Disclosure of Invention
The invention aims to solve the problems, and provides a high-freedom-degree multidirectional exoskeleton power assisting device which is smaller, lighter, lower in cost, better in power assisting effect and convenient to wear.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The invention provides a high-freedom-degree multidirectional exoskeleton power assisting device, which comprises:
the shell comprises a back backboard, a waist backboard and a hip backboard which are sequentially hinged in the up-down direction;
the two shoulder stretching units are symmetrically distributed on the back plate and are used for self-adapting to the shoulder of a human body to stretch;
The two upper limb lifting units are connected with the shoulder stretching units in a one-to-one correspondence manner and are used for driving the upper limbs to move;
The back power assisting unit comprises two symmetrically distributed line driving units, a second fixing seat, a fixing rod, a force measuring plate and a tension and pressure sensor, wherein each line driving unit comprises a motor grooved pulley, a back power assisting driving motor, a driving line and a pulley, the second fixing seat is connected with the hip backboard, the pulley is arranged on the second fixing seat, one end of the driving line is connected with the motor grooved pulley, the other end of the driving line passes through the back backboard to be connected with the fixing rod after bypassing the pulley, the back power assisting driving motor is connected with the hip backboard and is used for driving the motor grooved pulley to rotate, so that the driving line is driven to tighten or loosen, the fixing rod is positioned on one side of the back backboard close to a human body, the force measuring plate is in contact with the back of the human body, and the tension and pressure sensor is connected with the force measuring plate and is fixed on the back backboard;
the two lower limb power assisting units are symmetrically distributed on the hip backboard and used for driving the lower limbs to walk.
Preferably, the waist backboard comprises a waist outer backboard and a waist inner backboard, the back backboard is hinged with the waist outer backboard, the hip backboard is hinged with the waist inner backboard, and the waist outer backboard and the waist inner backboard are detachably connected.
Preferably, the back backboard is hinged with the waist outer backboard through hinges, the waist inner backboard is hinged with the hip backboard through hinges, a plurality of third mounting holes and a plurality of fourth mounting holes are further formed in the waist outer backboard, a plurality of fifth mounting holes and a plurality of sixth mounting holes are further formed in the waist inner backboard, and the waist outer backboard and the waist inner backboard are matched through the third mounting holes and the fifth mounting holes and the fourth mounting holes and the sixth mounting holes to achieve height adjustment.
Preferably, the shoulder stretching unit comprises a first motor connecting plate, a first H-shaped hinge, a special-shaped hinge, a first connecting seat, an adjusting rod and a first fixing seat, wherein the first fixing seat is connected with the back backboard, one end of the adjusting rod is connected with the first fixing seat, the other end of the adjusting rod is in sliding connection with the first connecting seat, the special-shaped hinge is respectively hinged with the first connecting seat and the first H-shaped hinge, the first H-shaped hinge is also hinged with the first motor connecting plate, the sliding direction of the first connecting seat is in a horizontal direction, and the rotating direction of the first H-shaped hinge or the special-shaped hinge is perpendicular to the sliding direction of the first connecting seat.
Preferably, the special-shaped hinge is B-shaped, a limiting block used for limiting rotation is arranged on the outer side of one end, close to the upper limb lifting unit, of the special-shaped hinge, and an avoidance groove for avoiding the first H-shaped hinge is formed between the two hinge shafts.
Preferably, the upper limb lifting unit comprises an upper limb power-assisted driving motor, a driving connecting plate, a linear sliding table and an arm support, wherein the upper limb power-assisted driving motor is connected with the first motor connecting plate and used for driving the driving connecting plate to rotate, a fixing part of the linear sliding table is connected with the driving connecting plate, a sliding part of the linear sliding table is connected with the arm support, the arm support is further fixed with a human body big arm through a binding belt, the sliding direction of the arm support is the length direction of the human body big arm, and the rotating direction of the driving connecting plate is perpendicular to the sliding direction of the arm support.
Preferably, the driving connection plate is Z-shaped, one end of the driving connection plate is provided with a plurality of first mounting holes for connecting an upper limb power-assisted driving motor, and the other end of the driving connection plate is provided with a plurality of second mounting holes for connecting a linear sliding table.
Preferably, the lower limb power assisting unit comprises a leg support, a leg support connecting rod, a second H-shaped hinge, a second motor connecting plate, a leg power assisting driving motor and a motor fixing plate, wherein the leg support and the leg support connecting rod are detachably connected, the second H-shaped hinge is respectively hinged with the leg support connecting rod and the second motor connecting plate, the leg power assisting driving motor is connected with the hip backboard and used for driving the second motor connecting plate to rotate around the front and back direction of a human body, the motor fixing plate is connected with the hip backboard and used for sealing the leg power assisting driving motor, a plurality of connecting holes, adjusting grooves and a plurality of adjusting holes are formed in the leg support, the leg support is fixed with the thigh of the human body through a binding belt penetrating through the connecting holes, and the leg support connecting rod is slidably penetrated in the adjusting grooves and fixed through screws penetrating through the adjusting holes;
The hip backboard is of a symmetrical structure and is provided with two first motor mounting holes, two second motor mounting holes and mounting grooves, the leg power-assisted driving motors are arranged in the first motor mounting holes in a one-to-one correspondence manner, the back power-assisted driving motors are arranged in the second motor mounting holes in a one-to-one correspondence manner, the second fixing seats are fixed on the mounting grooves, two reinforcing ribs and two containing grooves are also symmetrically arranged on the second fixing seats, and the pulleys are arranged in the containing grooves in a one-to-one correspondence manner;
The outer fringe of motor sheave has seted up annular groove, and the wire hole has been seted up to the lateral wall, and the one end that is close to the hip backplate has still been seted up the fifth recess, and the drive line twines on annular groove and one end passes the wire hole and fixes, and the fifth recess cooperates with the second motor mounting hole and carries out back helping hand driving motor's fixation.
Preferably, a first groove, a second groove and a third groove are formed in the back backboard, the first groove is used for installing the force measuring plate, the second groove is formed in the first groove and used for installing a tension pressure sensor, the tension pressure sensor protrudes out of the second groove, the third groove is provided with a plurality of fixing rods in parallel along the up-down direction and is installed in a third groove, and a limiting ring used for fixing a driving line is further arranged on the fixing rods.
Preferably, the shell, the upper limb lifting unit and the lower limb assisting unit are also provided with a plurality of myoelectric sensors which are contacted with the human body.
Compared with the prior art, the invention has the beneficial effects that:
The multi-azimuth exoskeleton assisting device with high freedom degree can assist the back of the upper limb, the lower limb and the user when bending down. Specifically, through the cooperation of the shoulder stretching unit and the upper limb lifting unit, the simplification of the assistance of the upper limb is realized relative to the prior art, namely, the underactuated mode is adopted around a Z axis (up-down direction), the free adjustment is carried out along with the human body, and the movement range of the upper limb is increased through a plurality of hinge connections and self-adaptive sliding, so that the robot and the human body can be better adapted and self-adaptively adjusted, the upper limb can lift the assistance under various postures, better assistance can be obtained in all directions, the actions such as shoulder lifting and the like can be easily completed by the human body, and the wearing comfort and the movement freedom degree are increased; the lower limb power assisting unit also increases the movement range of the lower limb, ensures that the lower limb power assisting unit has front-back and left-right movement freedom degrees, increases the movement robustness, can assist the actions such as squatting and walking of the human body, and can adjust all parts to adapt to different human bodies, thereby having wide application range.
Drawings
FIG. 1 is a schematic view of a first view of a high degree of freedom multi-azimuth exoskeleton boosting device of the present invention;
FIG. 2 is a schematic structural view of an upper limb lifting unit of the present invention;
FIG. 3 is a schematic view of the structure of the driving connection board of the present invention;
FIG. 4 is a partial cross-sectional view of the shoulder stretcher unit of the present invention;
FIG. 5 is a schematic view of an assembly of a first H-hinge and a profiled hinge of the present invention;
FIG. 6 is a schematic view of the assembly of the housing and the back booster unit of the present invention;
FIG. 7 is a schematic view of a high degree of freedom multi-aspect exoskeleton boosting device according to the present invention from a second perspective;
FIG. 8 is a schematic view of the structure of the hip backplate of the present invention;
FIG. 9 is a schematic view of the structure of the back booster unit of the present invention;
FIG. 10 is a schematic structural view of a second fixing base of the present invention;
FIG. 11 is a schematic view of the construction of a motor sheave of the present invention;
FIG. 12 is a schematic view of the assembly of a mounting bar, force plate, tension and pressure sensor and back backplate of the present invention;
FIG. 13 is a schematic view of the structure of the lumbar backboard according to the invention;
FIG. 14 is a schematic view of the structure of the lumbar outer backboard according to the invention;
FIG. 15 is a schematic view of the assembly of the hip backplate and the lower limb assist unit of the present invention;
FIG. 16 is a schematic view of the leg rest of the present invention;
fig. 17 is a schematic diagram of a human body wearing of the high degree of freedom multi-aspect exoskeleton boosting device of the present invention.
Reference numerals indicate 10, a high-freedom multi-azimuth exoskeleton power assisting device; 20, human body; 1, a shoulder stretching unit; the upper limb lifting unit comprises a lower limb lifting unit, a first motor connecting plate, a second motor connecting plate, a first H-shaped hinge, a second H-shaped hinge, a third H-shaped hinge, a fourth H-shaped hinge, a third H-shaped hinge, a fourth H-shaped hinge, a fifth H-shaped hinge, a third H-shaped hinge, a fourth H-shaped hinge, a third H-shaped hinge, a fourth motor, a third H-shaped hinge, a third motor, a fourth motor, a third H-shaped hinge, a third mechanical lifting unit, a third lifting frame, and a fourth, and a lifting seat, and a and is, and a, and is, and is, and is, and lifting upper lifting, and upper, and.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As shown in fig. 1-17, a high degree of freedom multi-directional exoskeleton assistance device, comprising:
the shell 3 comprises a back backboard 31, a waist backboard and a hip backboard 35 which are hinged in sequence along the up-down direction;
the two shoulder stretching units 1 are symmetrically distributed on the back backboard 31 and are used for self-adapting to the shoulder of a human body for stretching;
The two upper limb lifting units 2 are connected with the shoulder stretching units 1 in a one-to-one correspondence manner and are used for driving the upper limbs to move;
The back power assisting unit 4 comprises two symmetrically distributed line driving units, a second fixing seat 44, a fixing rod 47, a force measuring plate 48 and a tension and pressure sensor 49, wherein each line driving unit comprises a motor grooved pulley 41, a back power assisting driving motor 42, a driving line 43 and a pulley 46, the second fixing seat 44 is connected with the hip backboard 35, the pulley 46 is arranged on the second fixing seat 44, one end of the driving line 43 is connected with the motor grooved pulley 41, the other end passes through the back backboard 31 after bypassing the pulley 46 and is connected with the fixing rod 47, the back power assisting driving motor 42 is connected with the hip backboard 35 and is used for driving the motor grooved pulley 41 to rotate so as to drive the driving line 43 to tighten or loosen, the fixing rod 47 is positioned on one side, close to a human body, of the back backboard 31, the force measuring plate 48 is contacted with the back of the human body, and the tension and pressure sensor 49 is connected with the force measuring plate 48 and is fixed on the back backboard 31;
The two lower limb power assisting units 5 are symmetrically distributed on the hip backboard 35 and used for driving the lower limbs to walk.
For the convenience of understanding, the orientations related to the present disclosure are described based on the orientation of a human body wearing, that is, when the human body stands, the orientation of the human body is viewed from the front, the opposite side is viewed from the back, the vertical direction is the height direction, and the left and right directions are the left and right hand orientations of the human body.
As shown in fig. 1, the multi-directional exoskeleton assistance device with high degrees of freedom (i.e., the robot) can assist the upper limb, the lower limb and the back during bending. The device mainly comprises a shell 3, a shoulder stretching unit 1, an upper limb lifting unit 2, a back assisting unit 4 and a lower limb assisting unit 5, wherein the shoulder stretching unit 1, the upper limb lifting unit 2 and the lower limb assisting unit 5 are symmetrically arranged on the shell 3 to match with a human body structure. As shown in fig. 17, 10 is the multi-directional exoskeleton assisting device with high degree of freedom, and 20 is a structural illustration of a human body.
As shown in fig. 2, in order to simplify the robot volume, the assistance of the upper limb is simplified relative to the prior art, wherein the assistance is put on the lifting action by taking the underactuated form around the Z axis (up-down direction) and freely adjusting along with the human body. Because the motion around the Z axis does not need to exert force, the human body is assisted to lift. This has simplified robot volume and weight greatly, has guaranteed helping hand effect simultaneously.
Fig. 6 and 9 illustrate the back assistance, wherein the torque of the back assistance driving motor 42 is M, the radius of the motor grooved wheel 41 is R, the pulling force f=m/R of the driving wire 43, FN is the pressure to the force measuring plate 48 when the human body lifts backward, L is the distance between the back pull point and the back rotation point, namely, the midpoint of the connection line between the two driving wires 43 and the contact point of the back backboard 31, and the back rotation point is the hinge point of the waist inner plate and the hip backboard 35 on the symmetrical plane. After the driving wire 43 is wound around the pulley 46 along the second fixing seat 44, the driving wire passes through the back backboard 31 and is wound on the fixing rod 47, so that the back backboard 31 is pulled. The tension of the driving wire 43 is F, and the tension generated by the two back booster driving motors 42 is 2F. The pulling torque 2×m1 generated by the two back booster driving motors 42 to the human body is approximately equal to 2f×l. Where m=f×r, M1 is approximately equal to f×l, and M1 is much greater than M. Compared with the direct torque assistance by a motor, the torque of the motor is greatly amplified in a line driving transmission mode, so that the motor with small volume and small torque can be used for generating large torque for a human body, the assistance is used for lifting the waist and the back, the small-size light weight is facilitated, the cost is reduced, and the use comfort of a user is improved.
As shown in fig. 9, the driving wire 43 is disposed along the second fixing seat 44, and the back booster unit 4 further includes a driving wire cover 45 connected to the second fixing seat 44, and the driving wire 43 is covered by the driving wire cover 45 to ensure that the driving wire is not disturbed.
The force measuring plate 48 is connected with the back of the human body, and when the human body bends down, the force measuring plate 48 pulls the tension pressure sensor 49, and the robot bends along with the force. When the human body is lifted up, the tension pressure sensor 49 is pressed by the force measuring plate 48, and at this time, the tension pressure sensor 49 detects the pressure, that is, the back assist driving motor 42 rotates to lift up the back toward the back backboard 31 to assist the human body.
In one embodiment, the lumbar backboard comprises a lumbar outer backboard 32 and a lumbar inner backboard 33, the back backboard 31 is hinged with the lumbar outer backboard 32, the hip backboard 35 is hinged with the lumbar inner backboard 33, and the lumbar outer backboard 32 and the lumbar inner backboard 33 are detachably connected.
In an embodiment, the back backboard 31 and the waist outer backboard 32, and the waist inner backboard 33 and the hip backboard 35 are all hinged by the hinge 34, the waist outer backboard 32 is further provided with a plurality of third mounting holes 321 and a plurality of fourth mounting holes 322, the waist inner backboard 33 is further provided with a plurality of fifth mounting holes 331 and a plurality of sixth mounting holes 332, and the waist outer backboard 32 and the waist inner backboard 33 are matched with each other by the third mounting holes 321 and the fifth mounting holes 331, and the fourth mounting holes 322 and the sixth mounting holes 332 to realize height adjustment.
Wherein, the detachable connection of waist outer backplate 32 and waist inner backplate 33 can be passed through, carries out the altitude mixture control in order to adapt to different human bodies, and application scope is wide.
In an embodiment, the shoulder stretching unit 1 includes a first motor connecting plate 11, a first H-shaped hinge 12, a special-shaped hinge 15, a first connecting seat 16, an adjusting rod 17 and a first fixing seat 18, the first fixing seat 18 is connected with a back backboard 31, one end of the adjusting rod 17 is connected with the first fixing seat 18, the other end is slidably connected with the first connecting seat 16, the special-shaped hinge 15 is hinged with the first connecting seat 16 and the first H-shaped hinge 12 respectively, the first H-shaped hinge 12 is also hinged with the first motor connecting plate 11, the sliding direction of the first connecting seat 16 is a horizontal direction, and the rotating direction of the first H-shaped hinge 12 or the special-shaped hinge 15 is perpendicular to the sliding direction of the first connecting seat 16.
As shown in fig. 4 and 5, the shoulder stretching unit 1 is connected through a plurality of hinges, for example, a first H-shaped hinge 12 and a special-shaped hinge 15 are adopted, and the two hinges cooperate to increase the movement range of the upper limb, so that the robot and the human body can be better adapted and self-adaptively adjusted, and the upper limb can be lifted under various postures. The special-shaped hinge 15 is hinged with the first connecting seat 16 and the first H-shaped hinge 12 respectively through a shaft pin 14 penetrating through the shaft hole, the first H-shaped hinge 12 is hinged with the first motor connecting plate 11 through the shaft pin 14 penetrating through the shaft hole, the first motor connecting plate 11 and the special-shaped hinge 15 are displayed in a section along the rotation axis of the shaft pin 14 in fig. 4, and in order to enable the hinging movement to be smoother, a bearing 13 is penetrated on the shaft pin 14 at the connecting position.
In an embodiment, the special-shaped hinge 15 is B-shaped, and a limiting block 151 for limiting rotation is arranged at the outer side of one end, close to the upper limb lifting unit 2, of the special-shaped hinge, and an avoidance groove 152 for avoiding the first H-shaped hinge 12 is formed between the two hinge shafts.
Wherein, as shown in fig. 5, the avoiding groove 152 of the special-shaped hinge 15 can reduce interference with the first H-shaped hinge 12, so that the avoiding groove 152 and the first H-shaped hinge can have smaller angles during movement, movement is more flexible, and meanwhile, the design of the limiting block 151 is used for limiting rotation of the special-shaped hinge 15, so as to avoid excessive rotation. It is readily understood that the shaped hinge 15 may also be of any shape.
In an embodiment, the upper limb lifting unit 2 includes an upper limb power-assisted driving motor 21, a driving connection board 22, a linear sliding table 23 and an arm support 24, the upper limb power-assisted driving motor 21 is connected with the first motor connection board 11 and is used for driving the driving connection board 22 to rotate, a fixing portion of the linear sliding table 23 is connected with the driving connection board 22, a sliding portion of the linear sliding table 23 is connected with the arm support 24, the arm support 24 is further fixed with a human big arm through a binding band, the sliding direction of the arm support 24 is the length direction of the human big arm, and the rotating direction of the driving connection board 22 is perpendicular to the sliding direction of the arm support 24.
As shown in fig. 2, the upper limb lifting unit 2 is connected with the human body big arm through the arm support 24, two pairs of transverse holes are formed in the arm support 24, and the upper limb lifting unit 2 is fixed with the human body big arm by penetrating the binding bands in the transverse holes, so that the human body can easily finish actions such as shoulder shrugging and the like due to the fact that the linear sliding table 23 is arranged in the upper limb lifting unit 2, and wearing comfort and the movement freedom are increased.
In an embodiment, the driving connection plate 22 is zigzag, and has one end provided with a plurality of first mounting holes 221 for connecting the upper limb power-assisted driving motor 21, and the other end provided with a plurality of second mounting holes 222 for connecting the linear sliding table 23.
Wherein, fig. 3 shows the structure of drive connection board 22, is connected with linear slip table 23 through second mounting hole 222, is connected with upper limbs helping hand driving motor 21 through first mounting hole 221, and drive connection board 22 is the zigzag and makes the structure compacter, helps small-size lightweight.
In an embodiment, the lower limb assistance unit 5 includes a leg support 51, a leg support connecting rod 52, a second H-shaped hinge 53, a second motor connecting plate 54, a leg assistance driving motor 55 and a motor fixing plate 56, the leg support 51 and the leg support connecting rod 52 are detachably connected, the second H-shaped hinge 53 is hinged with the leg support connecting rod 52 and the second motor connecting plate 54 respectively, the leg assistance driving motor 55 is connected with the hip backboard 35 and is used for driving the second motor connecting plate 54 to rotate around the human body in the front-rear direction, the motor fixing plate 56 is connected with the hip backboard 35 and is used for sealing the leg assistance driving motor 55, a plurality of connecting holes 511, an adjusting groove 512 and a plurality of adjusting holes 513 are further formed in the leg support 51, the leg support 51 is fixed with the human thigh through a binding belt penetrating the connecting holes 511, and the leg support connecting rod 52 is slidably penetrating the adjusting groove 512 and is fixed through a screw penetrating the adjusting hole 513;
The hip backboard 35 is of a symmetrical structure, and is provided with two first motor mounting holes 351, two second motor mounting holes 352 and mounting grooves 353, the leg booster driving motors 55 are arranged in the first motor mounting holes 351 in a one-to-one correspondence manner, the back booster driving motors 42 are arranged in the second motor mounting holes 352 in a one-to-one correspondence manner, the second fixing seats 44 are fixed on the mounting grooves 353, two reinforcing ribs 441 and two containing grooves 442 are symmetrically arranged on the second fixing seats 44, and the pulleys 46 are arranged in the containing grooves 442 in a one-to-one correspondence manner;
The outer fringe of motor sheave 41 has seted up annular groove 411, and the lateral wall has seted up wire hole 413, and the one end that is close to hip backplate 35 has still been seted up fifth recess 412, and drive wire 43 twines on annular groove 411 and one end passes wire hole 413 and fixes, and fifth recess 412 cooperates with second motor mounting hole 352 and carries out back helping hand driving motor 42's fixation.
As shown in fig. 15, the leg support link 52 and the second motor connection plate 54 are connected through the second H-shaped hinge 53, which greatly increases the movement range of the lower limb, makes the lower limb have the freedom of movement in the front-back direction and the left-right direction, and increases the movement robustness. The design can assist the human body to squat, walk and the like which need the assistance action. As shown in fig. 16, the leg rest connecting rod 52 is inserted into the adjusting groove 512 (namely, the leg rest is inserted 51) to be suitable for human bodies with different heights.
Fig. 8 shows a schematic structure of the hip backboard 35, wherein the first motor mounting holes 351 are positioned on two sides of the hip backboard 35 and are used for mounting the leg power-assisted driving motor 55, the second motor mounting holes 352 are positioned on the rear side of the hip backboard 35 and are used for mounting the back power-assisted driving motor 42, and the lower end of the second fixing seat 44 is matched with the mounting groove 353 and fixed on the hip backboard 35.
Fig. 10 shows the second fixing base 44, in order to ensure the strength of the second fixing base 44, the edge is designed with a reinforcing rib to strengthen the bending resistance. The pulleys 46 are disposed in the accommodating grooves 442 in a one-to-one correspondence, and are thickened and provided with grooves for avoiding the driving wires 43.
Fig. 11 is a schematic view of the structure of the motor sheave 41, in which an annular groove 411 is used to wind the driving wire 43, and the driving wire 43 is fixed to the motor sheave 41 through a wire passing hole 413. The middle of the motor sheave 41 is hollowed out, the weight of the back booster drive motor is reduced, and the back booster drive motor 42 can be embedded in a matching way, so that the protruding volume of the back booster drive motor is reduced.
In an embodiment, the back backboard 31 is provided with a first groove 311, a second groove 312 and a third groove 313, the first groove 311 is used for installing the force measuring plate 48, the second groove 312 is provided on the first groove 311 and is used for installing the tension and pressure sensor 49, the tension and pressure sensor 49 protrudes out of the second groove 312, the third groove 313 is provided with a plurality of side by side along the up-down direction and is provided with a fixing rod 47 in one third groove 313, and the fixing rod 47 is also provided with a limiting ring for fixing the driving wire 43.
As shown in fig. 12, three third grooves 313 are formed on the back plate 31, corresponding to three different heights of the robot. Fig. 13 illustrates the height adjustment of the robot, that is, the waist outer back plate 32 and the waist inner back plate 33 are adjusted in height by the cooperation of the third mounting hole 321 and the fifth mounting hole 331 and the cooperation of the fourth mounting hole 322 and the sixth mounting hole 332, for example, a row of fifth mounting holes 331 and three rows of sixth mounting holes 332 are formed in the waist inner back plate 33. As shown in fig. 14, three rows of third mounting holes 321 and one row of fourth mounting holes 322 are formed in the waist outer back plate 32. The waist outer backboard 32 and the waist inner backboard 33 are matched with each other, so that the height of the robot can be adjusted in three steps. Meanwhile, a plurality of hinges 34 are arranged at the upper end of the waist outer backboard 32 and the lower end of the waist inner backboard 33, so that the waist outer backboard and the waist inner backboard can be bent, and the bending freedom degree of the back is increased. And the three-gear adjustment of the height also corresponds to the three third grooves 313 respectively to achieve the optimal tension effect.
In one embodiment, the shell 3, the upper limb lifting unit 2 and the lower limb assistance unit 5 are further provided with a plurality of myoelectric sensors 25 which are in contact with the human body. By providing a plurality of myoelectric sensors 25, the myoelectric sensors 25 are preferably attached to the muscle groups of the human body, which are forced, so as to collect myoelectric signals.
Working principle:
When the novel high-freedom-degree multidirectional exoskeleton assisting device is used, the high-freedom-degree multidirectional exoskeleton assisting device is worn on a human body and is bound with a binding belt, and then the back assisting driving motor is adjusted to adjust tightness so as to lift up the waist and the back, so that the wearing is completed. The driving motors are preferably servo motors, torque sensors and encoders are arranged in the servo motors, and the torque and the gesture of the robot can be obtained, so that mechanical signals and position signals of the robot are obtained. The high-freedom-degree multidirectional exoskeleton power assisting device is adjusted through the collected electromyographic signals, mechanical signals and position signals, so that the robot power assisting device is more intelligent, more follows a human body, and better in power assisting effect. If the robot is worn normally without assistance, the driving motors are in a zero moment mode, and the robot has high freedom degree, so that a human body can move freely under the wearing condition. When the human body moves the heavy objects to need assistance, the electromyographic sensor 25 can collect electromyographic signals first, and at the moment, each driving motor enters an assistance mode, namely, when the electromyographic signals are collected, the human body is considered to need assistance. The pull pressure sensor 49 and the torque sensor of each driving motor detect the interaction force between the robot and the human body in real time to form a mechanical signal, and the encoder of each driving motor detects the position information of the robot in real time to form a position signal, wherein the position signal comprises the movement speed and the acceleration. Can directly follow and assist by adjusting parameters through a preset driving motor according to the collected electromyographic signals, mechanical signals and position signals, or train by collecting the motion parameters (electromyographic signals and position signals) of the human body under different loading conditions and inputting the motion parameters into a neural network model (such as a CNN-BiLSTM-Attention model and the like), the current human body load and the motion state can be obtained by obtaining the motion parameters input currently through the trained neural network model, and the human body motion can be perceived in real time by combining the prediction result (the myoelectric signal and the position signal) of the neural network model with the collected mechanical signal (the interaction force between the robot and the human body), so that the corresponding driving motor adjusting parameters are issued to the robot to make accurate following and assisting.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above-described embodiments represent only the more specific and detailed embodiments of the present application, but are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.