而提供一种基于人机末端交互的下肢外骨骼机器人系统。In order to solve the problems of poor fit between the existing lower limb exoskeleton and the human body, uncomfortable wearing and inaccurate human-machine interaction information, resulting in poor human-machine following effect and insignificant boosting effect, the present invention further provides a human-based The lower limb exoskeleton robot system interacting with the end of the machine.

本发明为解决上述技术问题采取的技术方案是：The technical scheme that the present invention takes for solving the above-mentioned technical problems is:

本发明的基于人机末端交互的下肢外骨骼机器人系统包括背架1、两个髋关节2、两个惯性单元3、两个大腿杆4、两个膝关节5、两个小腿杆6、两个踝关节7和两个足底压力鞋8，所述背架1下部对称设置有两个髋关节支架104，髋关节支架104的一端通过内收外展轴201与背架1转动连接，每个髋关节支架104的自由端通过髋部内外旋转轴203与相应的髋关节2转动连接，每个髋关节2通过髋部屈伸轴202与相应的大腿杆4连接，每个大腿杆4的上部设置有一个惯性单元3，每个大腿杆4的下部通过一个膝关节5与相应的小腿杆6的上端连接，每个小腿杆6的下端通过一个踝关节7与相应的足底压力鞋8连接，所述下肢外骨骼机器人系统还包括两个气动弹簧106，气动弹簧106的一端与背架1连接，气动弹簧106的另一端与相应的一个髋关节支架104连接，踝关节7设置有远心机构701，远心机构包括第一连杆组件、第二连杆组件和多个连接轴711，第一连杆组件的一端与踝关节连接件703通过连接轴711转动连接，第一连杆组件的另一端与第二连杆组件的一端通过连接轴711转动连接，第二连杆组件的另一端与踝关节底座712通过连接轴711转动连接，踝关节底座712设置在足底压力鞋上。The lower limb exoskeleton robot system based on human-machine terminal interaction of the present invention includes a back frame 1, twohip joints 2, twoinertial units 3, twothigh rods 4, twoknee joints 5, twocalf rods 6, two twoankle joints 7 and two sole pressure shoes 8, twohip joint brackets 104 are symmetrically arranged at the lower part of the back frame 1, one end of thehip joint bracket 104 is rotatably connected to the back frame 1 through the adduction andabduction shaft 201, and each The free ends of thehip joint brackets 104 are rotatably connected with thecorresponding hip joints 2 through the hip internal andexternal rotation shafts 203, and eachhip joint 2 is connected with thecorresponding thigh rods 4 through the hip flexion andextension shafts 202. The upper part of eachthigh rod 4 Aninertial unit 3 is provided, the lower part of eachthigh rod 4 is connected with the upper end of thecorresponding calf rod 6 through aknee joint 5, and the lower end of eachcalf rod 6 is connected with the corresponding sole pressure shoe 8 through anankle joint 7 , the lower limb exoskeleton robot system also includes twopneumatic springs 106, one end of thepneumatic spring 106 is connected with the back frame 1, the other end of thepneumatic spring 106 is connected with a correspondinghip joint bracket 104, and theankle joint 7 is provided with atelecentric Mechanism 701, the telecentric mechanism includes a first link assembly, a second link assembly and a plurality of connectingshafts 711, one end of the first link assembly and theankle joint connector 703 are rotatably connected through the connectingshaft 711, the first link assembly The other end of the second link assembly is rotatably connected to one end of the second link assembly through the connectingshaft 711, and the other end of the second link assembly is rotatably connected to theankle joint base 712 through the connectingshaft 711, and theankle joint base 712 is set on the sole pressure shoe.

进一步地，远心机构的第一连杆组件包括第一连杆705、第二连杆706和两个第一连接片708，第一连接705与第二连杆706平行且相对设置，第一连杆705的长度小于第二连杆706的长度，第一连杆705和第二连杆706的一端均通过一个连接轴711与踝关节连接件703转动连接，第一连杆705的另一端与第二连杆706的中部通过两个第一连接片708和两个连接轴711连接；远心机构的第二连杆组件包括第三连杆707、第四连杆710和两个第二连接片709，第三连杆707和第四连杆710平行且相对设置，第三连杆707的长度小于第四连杆710的长度，第三连杆707和第四连杆710的一端均通过一个连接轴711与踝关节底座712转动连接，第三连杆707的另一端与第一连杆705所述的另一端通过一个连接轴711转动连接，第四连杆710的另一端与第二连杆706所述的另一端通过一个连接轴711转动连接，第三连杆707所述的另一端通过两个第二连接片709与第四连杆710连接。Further, the first link assembly of the telecentric mechanism includes afirst link 705, asecond link 706 and two first connectingpieces 708. Thefirst link 705 and thesecond link 706 are parallel and opposite to each other. The length of the connectingrod 705 is smaller than the length of the second connectingrod 706 , one end of the first connectingrod 705 and the second connectingrod 706 are connected to the ankle joint connectingmember 703 in rotation through a connectingshaft 711 , and the other end of the first connectingrod 705 It is connected with the middle of thesecond link 706 through two first connectingpieces 708 and two connectingshafts 711; the second link assembly of the telecentric mechanism includes athird link 707, afourth link 710 and two second links Theconnecting piece 709, thethird link 707 and thefourth link 710 are arranged in parallel and opposite to each other, the length of thethird link 707 is less than that of thefourth link 710, and one end of thethird link 707 and thefourth link 710 are bothA connecting shaft 711 is rotatably connected to the anklejoint base 712, the other end of thethird link 707 is rotatably connected to the other end of thefirst link 705 through aconnecting shaft 711, and the other end of thefourth link 710 is connected to thefirst link 705. The other end of thesecond link 706 is rotatably connected through a connectingshaft 711 , and the other end of thethird link 707 is connected to thefourth link 710 through twosecond connecting pieces 709 .

进一步地，膝关节5包括电机501、固定盖502、谐波减速器503、连接板504、膝关节本体、大腿杆连接件505、小腿杆连接件507和减速器输出轴508，大腿杆连接件505的下端设置有外沿，固定盖502和连接板504平行设置且固装在大腿杆连接件505的外沿上，电机501固装在固定盖502的一端面上，谐波减速器503的一端固装在固定盖502的另一端面上，谐波减速器503的另一端与连接板504连接，减速器输出轴508固装在谐波减速器503上，膝关节本体通过深沟球轴承506安装在减速器输出轴508上，小腿杆连接件507的上端固装在膝关节本体的下部，所述下肢外骨骼异构膝关节还包括并联弹性体509、磁编码器磁环510、磁编码器磁头511和端盖512，端盖512通过法兰固装在膝关节本体的外环面上，并联弹性体509固装在端盖512内，并联弹性体509通过轴架与减速器输出轴508同轴固接，磁编码器磁环510安装在膝关节本体上，磁编码器磁头511安装在并联弹性体509上，磁编码器磁环510与磁编码器磁头511相对设置，膝关节本体上沿其外沿加工有圆弧凹槽，圆弧凹槽内设置有两个可调节限位块521，圆弧凹槽与连接板504正对设置，连接板504上沿其圆周方向加工有多个限位孔522，连接板504上插装有限位销523，可调节限位块521与限位销523之间设置有弹性橡胶块524，可调节限位块，521包括橡胶垫和两个调节片，橡胶垫位于两个调节片之间，可调节限位块521通过螺栓螺母锁紧在膝关节本体的圆弧凹槽上。Further, theknee joint 5 includes amotor 501, afixed cover 502, aharmonic reducer 503, a connectingplate 504, a knee joint body, a thighrod connecting piece 505, a calfrod connecting piece 507 and areducer output shaft 508, and the thigh rod connecting piece The lower end of 505 is provided with an outer edge, thefixed cover 502 and the connectingplate 504 are arranged in parallel and fixed on the outer edge of the thighrod connecting piece 505, themotor 501 is fixed on one end surface of thefixed cover 502, theharmonic reducer 503 One end is fixedly mounted on the other end face of thefixed cover 502, the other end of theharmonic reducer 503 is connected to the connectingplate 504, theoutput shaft 508 of the reducer is fixedly mounted on theharmonic reducer 503, and the knee joint body passes through the deepgroove ball bearing 506 is installed on theoutput shaft 508 of the reducer, and the upper end of the lower legrod connecting piece 507 is fixedly mounted on the lower part of the knee joint body. The lower limb exoskeleton heterogeneous knee joint also includes a parallelelastic body 509, a magnetic encodermagnetic ring 510, a magnetic The encoder magnetic head 511 and the end cover 512, the end cover 512 is fixedly mounted on the outer ring surface of the knee joint body through the flange, the parallelelastic body 509 is fixedly mounted in the end cover 512, and the parallelelastic body 509 is output through the axle frame and the reducer Theshaft 508 is coaxially fixed, the magnetic encodermagnetic ring 510 is installed on the knee joint body, the magnetic encoder magnetic head 511 is installed on the parallelelastic body 509, the magnetic encodermagnetic ring 510 is arranged opposite to the magnetic encoder magnetic head 511, and the knee joint A circular arc groove is machined on the body along its outer edge, and twoadjustable limit blocks 521 are arranged in the circular arc groove. The circular arc groove and theconnecting plate 504 are arranged opposite, and theconnecting plate 504 is machined along its circumferential direction. There are a plurality oflimit holes 522,limit pins 523 are inserted on the connectingplate 504,elastic rubber blocks 524 are arranged between theadjustable limit blocks 521 and thelimit pins 523, and theadjustable limit blocks 521 include rubber pads and Two adjustment sheets, the rubber pad is located between the two adjustment sheets, and theadjustable limit block 521 is locked on the arc groove of the knee joint body through bolts and nuts.

进一步地，并联弹性体509包括弹性体外环901、弹性体内环903、六对矩形弹簧902、三对三角块905和六对弹性定位销906，弹性体内环903上沿其圆周方向均布加工有三个燕尾块，弹性体外环901内壁上其圆周方向均布设置有三对三角块905，每对三角块905并列设置，弹性体内环903位于弹性体外环901内，每对矩形弹簧902的一端与一对三角块905相接触，每对矩形弹簧902的另一端与相应的一个燕尾块相接触，每个矩形弹簧902通过一个弹性定位销906定位，三角块905通过螺钉和两侧矩形弹簧902的压力作用与弹性体外环901固定在一起，并联弹性体509还包括六对球头销904，弹性体内环903的每个燕尾块的两侧均设置有一对球头销904。Further, the parallelelastic body 509 includes an elasticouter ring 901, an elasticinner ring 903, six pairs ofrectangular springs 902, three pairs oftriangular blocks 905 and six pairs ofelastic positioning pins 906, and the innerelastic ring 903 is uniformly processed along its circumferential direction. There are three dovetail blocks, and three pairs oftriangular blocks 905 are evenly distributed in the circumferential direction on the inner wall of the outerelastic ring 901, and each pair oftriangular blocks 905 are arranged side by side. One end is in contact with a pair oftriangular blocks 905, the other end of each pair ofrectangular springs 902 is in contact with a corresponding dovetail block, eachrectangular spring 902 is positioned by anelastic positioning pin 906, and thetriangular block 905 is connected by screws and rectangular springs on both sides. The pressure action of 902 is fixed with the outerelastic ring 901. The parallelelastic body 509 also includes six pairs ofball pins 904. A pair ofball pins 904 are provided on both sides of each dovetail block of the innerelastic ring 903.

进一步地，背架1包括背架内层和背架外层，背架内层包括两个柔性背带101和两个腰封103，两个柔性背带101设置在背架板前端面上部，两个腰封103设置在背架板前端面下部；背架外层包括电源110、控制盒107、六维力传感器102、六维力采集卡105、两个单维力采集卡109和电源板108，电源110、控制盒107、六维力采集卡105、两个单维力采集卡109和电源板108设置在背架板后端面上，背架板为双层背架板，六维力传感器102设置在双层背架板之间。Further, the back frame 1 includes an inner layer of the back frame and an outer layer of the back frame, the inner layer of the back frame includes twoflexible back straps 101 and twogirdle seals 103, the two flexible Thegirdle seal 103 is arranged at the lower part of the front end of the back frame plate; the outer layer of the back frame includes apower supply 110, acontrol box 107, a six-dimensional force sensor 102, a six-dimensionalforce acquisition card 105, two single-dimensionalforce acquisition cards 109 and apower supply board 108, Thepower supply 110 , thecontrol box 107 , the six-dimensionalforce acquisition card 105 , the two single-dimensionalforce acquisition cards 109 and thepower supply board 108 are arranged on the rear surface of the back frame plate, the back frame plate is a double-layer back frame plate, and the six-dimensional force sensor 102 Set between the double-layer back frame plates.

进一步地，大腿杆4的内侧设置有大腿绑带，大腿杆4的长度范围为418mm～478mm，小腿杆6的长度范围为390mm～450mm。Further, the inner side of thethigh rod 4 is provided with a thigh strap, the length of thethigh rod 4 ranges from 418 mm to 478 mm, and the length of thecalf rod 6 ranges from 390 mm to 450 mm.

进一步地，大腿杆4和小腿杆6均采用碳纤维材料制成。Further, both theupper leg bar 4 and thelower leg bar 6 are made of carbon fiber material.

进一步地，足底压力鞋包括后跟挡板13、后绑带14、两个后绑带架15、两个后绑带架座16、前绑带17、两个前绑带架18、两个前绑带架座19、上层鞋底20、中层鞋底21和下层鞋底22，上层鞋底20、中层鞋底21和下层鞋底22由上至下依次设置，前绑带架座19和后绑带架座16前后对应设置在鞋底两侧，每个前绑带架座19上设置有一个前绑带架18，每个后绑带架座16上设置有一个后绑带架15，两个后绑带架15之间设置有后绑带14，两个前绑带架18之间设置有前绑带17，后跟挡板13设置在鞋底的后侧。Further, the sole pressure shoe includes a heel baffle 13, a rear strap 14, two rear strap frames 15, two rear strap frame seats 16, a front strap 17, two front strap frames 18, two The front strapping frame seat 19, the upper sole 20, the middle layer sole 21 and the lower layer sole 22, the upper layer sole 20, the middle layer sole 21 and the lower layer sole 22 are arranged in order from top to bottom, the front strapping frame seat 19 and the rear strapping frame seat 16 The front and rear are correspondingly arranged on both sides of the sole, each front strapping frame seat 19 is provided with a front strapping frame 18, each rear strapping frame seat 16 is provided with a rear strapping frame 15, two rear strapping frames are provided A rear strap 14 is arranged between the two front strap frames 18 , a front strap 17 is arranged between the two front strap frames 18 , and the heel baffle 13 is arranged on the rear side of the sole.

进一步地，中层鞋底21由前后两部分鞋底组成，中层鞋底21的前后两部分通过合页连接，中层鞋底21通过多个内六角圆柱头螺钉固定在下层鞋底22的上端面上；上层鞋底20由前后两部分鞋底组成，上层鞋底20的前部分通过螺钉固装在中层鞋底21的前部，上层鞋底20的后部分通过螺钉固装在中层鞋底21的后部。Further, the middle layer sole 21 is made up of two front and rear parts of the sole, the front and rear parts of the middle layer sole 21 are connected by hinges, and the middle layer sole 21 is fixed on the upper end surface of the lower layer sole 22 by a plurality of hexagon socket head screws; The front part of the upper sole 20 is fixed on the front part of the middle sole 21 through screws, and the rear part of the upper sole 20 is fixed on the rear part of the middle sole 21 through screws.

进一步地，髋关节2采用无刷电机和谐波减速器作为外骨骼的驱动单元，髋关节2包括无刷电机、谐波减速器、磁编码器和并联弹性体，髋关节2与膝关节5的结构相同。Further, thehip joint 2 adopts a brushless motor and a harmonic reducer as the driving unit of the exoskeleton. Thehip joint 2 includes a brushless motor, a harmonic reducer, a magnetic encoder and a parallel elastic body. Thehip joint 2 and theknee joint 5 structure is the same.

本发明与现有技术相比具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

本发明的基于人机末端交互的下肢外骨骼机器人系统设置有两个气动弹簧，通过重力平衡的方式达到穿戴者不用克服重力做功的效果，即采用基于主动平衡设计的髋关节结构；本发明将髋部内收外展轴、髋部屈伸轴、髋部内外旋转轴与人体髋关节转轴重合，髋关节杆件设计成曲面形式，可最大程度地包络髋部，髋关节杆件自由度为可伸缩机构，以满足不同髋关节宽度的穿戴者需求，最大可调节至440mm；The lower limb exoskeleton robot system based on human-machine terminal interaction of the present invention is provided with two pneumatic springs, and the effect that the wearer does not need to overcome gravity to do work is achieved by means of gravity balance, that is, the hip joint structure based on active balance design is adopted; The hip adduction and abduction axis, hip flexion and extension axis, and hip internal and external rotation axis coincide with the human hip joint rotation axis. The hip joint rod is designed in the form of a curved surface, which can wrap the hip to the greatest extent. Telescopic mechanism to meet the needs of wearers with different hip widths, the maximum can be adjusted to 440mm;

外骨骼机器人系统采用电机作为动力，系统需要电源、控制器和驱动器，为了保证电气系统的使用安全，使机器人整体结构紧凑，电气各模块均布置于外骨骼机器人的腰背部，同时背部还需要承担负载，额定负载为20kg，同时在躯干腰部增加一个旋转自由度，避免下坐、下蹲时，后背不能活动的情况；The exoskeleton robot system uses a motor as a power source, and the system requires a power supply, a controller and a driver. In order to ensure the safe use of the electrical system and make the overall structure of the robot compact, the electrical modules are arranged on the waist and back of the exoskeleton robot, and the back also needs to bear Load, the rated load is 20kg, and a rotational degree of freedom is added to the waist of the trunk to avoid the situation that the back cannot move when sitting or squatting;

在腰腹部安装腰封，腰封一方面可以对人机髋关节起到固定作用，另一方面在人机系统行走过程中，当其中一条人机耦合腿抬起时，即其处于摆动相位时，其这条腿的部分重量可通过腰带与髋关节转移到另一支处于支撑相位的腿上，这样可以部分分担一条腿抬起时，腿部重力对穿戴者产生的重力压迫；The girdle seal is installed on the waist and abdomen. On the one hand, the girdle seal can fix the hip joint of the human-machine system. , part of the weight of this leg can be transferred to the other leg in the support phase through the belt and hip joint, so that it can partially share the gravitational compression of the wearer caused by the gravity of the leg when one leg is lifted;

人机交互信息，通过CAN总线方式与控制盒进行通信，并设计了各原件的供电电源板，整个系统采用两个24V的锂电池电源供电，能够保证连续工作时间为两小时，电源板设计为集成模块，可提供24V、12V、5V多种电压，保证下肢外骨骼系统整体的续航能力。Human-computer interaction information, communicates with the control box through CAN bus, and designs the power supply board of each original. The whole system is powered by two 24V lithium battery power supplies, which can ensure continuous working time of two hours. The power board is designed as The integrated module can provide various voltages of 24V, 12V and 5V to ensure the overall endurance of the lower limb exoskeleton system.

本发明下肢外骨骼与人体的贴合性好、穿戴舒适、人机交互信息准确，人机跟随效果好，助力效果明显。The lower limb exoskeleton of the invention has good fit between the human body, comfortable wearing, accurate human-machine interaction information, good man-machine following effect, and obvious boosting effect.

附图说明Description of drawings

图1是本发明的基于人机末端交互的下肢外骨骼机器人系统整体结构示意图；1 is a schematic diagram of the overall structure of a lower limb exoskeleton robot system based on human-machine terminal interaction of the present invention;

图2是本发明具体实施方式一中背架1的左视图；2 is a left side view of the back frame 1 in the first embodiment of the present invention;

图3是本发明具体实施方式一中背架1的后视图；3 is a rear view of the back frame 1 in the first embodiment of the present invention;

图4是本发明具体实施方式一中背架1和髋关节的主视图；FIG. 4 is a front view of the back frame 1 and the hip joint in Embodiment 1 of the present invention;

图5是本发明具体实施方式三中膝关节5的整体结构爆炸示意图；5 is an exploded schematic diagram of the overall structure of theknee joint 5 in the third embodiment of the present invention;

图6是本发明具体实施方式三中膝关节本体的右视图；6 is a right side view of the knee joint body inEmbodiment 3 of the present invention;

图7是本发明具体实施方式四中并联弹性体509的结构示意图；7 is a schematic structural diagram of a parallelelastic body 509 inEmbodiment 4 of the present invention;

图8是本发明具体实施方式一中踝关节7的远心机构701示意图；8 is a schematic diagram of thetelecentric mechanism 701 of theankle joint 7 in Embodiment 1 of the present invention;

图9是本发明具体实施方式二和具体实施方式八中远心机构701和足底压力鞋的结构示意图。FIG. 9 is a schematic structural diagram of thetelecentric mechanism 701 and the sole pressure shoe inEmbodiment 2 and Embodiment 8 of the present invention.

具体实施方式Detailed ways

具体实施方式一：如图1～8所示，本实施方式的基于人机末端交互的下肢外骨骼机器人系统包括背架1、两个髋关节2、两个惯性单元3、两个大腿杆4、两个膝关节5、两个小腿杆6、两个踝关节7和两个足底压力鞋8，所述背架1下部对称设置有两个髋关节支架104，髋关节支架104的一端通过内收外展轴201与背架1转动连接，每个髋关节支架104的自由端通过髋部内外旋转轴203与相应的髋关节2转动连接，每个髋关节2通过髋部屈伸轴202与相应的大腿杆4连接，每个大腿杆4的上部设置有一个惯性单元3，每个大腿杆4的下部通过一个膝关节5与相应的小腿杆6的上端连接，每个小腿杆6的下端通过一个踝关节7与相应的足底压力鞋8连接，所述下肢外骨骼机器人系统还包括两个气动弹簧106，气动弹簧106的一端与背架1连接，气动弹簧106的另一端与相应的一个髋关节支架104连接，踝关节7设置有远心机构701，远心机构包括第一连杆组件、第二连杆组件和多个连接轴711，第一连杆组件的一端与踝关节连接件703通过连接轴711转动连接，第一连杆组件的另一端与第二连杆组件的一端通过连接轴711转动连接，第二连杆组件的另一端与踝关节底座712通过连接轴711转动连接，踝关节底座712设置在足底压力鞋上。Embodiment 1: As shown in FIGS. 1 to 8 , the lower limb exoskeleton robot system based on human-machine terminal interaction in this embodiment includes a back frame 1 , twohip joints 2 , twoinertial units 3 , and twothigh rods 4 , twoknee joints 5, twocalf rods 6, twoankle joints 7 and two sole pressure shoes 8, the lower part of the back frame 1 is symmetrically provided with twohip joint brackets 104, one end of thehip joint bracket 104 passes through The adduction andabduction axis 201 is rotatably connected with the back frame 1, the free end of eachhip joint bracket 104 is rotatably connected with thecorresponding hip joint 2 through the hip internal andexternal rotation axis 203, and eachhip joint 2 is connected with the hip flexion andextension axis 202. Correspondingthigh rods 4 are connected, the upper part of eachthigh rod 4 is provided with aninertial unit 3, the lower part of eachthigh rod 4 is connected with the upper end of thecorresponding calf rod 6 through aknee joint 5, and the lower end of eachcalf rod 6 is connected. The lower limb exoskeleton robot system also includes twopneumatic springs 106, one end of thepneumatic spring 106 is connected to the back frame 1, and the other end of thepneumatic spring 106 is connected to the corresponding sole pressure shoe 8 through anankle joint 7. Ahip joint bracket 104 is connected, theankle joint 7 is provided with atelecentric mechanism 701, the telecentric mechanism includes a first link assembly, a second link assembly and a plurality of connectingshafts 711, one end of the first link assembly is connected with the ankle joint Themember 703 is rotatably connected through the connectingshaft 711 , the other end of the first link assembly and one end of the second link assembly are rotatably connected through theconnecting shaft 711 , and the other end of the second link assembly and theankle joint base 712 are rotated through the connectingshaft 711 Connected, theankle joint base 712 is provided on the sole pressure shoe.

由于在人体行走、上下台阶、蹲起等过程中都会输出较大的关节力矩和瞬时功率，则在髋部处引入助力机构很有必要，有许多外骨骼系统将此自由度设计为驱动自由度，但是这种设计会增加控制算法的难度且增加系统的整体质量，因此，为了在降低穿戴者的输出功率的同时使系统更加的轻量化，该自由度设计为两个对称的气动弹簧106进行支撑，通过重力平衡的方式达到穿戴者不用克服重力做功的效果，即采用基于主动平衡设计的髋关节结构。为了将该自由度设计成准拟人化结构，进一步改善舒适性，基于人体工程学设计，将该自由度设计有在后方髋部内收外展轴201、髋部屈伸轴202、髋部内外旋转轴203与人体髋关节转轴重合。如图4所示，髋关节支架104设计成曲面形式，可最大程度地包络髋部，并将该自由度设计为可伸缩机构，以满足不同髋关节宽度的穿戴者需求，最大可调节至440mm。Since the human body will output large joint torque and instantaneous power during the process of walking, going up and down steps, and squatting, it is necessary to introduce a power assist mechanism at the hip. There are many exoskeleton systems that design this degree of freedom as a driving degree of freedom. , but this design will increase the difficulty of the control algorithm and increase the overall quality of the system. Therefore, in order to reduce the wearer's output power while making the system more lightweight, the degree of freedom is designed for two symmetrical pneumatic springs 106. Support, through the method of gravity balance, the wearer does not need to overcome gravity to do work, that is, the hip joint structure based on active balance design is adopted. In order to design this degree of freedom into a quasi-anthropomorphic structure and further improve comfort, based on ergonomic design, this degree of freedom is designed with a rear hip adduction andabduction axis 201, a hip flexion andextension axis 202, and a hip internal and external rotation axis. 203 coincides with the rotation axis of the human hip joint. As shown in FIG. 4 , the hipjoint bracket 104 is designed in the form of a curved surface, which can envelop the hip to the greatest extent, and the degree of freedom is designed as a retractable mechanism to meet the needs of wearers with different hip joint widths, and the maximum can be adjusted to 440mm.

具体实施方式二：如图8和图9所示，本实施方式远心机构的第一连杆组件包括第一连杆705、第二连杆706和两个第一连接片708，第一连接705与第二连杆706平行且相对设置，第一连杆705的长度小于第二连杆706的长度，第一连杆705和第二连杆706的一端均通过一个连接轴711与踝关节连接件703转动连接，第一连杆705的另一端与第二连杆706的中部通过两个第一连接片708和两个连接轴711连接；远心机构的第二连杆组件包括第三连杆707、第四连杆710和两个第二连接片709，第三连杆707和第四连杆710平行且相对设置，第三连杆707的长度小于第四连杆710的长度，第三连杆707和第四连杆710的一端均通过一个连接轴711与踝关节底座712转动连接，第三连杆707的另一端与第一连杆705所述的另一端通过一个连接轴711转动连接，第四连杆710的另一端与第二连杆706所述的另一端通过一个连接轴711转动连接，第三连杆707所述的另一端通过两个第二连接片709与第四连杆710连接。如此设计，使得外骨骼踝关节外旋、内旋的旋转中心均与人体的旋转中心重合的，避免了穿戴者在运动时的不舒适，同时减缓在抬腿和落地的过程中对脚踝的压迫，长时间使用也不会有不适感，符合人体工程学设计。其它组成及连接关系与具体实施方式一相同。Embodiment 2: As shown in Figures 8 and 9, the first link assembly of the telecentric mechanism in this embodiment includes afirst link 705, asecond link 706 and two first connectingpieces 708. The first connecting 705 is parallel and opposite to thesecond link 706, the length of thefirst link 705 is less than the length of thesecond link 706, one end of thefirst link 705 and thesecond link 706 are connected to the ankle joint through a connectingshaft 711. The connectingpiece 703 is rotatably connected, and the other end of thefirst link 705 is connected with the middle of thesecond link 706 through two first connectingpieces 708 and two connectingshafts 711; the second link assembly of the telecentric mechanism includes a third The connectingrod 707, the fourth connectingrod 710 and the two second connectingpieces 709, the third connectingrod 707 and the fourth connectingrod 710 are arranged in parallel and opposite to each other, the length of the third connectingrod 707 is smaller than that of the fourth connectingrod 710, One end of thethird link 707 and thefourth link 710 are both rotatably connected to the anklejoint base 712 through a connectingshaft 711, and the other end of thethird link 707 and the other end of thefirst link 705 are connected through a connectingshaft 711 is rotatably connected, the other end of thefourth link 710 is rotatably connected to the other end of thesecond link 706 through a connectingshaft 711, and the other end of thethird link 707 is connected with thesecond link 709 through two second connectingpieces 709. Thefourth link 710 is connected. In this way, the rotation centers of the external and internal rotation of the exoskeleton ankle joint coincide with the rotation center of the human body, which avoids the wearer's discomfort when exercising, and at the same time reduces the compression of the ankle in the process of raising the leg and landing. , There will be no discomfort for long-term use, and it is ergonomically designed. Other components and connection relationships are the same as in the first embodiment.

在冠状面内的外翻/内翻自由度的旋转中心是与人体的旋转中心不重合的，这会造成穿戴者在进行此自由度的运动时极其不舒适，本发明采用了一种基于远心机构的下肢外骨骼踝关节，用于下肢外骨骼机器人，通过双平行四边形远心机构701，将转动中心置于人体踝关节内外翻转动点，实现外骨骼踝关节转动中心与踝关节转动中心重合，从而协助人体绕远心点内外翻运动，避免了外骨骼踝关节内外翻转动中心与人体踝关节转动中心不重合的问题，提高人体穿戴外骨骼的舒适性。The rotation center of the valgus/varus degree of freedom in the coronal plane does not coincide with the rotation center of the human body, which will cause the wearer to be extremely uncomfortable when exercising this degree of freedom. The lower extremity exoskeleton ankle joint of the heart mechanism is used for the lower extremity exoskeleton robot. Through the doubleparallelogram telecentric mechanism 701, the rotation center is placed at the inner and outer turning point of the human ankle joint, so as to realize the rotation center of the exoskeleton ankle joint and the ankle joint rotation center Coincidence, thereby assisting the human body to move in and out around the distal point, avoiding the problem of the inversion center of the exoskeleton ankle joint and the rotation center of the human ankle joint not overlapping, and improving the comfort of the human body wearing the exoskeleton.

具体实施方式三：如图5所示，本实施方式膝关节5包括电机501、固定盖502、谐波减速器503、连接板504、膝关节本体、大腿杆连接件505、小腿杆连接件507和减速器输出轴508，大腿杆连接件505的下端设置有外沿，固定盖502和连接板504平行设置且固装在大腿杆连接件505的外沿上，电机501固装在固定盖502的一端面上，谐波减速器503的一端固装在固定盖502的另一端面上，谐波减速器503的另一端与连接板504连接，减速器输出轴508固装在谐波减速器503上，膝关节本体通过深沟球轴承506安装在减速器输出轴508上，小腿杆连接件507的上端固装在膝关节本体的下部，所述下肢外骨骼异构膝关节还包括并联弹性体509、磁编码器磁环510、磁编码器磁头511和端盖512，端盖512通过法兰固装在膝关节本体的外环面上，并联弹性体509固装在端盖512内，并联弹性体509通过轴架与减速器输出轴508同轴固接，磁编码器磁环510安装在膝关节本体上，磁编码器磁头511安装在并联弹性体509上，磁编码器磁环510与磁编码器磁头511相对设置，膝关节本体上沿其外沿加工有圆弧凹槽，圆弧凹槽内设置有两个可调节限位块521，圆弧凹槽与连接板504正对设置，连接板504上沿其圆周方向加工有多个限位孔522，连接板504上插装有限位销523，可调节限位块521与限位销523之间设置有弹性橡胶块524，可调节限位块，521包括橡胶垫和两个调节片，橡胶垫位于两个调节片之间，可调节限位块521通过螺栓螺母锁紧在膝关节本体的圆弧凹槽上。如此设计，可以使得关节限位缓冲满足柔性需要，同时可以调整限位角度来满足不同的关节角度奇异，具有较高的普适性。其它组成及连接关系与具体实施方式一或二相同。Embodiment 3: As shown in FIG. 5 , theknee joint 5 of this embodiment includes amotor 501 , a fixedcover 502 , aharmonic reducer 503 , a connectingplate 504 , a knee joint body, a thighrod connecting piece 505 , and a calfrod connecting piece 507 and theoutput shaft 508 of the reducer, the lower end of the thighrod connecting piece 505 is provided with an outer edge, the fixingcover 502 and the connectingplate 504 are arranged in parallel and are fixedly mounted on the outer edge of thethigh linking piece 505, and themotor 501 is fixedly mounted on the fixingcover 502 One end of theharmonic reducer 503 is fixed on the other end surface of the fixedcover 502, the other end of theharmonic reducer 503 is connected to the connectingplate 504, and theoutput shaft 508 of the reducer is fixed on the harmonic reducer. 503, the knee joint body is installed on theoutput shaft 508 of the reducer through the deepgroove ball bearing 506, the upper end of the calfrod connecting piece 507 is fixedly mounted on the lower part of the knee joint body, and the lower limb exoskeleton heterogeneous knee joint also includes parallel elastic.body 509, magnetic encodermagnetic ring 510, magnetic encoder magnetic head 511 and end cover 512, the end cover 512 is fixedly mounted on the outer ring surface of the knee joint body through the flange, and the parallelelastic body 509 is fixedly mounted in the end cover 512, The parallelelastic body 509 is fixed coaxially with thereducer output shaft 508 through the axle frame, the magnetic encodermagnetic ring 510 is installed on the knee joint body, the magnetic encoder magnetic head 511 is installed on the parallelelastic body 509, and the magnetic encodermagnetic ring 510 Opposite to the magnetic encoder head 511, a circular arc groove is machined on the knee joint body along its outer edge, two adjustable limit blocks 521 are arranged in the circular arc groove, and the circular arc groove is directly opposite to the connectingplate 504. A plurality of limit holes 522 are machined on the connectingplate 504 along its circumferential direction, alimit pin 523 is inserted on the connectingplate 504, and anelastic rubber block 524 is arranged between theadjustable limit block 521 and thelimit pin 523, Theadjustable limit block 521 includes a rubber pad and two adjustment sheets, the rubber pad is located between the two adjustment sheets, and theadjustable limit block 521 is locked on the arc groove of the knee joint body through bolts and nuts. This design can make the joint limit buffer meet the flexibility requirements, and at the same time, the limit angle can be adjusted to meet the singularity of different joint angles, which has high universality. Other compositions and connection relationships are the same as in the first or second embodiment.

由于机器人存在极限奇异，当抬腿时可能会出现死点，即主动件上的力无穷大也无法推动杆件，从而使得膝关节无法正常运动，甚至对人体造成伤害。为了避免出现奇异点，现将外骨骼膝关节进行一定角度的异构。为了实现膝关节异构，可调节限位块521用于机械限位，异构角度可设置为三个档：0°、20°、45°，用于限制膝关节屈伸自由度的转动范围，其中弹性橡胶块524可以起到缓冲的作用，而避免纯刚性接触。Due to the extreme singularity of the robot, there may be a dead point when lifting the leg, that is, the force on the active part is infinite and cannot push the rod, so that the knee joint cannot move normally, and even cause harm to the human body. In order to avoid singular points, the exoskeleton knee joint is now isomerized at a certain angle. In order to realize the knee joint heterogeneity, theadjustable limit block 521 is used for mechanical limit, and the heterogeneity angle can be set to three files: 0°, 20°, 45°, which is used to limit the rotation range of the knee joint flexion and extension degree of freedom. Theelastic rubber block 524 can play a buffering role, and avoid pure rigid contact.

具体实施方式四：如图7所示，本实施方式并联弹性体509包括弹性体外环901、弹性体内环903、六对矩形弹簧902、三对三角块905和六对弹性定位销906，弹性体内环903上沿其圆周方向均布加工有三个燕尾块，弹性体外环901内壁上其圆周方向均布设置有三对三角块905，每对三角块905并列设置，弹性体内环903位于弹性体外环901内，每对矩形弹簧902的一端与一对三角块905相接触，每对矩形弹簧902的另一端与相应的一个燕尾块相接触，每个矩形弹簧902通过一个弹性定位销906定位，三角块905通过螺钉和两侧矩形弹簧902的压力作用与弹性体外环901固定在一起，并联弹性体509还包括六对球头销904，弹性体内环903的每个燕尾块的两侧均设置有一对球头销904。如此设计，使得弹性体满足小尺寸大刚度的需求，可以实现弹簧对三角块905正向施加压力，可以提高力传递效率，三角块905通过螺钉连接方便安装和拆卸，可以根据需要更换弹簧，同时内外环相对转动的过程中弹簧与球面始终能保持线接触，能够保证运动过程的稳定性。其它组成及连接关系与具体实施方式三相同。Embodiment 4: As shown in FIG. 7, the parallelelastic body 509 in this embodiment includes an outerelastic ring 901, an innerelastic ring 903, six pairs ofrectangular springs 902, three pairs oftriangular blocks 905 and six pairs of elastic positioning pins 906. Three dovetail blocks are uniformly distributed on theinner ring 903 along its circumferential direction, and three pairs oftriangular blocks 905 are evenly distributed in the circumferential direction on the inner wall of the elasticouter ring 901, and each pair oftriangular blocks 905 are arranged side by side. In theouter ring 901 , one end of each pair ofrectangular springs 902 is in contact with a pair oftriangular blocks 905 , the other end of each pair ofrectangular springs 902 is in contact with a corresponding dovetail block, and eachrectangular spring 902 is positioned by anelastic positioning pin 906 , thetriangular block 905 is fixed with the elasticouter ring 901 by the pressure action of the screws and therectangular springs 902 on both sides, the parallelelastic body 509 also includes six pairs of ball pins 904, and the two sides of each dovetail block of the elasticinner ring 903 Both are provided with a pair ofball studs 904 . In this way, the elastic body can meet the requirements of small size and high rigidity, and the spring can exert positive pressure on thetriangular block 905, which can improve the force transmission efficiency. During the relative rotation of the inner and outer rings, the spring and the spherical surface can always maintain linear contact, which can ensure the stability of the movement process. Other compositions and connection relationships are the same as in the third embodiment.

具体实施方式五：如图1、图2和图3所示，本实施方式背架1包括背架内层和背架外层，背架内层包括两个柔性背带101和两个腰封103，两个柔性背带101设置在背架板前端面上部，两个腰封103设置在背架板前端面下部；背架外层包括电源110、控制盒107、六维力传感器102、六维力采集卡105、两个单维力采集卡109和电源板108，电源110、控制盒107、六维力采集卡105、两个单维力采集卡109和电源板108设置在背架板后端面上，背架板为双层背架板，六维力传感器102设置在双层背架板之间。如此设计，一方面通过背架内层贴合人体设计，提高了外骨骼与人体接触的舒适性，另一方面外层集成了电控单元，方便穿戴者随时切换电源和采集设备信息。其它组成及连接关系与具体实施方式三相同。Embodiment 5: As shown in FIGS. 1 , 2 and 3 , the back frame 1 in this embodiment includes a back frame inner layer and a back frame outer layer, and the back frame inner layer includes twoflexible back straps 101 and twogirdle seals 103 , twoflexible straps 101 are arranged on the upper part of the front end surface of the back frame plate, twogirdle seals 103 are arranged on the lower part of the front end surface of the back frame plate; the outer layer of the back frame includes apower supply 110, acontrol box 107, a six-dimensional force sensor 102, a six-dimensional force Theacquisition card 105, two single-dimensionalforce acquisition cards 109 and thepower supply board 108, thepower supply 110, thecontrol box 107, the six-dimensionalforce acquisition card 105, the two single-dimensionalforce acquisition cards 109 and thepower supply board 108 are arranged on the rear surface of the back frame plate Above, the back frame plate is a double-layer back frame plate, and the six-dimensional force sensor 102 is arranged between the double-layer back frame plates. In this way, on the one hand, the inner layer of the back frame is designed to fit the human body, which improves the comfort of the exoskeleton in contact with the human body. On the other hand, the outer layer integrates an electronic control unit, which is convenient for the wearer to switch the power supply and collect device information at any time. Other compositions and connection relationships are the same as in the third embodiment.

背架外层放置电源110、控制盒107、六维力采集卡105、单维力采集卡109、电源板108，背架内外层通过六维力传感器102连接，通过六维力可检测出人体上身倾斜及蹲起意图。The outer layer of the back frame is placed with apower supply 110, acontrol box 107, a six-dimensionalforce acquisition card 105, a single-dimensionalforce acquisition card 109, and apower supply board 108. The inner and outer layers of the back frame are connected by a six-dimensional force sensor 102, and the human body can be detected through the six-dimensional force. Upper body leaning and squatting intent.

腰部设计为可调节结构，调节范围为440mm±10，以适应不同腰围的穿戴者。为了使外骨骼机器人在行走过程中更平稳，在腰腹部安装腰封103，腰封一方面可以对人机髋关节起到固定作用，另一方面在人机系统行走过程中，当其中一条人机耦合腿抬起时，即其处于摆动相位时，其这条腿的部分重量可通过腰带与髋关节转移到另一支处于支撑相位的腿上，这样可以部分分担一条腿抬起时，腿部重力对穿戴者产生的重力压迫。The waist is designed as an adjustable structure, with an adjustment range of 440mm±10 to accommodate wearers with different waist circumferences. In order to make the exoskeleton robot walk more smoothly, agirdle seal 103 is installed on the waist and abdomen. On the one hand, the girdle seal can fix the hip joint of the man-machine system. When the mechanically coupled leg is lifted, that is, when it is in the swing phase, part of the weight of this leg can be transferred to the other leg in the supporting phase through the belt and hip joint, so that when one leg is lifted, part of the weight of the leg can be shared. The gravitational pressure exerted by external gravity on the wearer.

具体实施方式六：如图1所示，本实施方式大腿杆4的内侧设置有大腿绑带，大腿杆4的长度范围为418mm～478mm，小腿杆6的长度范围为390mm～450mm。如此设计，可以满足不同身高尺寸的人穿戴，按需求进行调节。其它组成及连接关系与具体实施方式四或五相同。Embodiment 6: As shown in FIG. 1 , the inner side of thethigh bar 4 in this embodiment is provided with a thigh strap, the length of thethigh bar 4 is 418mm-478mm, and the length of thecalf bar 6 is 390mm-450mm. This design can be worn by people of different heights and sizes, and can be adjusted according to needs. Other compositions and connection relationships are the same as in the fourth or fifth embodiment.

为了避免直线类型外骨骼的奇异点问题，抬腿困难的问题，同时满足缓冲吸振的作用，采用基于异构式设计的膝关节，同时大小腿杆件设计为可调节模式，此外还可以适应不同身高的穿戴者进行穿戴。大腿的长度设计为448mm±30，小腿杆的长度设计为420mm±30，穿戴者的适用身高范围为165cm至185cm。同时为了使整个系统重量减轻，大小腿杆采用碳纤维材料制造。外骨骼机器人系统采用电机作为动力，系统需要电源、控制器和驱动器，为了保证电气系统的使用安全，使机器人整体结构紧凑，电气各模块均布置于外骨骼机器人的腰背部。同时背部还需要承担负载，额定负载为20kg，同时在躯干腰部增加一个旋转自由度，避免下坐、下蹲时，后背不能活动的情况。In order to avoid the singular point problem of the linear type exoskeleton and the difficulty of raising the leg, and at the same time satisfy the effect of buffering and vibration absorption, the knee joint based on the heterogeneous design is adopted, and the upper and lower leg rods are designed in an adjustable mode, and can also adapt to different Wear it by the tall wearer. The length of the thigh is designed to be 448mm±30, the length of the calf bar is designed to be 420mm±30, and the applicable height range of the wearer is 165cm to 185cm. At the same time, in order to reduce the weight of the whole system, the upper and lower legs are made of carbon fiber material. The exoskeleton robot system uses a motor as a power source, and the system requires a power supply, a controller and a driver. In order to ensure the safety of the electrical system and make the overall structure of the robot compact, the electrical modules are arranged on the waist and back of the exoskeleton robot. At the same time, the back also needs to bear the load. The rated load is 20kg. At the same time, a rotational degree of freedom is added to the waist of the trunk to avoid the situation that the back cannot move when sitting or squatting.

具体实施方式七：如图1所示，本实施方式大腿杆4和小腿杆6均采用碳纤维材料制成。如此设计，可以降低外骨骼系统自重，满足外骨骼轻型化设计。其它组成及连接关系与具体实施方式一、二、四或五相同。Embodiment 7: As shown in FIG. 1 , both thethigh rod 4 and thecalf rod 6 in this embodiment are made of carbon fiber materials. This design can reduce the weight of the exoskeleton system and meet the lightweight design of the exoskeleton. Other compositions and connection relationships are the same as in the first, second, fourth or fifth embodiment.

具体实施方式八：如图1和图9所示，本实施方式足底压力鞋包括后跟挡板13、后绑带14、两个后绑带架15、两个后绑带架座16、前绑带17、两个前绑带架18、两个前绑带架座19、上层鞋底20、中层鞋底21和下层鞋底22，上层鞋底20、中层鞋底21和下层鞋底22由上至下依次设置，前绑带架座19和后绑带架座16前后对应设置在鞋底两侧，每个前绑带架座19上设置有一个前绑带架18，每个后绑带架座16上设置有一个后绑带架15，两个后绑带架15之间设置有后绑带14，两个前绑带架18之间设置有前绑带17，后跟挡板13设置在鞋底的后侧。如此设计，可以缓冲运动中对上下两层压力传导的冲击，提高压力鞋的舒适性，方便穿戴。其它组成及连接关系与具体实施方式一、二或四相同。Embodiment 8: As shown in Figures 1 and 9, the sole pressure shoe of this embodiment includes a heel baffle 13, a rear strap 14, two rear strap frames 15, two rear strap frame seats 16, a front strap The straps 17, the two front strap frames 18, the two front strap frames 19, the upper sole 20, the middle sole 21 and the lower sole 22, the upper sole 20, the middle sole 21 and the lower sole 22 are arranged in order from top to bottom , the front strapping frame seat 19 and the rear strapping frame seat 16 are correspondingly arranged on both sides of the sole, each front strapping frame seat 19 is provided with a front strapping frame 18, and each rear strapping frame seat 16 is provided with There is a rear strap frame 15, a rear strap 14 is arranged between the two rear strap frames 15, a front strap 17 is arranged between the two front strap frames 18, and a heel baffle 13 is arranged on the rear side of the sole . Such a design can buffer the impact of the pressure conduction on the upper and lower layers during exercise, improve the comfort of the pressure shoe, and facilitate wearing. Other compositions and connection relationships are the same as in the first, second or fourth embodiment.

具体实施方式九：如图9所示，本实施方式中层鞋底21由前后两部分鞋底组成，中层鞋底21的前后两部分通过合页连接，中层鞋底21通过多个内六角圆柱头螺钉固定在下层鞋底22的上端面上；上层鞋底20由前后两部分鞋底组成，上层鞋底20的前部分通过螺钉固装在中层鞋底21的前部，上层鞋底20的后部分通过螺钉固装在中层鞋底21的后部。如此设计，前绑带架通过第二合页与前传感器支撑层活动连接，便于足底鞋穿戴，增强了足底鞋穿戴的灵活性。其它组成及连接关系与具体实施方式八相同。Embodiment 9: As shown in FIG. 9 , the middle sole 21 of the present embodiment is composed of two front and rear parts of the sole, the front and rear parts of the middle sole 21 are connected by hinges, and the middle sole 21 is fixed to the lower layer by a plurality of hexagonal socket head screws. The upper end surface of the sole 22; the upper sole 20 is composed of two parts of the sole, the front part of the upper sole 20 is fixed on the front part of the middle sole 21 by screws, and the rear part of the upper sole 20 is fixed on the middle sole 21 by screws. rear. With this design, the front strap frame is movably connected with the front sensor support layer through the second hinge, which facilitates the wearing of the sole shoe and enhances the flexibility of wearing the sole shoe. Other compositions and connection relationships are the same as in the eighth embodiment.

具体实施方式十：如图1所示，本实施方式髋关节2采用无刷电机和谐波减速器作为外骨骼的驱动单元，髋关节2包括无刷电机、谐波减速器、磁编码器和并联弹性体，髋关节2与膝关节5的结构相同。如此设计，通过增加了膝关节的柔性，增加了控制力的带宽，并联弹性体的内圈与减速器输出轴相连，并联弹性体的外圈与大腿杆相连，通过磁编码器和电机编码器测量角度差，进而进行人机交互力的测量。其它组成及连接关系与具体实施方式一、二、四、六、七或九相同。Embodiment 10: As shown in FIG. 1 , thehip joint 2 of this embodiment adopts a brushless motor and a harmonic reducer as the driving unit of the exoskeleton, and thehip joint 2 includes a brushless motor, a harmonic reducer, a magnetic encoder and By connecting elastic bodies in parallel, the structure of thehip joint 2 and theknee joint 5 is the same. This design increases the flexibility of the knee joint and increases the bandwidth of the control force. The inner ring of the parallel elastic body is connected to the output shaft of the reducer, and the outer ring of the parallel elastic body is connected to the thigh rod. Through the magnetic encoder and the motor encoder Measure the angle difference, and then measure the human-computer interaction force. Other compositions and connection relationships are the same as in the first, second, fourth, sixth, seventh or ninth embodiments.

本发明控制系统采用ELMO驱动器对电机进行控制，主控制器采用基于Cortex-ARM9为核心的工控板，单维力采集卡109和六维力采集卡105分别采集人机交互信息，通过CAN总线方式与控制盒107进行通信，并设计了各原件的供电电源板，整个系统采用两个24V的锂电池电源110供电，能够保证连续工作时间为两小时。电源板108设计为集成模块，可提供24V、12V、5V等多种电压，保证下肢外骨骼系统整体的续航能力。The control system of the present invention uses the ELMO driver to control the motor, the main controller adopts the industrial control board based on Cortex-ARM9 as the core, the single-dimensionalforce acquisition card 109 and the six-dimensionalforce acquisition card 105 respectively collect the human-computer interaction information, and use the CAN bus mode. It communicates with thecontrol box 107, and designs the power supply board for each original. The whole system is powered by two 24V lithiumbattery power supplies 110, which can ensure the continuous working time of two hours. Thepower board 108 is designed as an integrated module, which can provide various voltages such as 24V, 12V, 5V, etc., to ensure the overall endurance of the lower limb exoskeleton system.

以上仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和等同替换，这些对本发明权利要求进行改进和等同替换后的技术方案，均落在本发明的保护范围。The above are only the preferred embodiments of the present invention, it should be pointed out: for those of ordinary skill in the art, without departing from the principles of the present invention, several improvements and equivalent replacements can also be made. The technical solutions after improvements and equivalent replacements all fall within the protection scope of the present invention.

Claims (9)

Translated fromChinese

1.一种基于人机末端交互的下肢外骨骼机器人系统，所述下肢外骨骼机器人系统包括背架(1)、两个髋关节(2)、两个惯性单元(3)、两个大腿杆(4)、两个膝关节(5)、两个小腿杆(6)、两个踝关节(7)和两个足底压力鞋(8)，其特征在于：所述背架(1)下部对称设置有两个髋关节支架(104)，髋关节支架(104)的一端通过内收外展轴(201)与背架(1)转动连接，每个髋关节支架(104)的自由端通过髋部内外旋转轴(203)与相应的髋关节(2)转动连接，每个髋关节(2)通过髋部屈伸轴(202)与相应的大腿杆(4)连接，每个大腿杆(4)的上部设置有一个惯性单元(3)，每个大腿杆(4)的下部通过一个膝关节(5)与相应的小腿杆(6)的上端连接，每个小腿杆(6)的下端通过一个踝关节(7)与相应的足底压力鞋(8)连接，所述下肢外骨骼机器人系统还包括两个气动弹簧(106)，气动弹簧(106)的一端与背架(1)连接，气动弹簧(106)的另一端与相应的一个髋关节支架(104)连接，踝关节(7)设置有远心机构(701)，远心机构包括第一连杆组件、第二连杆组件和多个连接轴(711)，第一连杆组件的一端与踝关节连接件(703)通过连接轴(711)转动连接，第一连杆组件的另一端与第二连杆组件的一端通过连接轴(711)转动连接，第二连杆组件的另一端与踝关节底座(712)通过连接轴(711)转动连接，踝关节底座(712)设置在足底压力鞋上；1. A lower limb exoskeleton robot system based on human-machine terminal interaction, the lower limb exoskeleton robot system comprising a back frame (1), two hip joints (2), two inertial units (3), two thigh rods (4), two knee joints (5), two calf rods (6), two ankle joints (7) and two sole pressure shoes (8), characterized in that: the lower part of the back frame (1) Two hip joint brackets (104) are symmetrically arranged, one end of the hip joint brackets (104) is rotatably connected to the back frame (1) through an adduction and abduction shaft (201), and the free end of each hip joint bracket (104) passes through The hip internal and external rotation axis (203) is rotatably connected with the corresponding hip joint (2), each hip joint (2) is connected with the corresponding thigh rod (4) through the hip flexion and extension axis (202), and each thigh rod (4) ) is provided with an inertial unit (3), the lower part of each thigh rod (4) is connected with the upper end of the corresponding calf rod (6) through a knee joint (5), and the lower end of each calf rod (6) passes through An ankle joint (7) is connected with the corresponding sole pressure shoe (8), the lower limb exoskeleton robot system further comprises two pneumatic springs (106), one end of the pneumatic springs (106) is connected with the back frame (1), The other end of the pneumatic spring (106) is connected with a corresponding hip joint bracket (104), the ankle joint (7) is provided with a telecentric mechanism (701), and the telecentric mechanism includes a first link assembly, a second link assembly and A plurality of connecting shafts (711), one end of the first link assembly and the ankle joint connector (703) are rotatably connected through the connecting shaft (711), and the other end of the first link assembly is connected with one end of the second link assembly by The shaft (711) is rotatably connected, and the other end of the second link assembly is rotatably connected with the ankle joint base (712) through the connection shaft (711), and the ankle joint base (712) is arranged on the sole pressure shoe;远心机构的第一连杆组件包括第一连杆(705)、第二连杆(706)和两个第一连接片(708)，第一连杆(705)与第二连杆(706)平行且相对设置，第一连杆(705)的长度小于第二连杆(706)的长度，第一连杆(705)和第二连杆(706)的一端均通过一个连接轴(711)与踝关节连接件(703)转动连接，第一连杆(705)的另一端与第二连杆(706)的中部通过两个第一连接片(708)和两个连接轴(711)连接；远心机构的第二连杆组件包括第三连杆(707)、第四连杆(710)和两个第二连接片(709)，第三连杆(707)和第四连杆(710)平行且相对设置，第三连杆(707)的长度小于第四连杆(710)的长度，第三连杆(707)和第四连杆(710)的一端均通过一个连接轴(711)与踝关节底座(712)转动连接，第三连杆(707)的另一端与第一连杆(705)所述的另一端通过一个连接轴(711)转动连接，第四连杆(710)的另一端与第二连杆(706)所述的另一端通过一个连接轴(711)转动连接，第三连杆(707)所述的另一端通过两个第二连接片(709)与第四连杆(710)连接。The first link assembly of the telecentric mechanism includes a first link (705), a second link (706) and two first connecting pieces (708), the first link (705) and the second link (706) ) are parallel and opposite, the length of the first connecting rod (705) is less than the length of the second connecting rod (706), and one end of the first connecting rod (705) and the second connecting rod (706) pass through a connecting shaft (711). ) is rotatably connected to the ankle joint connector (703), the other end of the first link (705) and the middle of the second link (706) pass through two first connecting pieces (708) and two connecting shafts (711) Connection; the second link assembly of the telecentric mechanism includes a third link (707), a fourth link (710) and two second connecting pieces (709), a third link (707) and a fourth link (710) are arranged in parallel and opposite to each other, the length of the third link (707) is less than the length of the fourth link (710), and one end of the third link (707) and the fourth link (710) pass through a connecting shaft (711) is rotatably connected to the ankle joint base (712), the other end of the third link (707) is rotatably connected to the other end of the first link (705) through a connecting shaft (711), and the fourth link The other end of the second connecting rod (710) is rotatably connected to the other end of the second connecting rod (706) through a connecting shaft (711), and the other end of the third connecting rod (707) is connected by two second connecting pieces (709). ) is connected with the fourth link (710).2.根据权利要求1所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：膝关节(5)包括电机(501)、固定盖(502)、谐波减速器(503)、连接板(504)、膝关节本体、大腿杆连接件(505)、小腿杆连接件(507)和减速器输出轴(508)，大腿杆连接件(505)的下端设置有外沿，固定盖(502)和连接板(504)平行设置且固装在大腿杆连接件(505)的外沿上，电机(501)固装在固定盖(502)的一端面上，谐波减速器(503)的一端固装在固定盖(502)的另一端面上，谐波减速器(503)的另一端与连接板(504)连接，减速器输出轴(508)固装在谐波减速器(503)上，膝关节本体通过深沟球轴承(506)安装在减速器输出轴(508)上，小腿杆连接件(507)的上端固装在膝关节本体的下部，所述膝关节本体包括并联弹性体(509)、磁编码器磁环(510)、磁编码器磁头(511)和端盖(512)，端盖(512)通过法兰固装在膝关节本体的外环面上，并联弹性体(509)固装在端盖(512)内，并联弹性体(509)通过轴架与减速器输出轴(508)同轴固接，磁编码器磁环(510)安装在膝关节本体上，磁编码器磁头(511)安装在并联弹性体(509)上，磁编码器磁环(510)与磁编码器磁头(511)相对设置，膝关节本体上沿其外沿加工有圆弧凹槽，圆弧凹槽内设置有两个可调节限位块(521)，圆弧凹槽与连接板(504)正对设置，连接板(504)上沿其圆周方向加工有多个限位孔(522)，连接板(504)上插装有限位销(523)，可调节限位块(521)与限位销(523)之间设置有弹性橡胶块(524)，可调节限位块(521)包括橡胶垫和两个调节片，橡胶垫位于两个调节片之间，可调节限位块(521)通过螺栓螺母锁紧在膝关节本体的圆弧凹槽上。2. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 1, wherein the knee joint (5) comprises a motor (501), a fixed cover (502), a harmonic reducer (503), A connecting plate (504), a knee joint body, a thigh rod connecting piece (505), a calf rod connecting piece (507) and a reducer output shaft (508), the lower end of the thigh rod connecting piece (505) is provided with an outer edge, and a fixed cover (502) and the connecting plate (504) are arranged in parallel and fixed on the outer edge of the thigh rod connecting piece (505), the motor (501) is fixed on one end face of the fixed cover (502), the harmonic reducer (503) ) is fixedly mounted on the other end face of the fixed cover (502), the other end of the harmonic reducer (503) is connected to the connecting plate (504), and the output shaft (508) of the reducer is fixedly mounted on the harmonic reducer ( 503), the knee joint body is mounted on the reducer output shaft (508) through the deep groove ball bearing (506), and the upper end of the calf rod connecting piece (507) is fixedly mounted on the lower part of the knee joint body, and the knee joint body includes: Parallel elastic body (509), magnetic encoder ring (510), magnetic encoder head (511) and end cover (512), the end cover (512) is fixedly mounted on the outer ring surface of the knee joint body through the flange, The parallel elastic body (509) is fixedly installed in the end cover (512), the parallel elastic body (509) is fixed coaxially with the output shaft of the reducer (508) through the axle bracket, and the magnetic encoder ring (510) is installed on the knee joint On the main body, the magnetic encoder head (511) is installed on the parallel elastic body (509), the magnetic encoder magnetic ring (510) is arranged opposite to the magnetic encoder head (511), and the knee joint body is machined with a circle along its outer edge. An arc groove, two adjustable limit blocks (521) are arranged in the arc groove, the arc groove and the connecting plate (504) are arranged facing each other, and the connecting plate (504) is machined along its circumferential direction with a plurality of A limit hole (522), a limit pin (523) is inserted on the connecting plate (504), an elastic rubber block (524) is arranged between the adjustable limit block (521) and the limit pin (523), which can be adjusted The limit block (521) includes a rubber pad and two adjustment sheets, the rubber pad is located between the two adjustment sheets, and the adjustable limit block (521) is locked on the arc groove of the knee joint body through bolts and nuts.3.根据权利要求2所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：3. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 2, wherein:并联弹性体(509)包括弹性体外环(901)、弹性体内环(903)、六对矩形弹簧(902)、三对三角块(905)和六对弹性定位销(906)，弹性体内环(903)上沿其圆周方向均布加工有三个燕尾块，弹性体外环(901)内壁上其圆周方向均布设置有三对三角块(905)，每对三角块(905)并列设置，弹性体内环(903)位于弹性体外环(901)内，每对矩形弹簧(902)的一端与一对三角块(905)相接触，每对矩形弹簧(902)的另一端与相应的一个燕尾块相接触，每个矩形弹簧(902)通过一个弹性定位销(906)定位，三角块(905)通过螺钉和两侧矩形弹簧(902)的压力作用与弹性体外环(901)固定在一起，并联弹性体(509)还包括六对球头销(904)，弹性体内环(903)的每个燕尾块的两侧均设置有一对球头销(904)。The parallel elastic bodies (509) include an outer elastic ring (901), an inner elastic ring (903), six pairs of rectangular springs (902), three pairs of triangular blocks (905), and six pairs of elastic positioning pins (906). There are three dovetail blocks evenly distributed along the circumferential direction of the upper body (903), and three pairs of triangular blocks (905) are evenly distributed in the circumferential direction on the inner wall of the elastic outer ring (901). The inner ring (903) is located in the outer elastic ring (901), one end of each pair of rectangular springs (902) is in contact with a pair of triangular blocks (905), and the other end of each pair of rectangular springs (902) is in contact with a corresponding dovetail The blocks are in contact with each other, each rectangular spring (902) is positioned by an elastic positioning pin (906), and the triangular block (905) is fixed with the elastic outer ring (901) by the pressure of the screws and the rectangular springs (902) on both sides. , the parallel elastic body (509) also includes six pairs of ball studs (904), and a pair of ball studs (904) are provided on both sides of each dovetail block of the elastic inner ring (903).4.根据权利要求1或3所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：背架(1)包括背架内层和背架外层，背架内层包括两个柔性背带(101)和两个腰封(103)，两个柔性背带(101)设置在背架板前端面上部，两个腰封(103)设置在背架板前端面下部；背架外层包括电源(110)、控制盒(107)、六维力传感器(102)、六维力采集卡(105)、两个单维力采集卡(109)和电源板(108)，电源(110)、控制盒(107)、六维力采集卡(105)、两个单维力采集卡(109)和电源板(108)设置在背架板后端面上，背架板为双层背架板，六维力传感器(102)设置在双层背架板之间。4. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 1 or 3, wherein the back frame (1) comprises a back frame inner layer and a back frame outer layer, and the back frame inner layer comprises two A flexible back strap (101) and two waist seals (103), the two flexible back straps (101) are arranged on the upper part of the front end surface of the back frame plate, and the two waist seals (103) are arranged on the lower part of the front end surface of the back frame plate; the outer layer of the back frame Including a power supply (110), a control box (107), a six-dimensional force sensor (102), a six-dimensional force acquisition card (105), two single-dimensional force acquisition cards (109), a power board (108), a power supply (110) , a control box (107), a six-dimensional force acquisition card (105), two single-dimensional force acquisition cards (109) and a power supply board (108) are arranged on the rear surface of the back frame plate, and the back frame plate is a double-layer back frame plate , the six-dimensional force sensor (102) is arranged between the double-layer back frame plates.5.根据权利要求4所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：大腿杆(4)的内侧设置有大腿绑带，大腿杆(4)的长度范围为418mm～478mm，小腿杆(6)的长度范围为390mm～450mm。5. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 4, characterized in that: the inner side of the thigh rod (4) is provided with a thigh strap, and the length of the thigh rod (4) ranges from 418mm to 478mm , the length of the calf rod (6) ranges from 390mm to 450mm.6.根据权利要求5所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：大腿杆(4)和小腿杆(6)均采用碳纤维材料制成。6. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 5, characterized in that: both the thigh rod (4) and the calf rod (6) are made of carbon fiber material.7.根据权利要求1或3所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：足底压力鞋包括后跟挡板(13)、后绑带(14)、两个后绑带架(15)、两个后绑带架座(16)、前绑带(17)、两个前绑带架(18)、两个前绑带架座(19)、上层鞋底(20)、中层鞋底(21)和下层鞋底(22)，上层鞋底(20)、中层鞋底(21)和下层鞋底(22)由上至下依次设置，前绑带架座(19)和后绑带架座(16)前后对应设置在鞋底两侧，每个前绑带架座(19)上设置有一个前绑带架(18)，每个后绑带架座(16)上设置有一个后绑带架(15)，两个后绑带架(15)之间设置有后绑带(14)，两个前绑带架(18)之间设置有前绑带(17)，后跟挡板(13)设置在鞋底的后侧。7. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 1 or 3, wherein the sole pressure shoe comprises a heel baffle (13), a rear strap (14), two rear straps Belt frame (15), two rear strap holders (16), front straps (17), two front strap holders (18), two front strap holders (19), upper sole (20) , the middle sole (21) and the lower sole (22), the upper sole (20), the middle sole (21) and the lower sole (22) are arranged in order from top to bottom, the front strapping frame seat (19) and the rear strapping frame The seats (16) are correspondingly arranged on both sides of the sole at the front and rear, each front strapping frame seat (19) is provided with a front strapping frame (18), and each rear strapping frame seat (16) is provided with a rear strapping frame A belt frame (15), a rear strap (14) is arranged between the two rear strap frames (15), a front strap (17) is arranged between the two front strap frames (18), and a rear heel baffle ( 13) Set on the rear side of the sole.8.根据权利要求7所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：中层鞋底(21)由前后两部分鞋底组成，中层鞋底(21)的前后两部分通过合页连接，中层鞋底(21)通过多个内六角圆柱头螺钉固定在下层鞋底(22)的上端面上；上层鞋底(20)由前后两部分鞋底组成，上层鞋底(20)的前部分通过螺钉固装在中层鞋底(21)的前部，上层鞋底(20)的后部分通过螺钉固装在中层鞋底(21)的后部。8. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 7, characterized in that: the middle layer sole (21) is composed of two front and rear parts of the sole, and the front and rear two parts of the middle layer sole (21) are connected by hinges , the middle sole (21) is fixed on the upper end surface of the lower sole (22) by a plurality of hexagonal socket head screws; the upper sole (20) consists of two parts of the sole, the front part of the upper sole (20) is fixed by screws On the front part of the mid-layer sole (21), the rear part of the upper-layer sole (20) is fixedly mounted on the rear part of the mid-layer sole (21) through screws.9.根据权利要求1、3、5、6或8所述的基于人机末端交互的下肢外骨骼机器人系统，其特征在于：髋关节(2)采用无刷电机和谐波减速器作为外骨骼的驱动单元，髋关节(2)包括无刷电机、谐波减速器、磁编码器和并联弹性体，髋关节(2)与膝关节(5)的结构相同。9. The lower limb exoskeleton robot system based on human-machine terminal interaction according to claim 1, 3, 5, 6 or 8, characterized in that: the hip joint (2) adopts a brushless motor and a harmonic reducer as the exoskeleton The drive unit, the hip joint (2) includes a brushless motor, a harmonic reducer, a magnetic encoder and a parallel elastic body, and the hip joint (2) and the knee joint (5) have the same structure.

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