FOLLOW-UP CONTROL DEVICE FOR EXOSKELETON ROBOT

Abstract

A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.

Claims

1. A follow-up control device for exoskeleton robot, comprising: an upper arm; and a lower arm, wherein a lower end of the upper arm is connected to an upper end of the lower arm by a rotatable joint, one of the upper arm or the lower arm is equipped with an active lock block, the active lock block is configured to slide vertically in an axial direction of the one of the upper arm or the lower arm, the active lock block is bound with a human body, the one of the upper arm or the lower arm is provided with two micro switches with opposite actuating directions to correspond with the active lock block, the active lock block can only trigger one of the two micro switches at the same time, a power device is provided between the upper arm and the lower arm to rotate the upper arm and the lower arm, and the two micro switches control motion of the power device in positive and reverse directions, respectively.

2. The follow-up control device for exoskeleton robot according to claim 1, wherein the two micro switches are disposed on a lateral side of the upper arm, two limit bars are disposed vertically to the axial direction on the lateral side of the upper arm, the two micro switches are respectively disposed at end portions of the two limit bars between the two limit bars and protrude beyond the end portions of the two limit bars, the active lock block is a sliding frame, the sliding frame is installed at both sides of the two limit bars to slide along the two limit bars, and a distance between two inner ends of the sliding frame is larger than that between outer ends of the two micro switches.

3. The follow-up control device for exoskeleton robot according to claim 1, wherein the two micro switches are disposed on a lateral side of the lower arm, two limit bars are disposed vertically to the axial direction on the lateral side of the lower arm, the two micro switches are respectively disposed at end portions of the two limit bars between the two limit bars and protrude beyond the end portions of the two limit bars, the active lock block is a sliding frame, the sliding frame is installed at both sides of the two limit bars to slide along the two limit bars, and a the distance between two inner ends of the sliding frame along a direction vertical to the axial direction is larger than that between outer ends of the two micro switches.

4. The follow-up control device for exoskeleton robot according to claim 2, wherein side sealing plates are provided on lateral sides of the two limit bars to protect the two micro switches and prevent the sliding frame from falling off.

5. The follow-up control device for exoskeleton robot according to claim 2, wherein both ends of the sliding frame are provided with connecting holes to be bound with the human body.

6. The follow-up control device for exoskeleton robot according to claim 1, wherein the power device is an electric cylinder including a cylinder body, a piston rod and a motor, ends of both the cylinder body and the piston rod are connected to the upper arm and the lower arm, respectively, the motor is installed at one side of the cylinder body, and the power device is installed between the cylinder body and the motor.

7. The follow-up control device for exoskeleton robot according to claim 1, wherein of the upper arm and the lower arm is are made of multiple layers of connecting plates and insert panels, the connecting plates and the insert panels have consistent thickness and are alternatively stacked together, an end of the connecting plate near the rotatable joint extends farther than an end of the insert panel near the rotatable joint, and an upper end of the connecting plate on the lower arm is inserted and connected with a lower end of the connecting plate on the upper arm by a joint pin at an inserting junction.

8. The follow-up control device for exoskeleton robot according to claim 7, wherein an upper end of the insert panel extends farther than that of the connecting plate on the upper arm, and a lower end of the insert panel extends farther than that of the connecting plate on the lower arm.

9. The follow-up control device for exoskeleton robot according to claim 1, wherein a position where the upper and lower arms are bound with the human body remain a predetermined distance away from the active lock block.

10. The follow-up control device for exoskeleton robot according to claim 3, wherein side sealing plates are provided on lateral sides of the two limit bars to protect the two micro switches and prevent the sliding frame from falling off.

11. The follow-up control device for exoskeleton robot according to claim 3, wherein both ends of the sliding frame are provided with connecting holes to be bound with the human body.

12. The follow-up control device for exoskeleton robot according to claim 2, wherein the power device is an electric cylinder including a cylinder body, a piston rod and a motor, ends of both the cylinder body and the piston rod are connected to the upper arm and the lower arm, respectively, the motor is installed at one side of the cylinder body, and the power device is installed between the cylinder body and the motor.

13. The follow-up control device for exoskeleton robot according to claim 2, wherein the upper arm and the lower arm are made of multiple layers of connecting plates and insert panels, the connecting plates and the insert panels have consistent thickness and are alternatively stacked together, an end of the connecting plate near the rotatable joint extends farther than an end of the insert panel near the rotatable joint, and an upper end of the connecting plate on the lower arm is inserted and connected with an lower end of the connecting plate on the upper arm by a joint pin at an inserting junction.

14. The follow-up control device for exoskeleton robot according to claim 2, wherein a position where the upper and lower arms are bound with the human body remain a predetermined-distance away from the active lock block.

15. The follow-up control device for exoskeleton robot according to claim 3, wherein the power device is an electric cylinder including a cylinder body, a piston rod and a motor, ends of both the cylinder body and the piston rod are connected to the upper arm and the lower arm, respectively, the motor is installed at one side of the cylinder body, and the power device is installed between the cylinder body and the motor.

16. The follow-up control device for exoskeleton robot according to claim 3, wherein the upper arm and the lower arm are made of multiple layers of connecting plates and insert panels, the connecting plates and the insert panels have consistent thickness and are alternatively stacked together, an end of the connecting plate near the rotatable joint extends farther than an end of the insert panel near the rotatable joint, and an upper end of the connecting plate on the lower arm is inserted and connected with an lower end of the connecting plate on the upper arm by a joint pin at an inserting junction.

17. The follow-up control device for exoskeleton robot according to claim 3, wherein a position where the upper and lower arms are bound with the human body remain a predetermined distance away from the active lock block.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1 is a structural diagram of the present invention.

[0017] FIG. 2 is a structural diagram of active lock block and micro switches mentioned in the present invention.

[0018] FIG. 3 is a schematic diagram of lateral structures for upper and lower arm mentioned in the present invention.

[0019] Note: 1. Upper arm; 2. Joint; 3. Lower arm; 4. Electric cylinder; 5. Motor; 6. Active lock block; 7. Side block panel; 8. Sliding frame; 9. Connecting hole; 10. Micro switch; 11. Limit bar; 12. Thread hole; 13. Connecting plate of upper arm; 14. Insert panel of upper arm; 15. Connecting plate of lower arm; 16. Insert panel of lower arm; 17. Bandage.

DETAILED DESCRIPTION OF THE EMBODIMENT

[0020] The present invention will be further illustrated based on concrete embodiments and attached drawings.

[0021] Embodiment: A follow-up control device for exoskeleton robot, as shown in FIG. 1, includes an upper arm 1 and a lower arm 3, which are connected by a joint 2. As shown in FIG. 3, the upper arm 1 comprises three layers of upper arm connecting plate 13 and two layers of upper arm insert panel 14 that are alternatively stacked together, and the lower arm 3 comprises two layers of lower arm connecting plate 15 and three layers of lower arm insert panel 16 that are alternatively stacked together. The upper arm connecting plate remains consistent in length with the upper arm insert panel. The lower end of upper arm connecting plate extends downward and the upper end of upper arm insert panel extends upward such that these two ends are staggered. Correspondingly, the lower arm connecting plate remains consistent in length with the lower arm insert panel. The upper end of lower arm connecting plate extends upward and the lower end of lower arm insert panel extends downward such that these two ends are staggered. After the lower end of upper arm connecting plate 13 is inserted with the upper end of lower arm connecting plate, joint pins can be interconnected into a joint 2. As shown in FIG. 1, the downside on upper end of upper arm connecting plate 13 protrudes outward to form a power installation position and the left side of lower arm connecting plate 15 protrudes outward to form a power installation position. An electric cylinder 4 can be provided as power source between the upper arm power installation position and the lower arm power installation position. The rear end of a cylinder body of the electric cylinder is connected with the upper arm power installation position, and the terminal end of piston rod extended from the front end of cylinder body is connected with the lower arm power installation position. In addition, the cylinder body is provided with a motor 5 on downside of the rear end. A power device is provided between the motor and the cylinder body for power transmission.

[0022] The upper arm is equipped with an active lock block 6 on the front side face that can be bound with human body to slide along the direction in vertical with the upper arm axis, and the corresponding position on upper arm is provided with two micro switches 10 to detect the sliding position of the active lock block. As shown in FIG. 2, two limit bars 11 are designed in parallel at the axis direction, vertical to the upper end of upper arm, and a micro switch 10 is designed on both ends to slightly protrude from the top of the limit bars. As the active lock block, a sliding frame 8 is installed to slide along outer side of the limit bar. In addition, the distance between two inner ends of the sliding frame 8 is slightly larger than that between outer ends of two micro switches to ensure the sliding frame can only actuate one micro switch at the same time. The sliding frame is provided with a connecting hole 9 on both ends that can be bound with human body. The limit bars are also designed with side sealing plate 7 on front side to protect micro switches and prevent sliding frame from spalling. Moreover, a thread hole 12 is designed on the upper arm between two limit bars and micro switches for the signal wire of micro switches to thread through the upper arm.

[0023] As shown in FIG. 1, the active lock block on upper arm of exoskeleton robot is bound with the upper arm of human body, the upper arm of exoskeleton robot is bound with the upper arm of human body through a bandage 17 near lower end of the joint, and the lower arm of exoskeleton robot is bound with the lower arm of human body through a bandage 17 at upper and lower ends, respectively. When human body walks, the extension generated between upper and lower arms of human body will drive the active lock block to slide, thus actuating one of the micro switches for the operating cylinder to drive the upper and lower arms of exoskeleton robots into highly coordinated and synchronized motion along with body movement active lock block.