CN108743248A - A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy - Google Patents
A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy Download PDFInfo
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- CN108743248A CN108743248A CN201810524181.6A CN201810524181A CN108743248A CN 108743248 A CN108743248 A CN 108743248A CN 201810524181 A CN201810524181 A CN 201810524181A CN 108743248 A CN108743248 A CN 108743248A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy,Including body,Wearable suit,Power supply system,Accumulator group,Central processing unit,It is left,Right arm power drive module,It is left,Right arm support,It is left,Right platen button,Total output drive system,It is left,Right hip dynamics control system,It is left,Right thigh power power drive system,It is left,Right knee joint switching mechanism,It is left,Right leg power fluid is to system,It is left,Right foot rotating mechanism,It is left,Right foot walking pedal,Anti-drop belt,The helmet,It is left,Right earphone,Visit barrier device,Mask,The present invention mainly operates the left side under wrist by the residual soldier that fights,Right platen button carrys out remote sensing limb action,Make this system that the residual soldier that fights be driven freely to control the speed of travel,For the survival ability of enhancing war residual soldier's rehabilitation training and recovery,Assist paraplegia,Blindness,It becomes deaf or the residual soldier of war that fits an artificial limb can stand and walk and play positive physiotherapy function.
Description
Technical field
The present invention relates to a kind of war wearable running gears of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy, belong to artificial intelligence
It can field.
Background technology
The existing residual soldier's rehabilitation of war needs a large amount of medical staff's supporting and its own to pass through arduous rehabilitation
Training, can just accomplish to walk as normal person, and general medical staff may go auxiliary war residual without such muscle power and willpower
Soldier completes rehabilitation training for a long time, because some are fought, residual soldier's paraplegia position is excessively high, is to need at least two medical staff
It assists that training could be completed, due to the intensity of fight residual soldier's own wt and rehabilitation training, needs thoroughly to put by a kind of
De- wheelchair and crutches assist the system of walking to meet a variety of needs for the residual soldier that fights, and existing recovering aid equipment is due to knot
Structure is simple, and function is few, and the residual soldier that cannot widely fight provides the rehabilitation training service of hommization, intelligence, facilitation, causes
The residual soldier that much fights loses confidence, and abandons traditional auxiliary equipment, and to miss the best therapy rehabilitation phase, what is had is lifelong
It is paralyzed in bed, heavy spirit and living burden is brought to the residual soldier of war and its relatives.
Invention content
The present invention provides a kind of war wearable walking of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy against the above deficiency
System.
The present invention adopts the following technical scheme that：
A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy of the present invention, including body, wear
Wear formula suit, power supply system, accumulator group, central processing unit, left arm power drive module, right arm power drive module, left arm
Holder, right arm support, left platen button, right platen button, total output drive system, left hip dynamics control system, right hip power
Regulating system, left thigh power power drive system, right thigh power power drive system, left knee joint switching mechanism, right knee joint
Switching mechanism, left leg power fluid to system, right leg power fluid to system, left foot rotating mechanism, right sufficient rotating mechanism, left foot
Walking pedal, anti-drop belt, the helmet, left earphone, right earphone, visits barrier device, mask at right sufficient walking pedal；The body it is upper
End is equipped with accumulator group, and the rear end of the body is equipped with power supply system, and the rear end of power supply system is connected for central processing unit, described
The left side lower end of body is equipped with left hip dynamics control system, and left hip dynamics control system lower end couples left thigh power electric drive trains
System, left thigh power power drive system lower end couple left knee joint switching mechanism, and the connection of left knee joint switching mechanism lower end is left small
Leg power fluid to system, left leg power fluid to system lower end couples left foot rotating mechanism, and left foot rotating mechanism front end is set
There are left foot walking pedal, the right side lower end of the body to be equipped with total output drive system, total output drive system lower end is equipped with
Right hip dynamics control system, right hip dynamics control system lower end couple right thigh power power drive system, and right thigh power electric drives
Dynamic system lower end couples right knee joint switching mechanism, and right knee joint switching mechanism lower end couples right leg power fluid to system, the right side
Shank power fluid to the right sufficient rotating mechanism of system lower end connection, the right sufficient rotating mechanism front end is equipped with right sufficient walking pedal,
It is equipped with left arm power drive module on the left of the front end of the body, left arm power drive module front end is screwed on left arm support, left arm
Holder front end is equipped with left platen button, and right arm power drive module, right arm power drive mould are equipped on the right side of the front end of the body
Block front end is screwed on right arm support, and right arm support front end is equipped with right platen button, and when in use, the front end of body can for the body
It is fitted in the back side of wearable suit, the wearable suit upper end is equipped with the helmet, and the left side of the helmet is equipped with left earphone, the helmet
Right side is equipped with right earphone, and the front end of the helmet is equipped with mask, and the junction of the mask upper end and the helmet, which is equipped with, visits barrier device, described to wear
It wears formula suit shirtfront and is additionally provided with anti-drop belt；The body is made of light weight, the firm titanium alloy material of material, on body
The accumulator group of end setting uses lithium electricity as power source, and passes through accumulator group peripheral interface and power supply system, central processing
Device, the connection of total output drive system, realize the information exchange of power supply output and charging process control, the effect of the power supply system
Be by control circuit on itself serial ports realize to the state-detection of each driving power system in present invention auxiliary running gear,
Communications command executes and the interaction of feedback of status, and passes through the letters such as built-in detection chip monitoring voltage, electric current, electricity and temperature
Breath is realized to the real time monitoring of present invention auxiliary running gear operating status, protects accumulator group and circuit safety, the power supply
System, which also crosses accumulator group, puts, overcharges protection, overcurrent, overvoltage protection and short circuit, surge protection, when built in power supply system
Detection chip when detecting that accumulator battery voltage is too low, the power-supply system in power supply system uploads warning information and automatically cuts off
Accumulator group power switch, puts to prevent accumulator group from crossing；When detecting that the battery charge of accumulator group is more than predetermined
When saturation value, the power-supply system of power supply system is automatically stopped cut-out switch, stops battery charging, to prevent battery mistake
It fills, comprehensive function ensures that accumulator group is safe to use, extends the battery of accumulator group, and power supply system is controllable to be stored
Battery pack realizes automatic charging, and controlling the realization of relay group by the another built-in driving circuit of power supply system fills accumulator group
Electricity, power switching and equipment power supply individually control, and function also resides in assists running gear to run shape for the subsequent examination present invention
State analyzes auxiliary running gear operation troubles of the invention, and order is stored in the form of item and is executed and power supply shape when abnormal generation
State is additionally provided with radiator fan and electric boiling plate in power supply system（It is not shown）, act on controllable present invention auxiliary Running System
System internal temperature reaches the battery in accumulator group and the preference temperature of equipment work, the power supply system are also built-in with power supply mould
Block can be assigned as each branch power supply output according to the voltage class and power requirement of present invention auxiliary running gear, conversion, supply
On the panel of electric system（It is not shown）Indicator light shows the states such as power-supply system communication, electricity and branch power supply；Power supply system is logical
Cross the information such as voltage, electric current and battery and the test point temperature of the acquisition present invention auxiliary each power consumption Module nodes of running gear
It is by the way that the state of the estimated value and its work of present invention auxiliary running gear remaining working time is calculated, and by powering
The interface of system is communicated with the central processing unit of responsible decision-making treatment, by being central processing to the analysis per situation all the way
Device provides decision, meanwhile, relay is controlled by total output drive system driving circuit and is supplied accordingly respectively all the way every
Electric control, running gear when something goes wrong, emergency processing module built in central processing unit starts, and handles failure,
Ensure running gear operation of the present invention；The central processing unit is-kind of high-performance heterogeneous computing platforms, is auxiliary of the present invention
The brain of running gear, it is diversified that general processor can meet present invention auxiliary running gear in calculated performance and efficiency
Data processing needs, central processing unit are built-in with the heterogeneous computing platforms that GPU intelligent engine processors form together with CPU to carry
It rises and calculates present invention auxiliary running gear performance, different meters can be distributed according to the design feature of each computing subsystem for it
Calculation task embodies the advantage not available for conventional architectures, this hair in terms of improving calculated performance, Energy Efficiency Ratio and Real-time Ability
Bright auxiliary running gear is intelligent electromechanical device, integrated use machinery with precision machinery, microelectronics and computer, from
Dynamic control and driving, spy barrier device and the multidisciplinary technological incorporation such as information processing and artificial intelligence, make present invention auxiliary Running System
System forms the ability of cognition, impression and action, accurate to complete from sitting on station, stand to walking, go to stop, stand to the moulds such as sitting, go upstairs
Formula operation task, the computing platform carried need to meet a variety of requirements, including：Sensing capability：Have abundant I/O interfaces, props up
A variety of I/O agreements such as USB 3, UART, I2C are held, hinders device data to receive all kinds of spies, each motive position can be controlled,
Such as biped, both arms, both hands, both legs and head, the action of multiple dimensions is completed, realizes rehabilitation training walking, and have in real time
Property and safety in terms of guarantee, the central processing unit of device should cope with the processing of data, and can meet all kinds of intelligence meters
Calculation demand, in terms of power consumption control, power supply system can meet reduction power consumption；The total output of the right side lower end setting of the body is driven
Dynamic system, inside sets that there are one stepper motor and 1：250 gear-box cannot direct band since stepper motor torque is not big enough
Driving wheel drives both arms and both legs, so needing to increase the output torque of stepper motor plus a reduction box, in stepping electricity
While machine speed reduces, the 1 of setting：250 gear-box makes the output torque of stepper motor increase 250 times, but speed reduces
To 1/250.To ensure that the walking stability and harmony of present invention auxiliary running gear；It is set in total output drive system
Stepper motor and 1：The control card and control chip to be controlled that 250 gear-box is mainly carried by total output drive system
, the frequency of stepper motor is controlled to obtain to stepper motor speed governing, and when control signal frequency is higher, what stepper motor turned gets over
Soon, frequency is lower, stepper motor turn it is slower, parameter be the output torque of stepper motor, stepper motor power decision,
Left arm power drive module, right arm power drive module, left arm as the associated control driving part of total output drive system
Holder, right arm support, left hip dynamics control system, right hip dynamics control system, left thigh power power drive system, right thigh are dynamic
Power power drive system, left knee joint switching mechanism, right knee joint switching mechanism, left leg power fluid to system, right leg power
It is equipped in liquid to system, left foot rotating mechanism, right sufficient rotating mechanism, left foot walking pedal, right sufficient walking pedal built-in
Small type stepping motor and driving gear and connecting rod assembly link；Total output drive system main function and controlled quentity controlled variable are exactly to control
The left arm power drive module of present invention auxiliary running gear, right arm power drive module, left arm support, right arm support, left hip
Dynamics control system, right hip dynamics control system, left thigh power power drive system, right thigh power power drive system, left knee
Joint switching mechanism, right knee joint switching mechanism, left leg power fluid to system, right leg power fluid to system, left foot rotation
Mechanism, right sufficient rotating mechanism, left foot walking pedal, the small type stepping motor built in right sufficient walking pedal and driving gear with
Connecting rod assembly links, to drive the joints such as biped, both arms, both hands, both legs and the head of the invention for assisting running gear
It is mobile, distance and the direction of present invention auxiliary running gear movement are controlled by controlling the rotating speed number of turns of each stepper motor,
And drive mechanical two-armed spider, double hip power adjustments, both legs power electric drive, double knee joint conversion and biped rotating mechanism
With the degree of bending in joints or the distance etc. of movement such as sufficient walking pedal, and solve to allow total output drive system and its phase
Each small type stepping motor and driving gear built in the component of associated control driving can be according to the intentions for the residual soldier that fights with connecting rod
It uses.Control card and control chip is just needed to be controlled；There are these control cards and chip, the present invention to drive total output
Each small-sized step of the microcontroller set in dynamic system built in total output drive system and its component of associated control driving
Stepper motor and driving gear are connected with connecting rod, each stepper motor and driving gear and connecting rod are controlled with program, for control
The speed of stepper motor processed, the practical manifestation in running gear of the present invention are exactly the actual motion speed walked, row of the present invention
The speed that walking system is walked leans on the rotating speed of stepper motor entirely, thus by control card to total output drive system and its associated control
It makes each small type stepping motor and the driving gear built in the component of driving and carries out speed control and adjusting；When the total output is driven
When the left arm power drive module of dynamic system drive left upper end, left arm power drive module can synchronous interaction left hip power adjustment system
System；Corresponding, in the right end of body, total output drive system drives right arm power drive module, the right arm power drive mould
The right hip dynamics control system of block synchronous interaction；The left arm power drive module can synchronize turn left arm support and be limited in 180 degree
Drive left arm is required to raise one's hand, put down according to rehabilitation training in angle, front swing arm, rear-swing arm act, and the front end of left arm support is set
Having left platen button, left platen button is manipulated by residual soldier's left hand of fighting, and the left platen button is additionally provided with a controllable left side
The button of hip dynamics control system, when the operation of left hip dynamics control system can turn lower end left thigh power power drive system, it is left
The left knee joint switching mechanism of thigh power power drive system turn lower end connection, turn lower end joins again for left knee joint switching mechanism
The left foot rotating mechanism that the left leg power fluid connect couples to system, left leg power fluid to system resynchronization turn lower end, institute
The left foot rotating mechanism front end stated is equipped with the left foot walking pedal that can be walked；When the total output drive system drives upper right
When the right arm power drive module at end, right arm power drive module can the right hip dynamics control system of synchronous interaction, the right arm
Holder can synchronize turn right arm support and drive right arm to raise one's hand, put down, forward swing according to rehabilitation training requirement in 180 degree limit angle
Arm, rear-swing arm act, and the front end of right arm support is equipped with right platen button, and right platen button is by residual soldier's right hand manipulation of fighting
, the right platen button is additionally provided with the button of controllable right hip dynamics control system, and right hip dynamics control system can when running
Turn lower end right thigh power power drive system, the right knee joint interpreter of right thigh power power drive system turn lower end connection
Structure, for the right knee joint switching mechanism right leg power fluid that turn lower end couples again to system, right leg power fluid is same again to system
The right sufficient rotating mechanism of turn lower end connection is walked, the right sufficient rotating mechanism front end is equipped with the right sufficient walking pedal that can be walked.
It is described to visit the eyes that barrier device is present invention auxiliary running gear, it is to visit barrier device, infrared barrier detection device, sound by optics to visit barrier
Device, power visit the multi-functional spy of one kind that barrier device, pressure-sensitive spy barrier device, position spy barrier device are combined into and hinder device.
The anti-drop belt is to bind the wearable suit that disable armyman prevents from being worn on disable armyman to slide from body
It falls.
Beneficial effects of the present invention and excellent feature are：The wearable running gear of artificial intelligence provided by the invention,
Comfort when the residual soldier of auxiliary war walks is preferable, and total tune dynamic role is stronger, meets the posture for residual soldier's walking of fighting, improves
Residual soldier's recovery capability of fighting uses high-performance accumulator for the energy, hydraulic stem transmission mode, titanium based on bionics
Alloy is main material, is mainly used to the survival ability of enhancing war residual soldier's rehabilitation training and recovery in special operational environment, and
Skeleton frame system is simulated with battery power, for the residual soldier's energy of war for assisting paraplegia or blindness or becoming deaf or fitting an artificial limb
Enough to stand and walking, walking mode is operate left platen button under wrist and right platen button by the residual soldier that fights come remote sensing spy
Survey limb action, then natural paces are simulated through computer system and dynamic inductor, this system can be made to drive and fight residual soldier certainly
By the control speed of travel.
The artificial Intelligent wearable running gear of the present invention is mainly used for the rehabilitation supplemental training that Army Hospital fights residual soldier,
It is to aim at the residual soldier's design of war, body height and machine foot is freely adjusted according to the foot length and body parts ratio for the residual soldier that fights
Size, be it is a allow paraplegia or blindness or the simulation bone frame system of war residual soldier wearing becoming deaf or fit an artificial limb,
Its support range include double lower limb arrive the lower half of trunk, in both sides hip, knee joint equipment power offer hip, knee articulation,
Left arm power drive module, right arm power drive module, left arm support, right arm support are arranged in pairs or groups again to coordinate the activity of ectoskeleton,
And it by the balance and stability in left platen button and right all kinds of action process of platen button control, is filled by wearable support
It sets, computerized control system and dynamic inductor, the leg action walked about such as ordinary person, simulation bone frame system can be simulated
System, drives the thigh and shank of patient, can make alternate natural walking motion.
The artificial Intelligent wearable running gear of the present invention can allow war residual soldier selection to sit on station, station to walking, go to stop, stand
To sitting back and waiting pattern, it might even be possible to stair climbing, the Zhan Can armies in addition to revolutionary assisting paraplegia or blindness or becoming deaf or fitting an artificial limb
People stands and walking, so that the residual soldier of war is increased bone density in using artificial Intelligent wearable running gear, enhances enteron aisle
With urinary system function, promote sitting posture, increase cardio-pulmonary function, reduce body fat and reduce spasm, and can realize that more hardware add
Load and software instruction, meet the multiple utilities such as medical military affairs with this.
The artificial Intelligent wearable running gear of the present invention is that one kind being mainly used for auxiliary in the handicapped residual soldier of war of lower limb
Using, postoperative lower limb rehabilitation training, need to increase the residual soldier's bone of war that lower limb function strengthens, walking, rehabilitation training, function are strong
Change, it is final to realize the artificial intelligence equipment for serving the residual soldier that fights, promote Zhan Can armies living quality of patients.
The artificial Intelligent wearable running gear of the present invention hinders the artificial intellectual education Learning machine ectoskeleton of teenager, spy
The exploitation route that device, Electromechanical Control integration are combined, the perceptible feedback that device is hindered by spy control, and reach the effect of ectoskeleton power-assisted
Fruit, using aluminium U.S. dollar as holder basic structure.
Its application technology can make teenager artificial intelligence education in, for intelligent control, machine learning, deep learning and
Kinematics, dynamics, physiology etc. transboundary subject study practice.
The artificial Intelligent wearable running gear function of the present invention and core technology, synthesis lead over international foreign military's medical assistance
Equipment and rival, the country still belong to blank stage, are applied in the artificial intellectual education of China teenager, for cultivating China
Teenager hinders device algorithmic technique, learning algorithm technology, cloud etc. to machine learning, deep learning, spy barrier device technology, comprehensive visit
Aspect has comprehensive technological precedence advantage, and for culture, my the army standby medical research talent has far-reaching strategic importance.
The artificial Intelligent wearable running gear of the present invention, future, can be more in terms of civil-military inosculation product function exploitation
Technology extension set foot in military machine people rescue of battlefield field and can iteration space；Its in addition to the ectoskeleton of different shape and
It assists outside intelligent object, can also provide various value-added services and Open Source Framework for army beyond the clouds, can be provided open for friendly troop
The increment medical treatment ancillary service of the various disability crowds of fight residual soldier's development platform and the formation of civilian natural calamity of putting property.
Description of the drawings
Fig. 1 is a kind of residual wearable running gear left view knot of the dedicated artificial intelligence of soldier's rehabilitation physical therapy of war of the present invention
Structure schematic diagram.
Fig. 2 is that a kind of residual wearable running gear right side of the dedicated artificial intelligence of soldier's rehabilitation physical therapy of war of the present invention regards knot
Structure schematic diagram.
Specific implementation mode
Invention is further described below in conjunction with the accompanying drawings：
Such as Fig. 1, a kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy shown in Fig. 2, including machine
Body 1, wearable suit 2, power supply system 3, accumulator group 4, central processing unit 5, left arm power drive module 6, right arm power drive
Dynamic model block 7, left arm support 8, right arm support 9, left platen button 10, right platen button 11, total output drive system 12, left hip are dynamic
Draught control system 13, right hip dynamics control system 14, left thigh power power drive system 15, right thigh power power drive system
16, left knee joint switching mechanism 17, right knee joint switching mechanism 18, left leg power fluid to system 19, right leg power fluid be extremely
System 20, left foot rotating mechanism 21, right sufficient rotating mechanism 22, left foot walking pedal 23, right sufficient walking pedal 24, anti-drop belt
25, the helmet 26, left earphone 27, right earphone 28, spy barrier device 29, mask 30；The upper end of the body 1 is equipped with accumulator group 4, described
The rear end of body 1 is equipped with power supply system 3, and the rear end of power supply system 3 is connected for central processing unit 5, the left side lower end of the body 1
Equipped with left hip dynamics control system 13, left 13 lower end of hip dynamics control system connection left thigh power power drive system 15, Zuo great
15 lower end of leg power power drive system couples left knee joint switching mechanism 17, and left 17 lower end of knee joint switching mechanism couples left leg
Power fluid to system 19, left leg power fluid to 19 lower end of system couples left foot rotating mechanism 21, the left foot rotating mechanism 21
Front end is equipped with left foot walking pedal 23, and the right side lower end of the body 1 is equipped with total output drive system 12, total output driving system
12 lower ends unite equipped with right hip dynamics control system 14, right 14 lower end of hip dynamics control system couples right thigh power power drive system
16,16 lower end of right thigh power power drive system couples right knee joint switching mechanism 18, right 18 lower end of knee joint switching mechanism connection
Right leg power fluid is connect to system 20, right leg power fluid to the right sufficient rotating mechanism 22 of 20 lower end of system connection, the right foot rotation
22 front end of rotation mechanism is equipped with right sufficient walking pedal 24, and left arm power drive module 6 is equipped on the left of the front end of the body 1, left
6 front end of arm power drive module is screwed on left arm support 8, and 8 front end of left arm support is equipped with left platen button 10, before the body 1
End right side is equipped with right arm power drive module 7, and 7 front end of right arm power drive module is screwed on right arm support 9,9 front end of right arm support
Equipped with right platen button 11, when in use, the front end of body 1 can be fitted in the back side of wearable suit 2, institute to the body 1
It states 2 upper ends of wearable suit and is equipped with the helmet 26, the left side of the helmet 26 is equipped with left earphone 27, and the right side of the helmet 26 is equipped with right earphone
28, the front end of the helmet 26 is equipped with mask 30, and 30 upper end of the mask and the junction of the helmet 26 hinder device 29, the wearing equipped with spy
Formula is set with 2 shirtfronts and is additionally provided with anti-drop belt 25；The body 1 is made of light weight, the firm titanium alloy material of material, in body
The accumulator group 4 of 1 upper end setting using lithium electricity as power source, and by 4 peripheral interface of accumulator group and power supply system 3, in
Central processor 5, total output drive system 12 connect, and realize the information exchange of power supply output and charging process control, the power supply
The effect of system 3 is realized to each driving power system in present invention auxiliary running gear by the control circuit on itself serial ports
State-detection, communications command executes and the interaction of feedback of status, and pass through built-in detection chip monitoring voltage, electric current, electricity
The information such as amount and temperature realize the real time monitoring to present invention auxiliary running gear operating status, protection accumulator group 4 and circuit
Safety, the power supply system 3, which also crosses accumulator group 4, puts, overcharges protection, and overcurrent, overvoltage protection and short circuit, surge are protected
Shield, when the detection chip built in power supply system 3 detects accumulator 4 brownout of group, in the power-supply system in power supply system 3
It passes warning information and automatically cuts off 4 power switch of accumulator group, put to prevent accumulator group 4 from crossing；When detecting accumulator group
Battery charge when being more than predetermined saturation value, the power-supply system of power supply system 3 is automatically stopped cut-out switch, stops accumulator
4 charging of group, to prevent over-charging of battery, comprehensive function from ensureing that accumulator group 4 is safe to use, extending the battery of accumulator group 4
Service life, power supply system 3 can control accumulator group 4 to realize automatic charging, pass through the another built-in driving circuit control of power supply system 3
Relay group processed, which is realized, individually controls the charging of accumulator group 4, power switching and equipment power supply, and function also resides in subsequently to examine
Present invention auxiliary running gear operating status is looked into, present invention auxiliary running gear operation troubles is analyzed, life is stored in the form of item
The power supply status executed with when abnormal occur is enabled, radiator fan and electric boiling plate are additionally provided in power supply system 3（It is not shown）,
The controllable present invention auxiliary running gear internal temperature of effect reaches the battery in accumulator group 4 and the suitable temperature of equipment work
Degree, the power supply system 3 are also built-in with power module, can be wanted according to the voltage class and power of present invention auxiliary running gear
It asks, conversion is assigned as each branch power supply output, on the panel of power supply system 3（It is not shown）Indicator light shows that power-supply system is logical
The states such as letter, electricity and branch power supply；Power supply system 3 is by acquiring the present invention auxiliary each power consumption Module nodes of running gear
The information such as voltage, electric current and battery and test point temperature are by being calculated the present invention auxiliary running gear remaining working time
Estimated value and its work state, and led to by the interface of power supply system 3 and the central processing unit 5 of responsible decision-making treatment
Letter, by the way that the analysis per situation all the way, decision is provided for central processing unit 5, meanwhile, it is driven by total output drive system 12
Circuit control relay to per carrying out corresponding power supply control respectively all the way, running gear when something goes wrong, central processing unit 5
Built-in emergency processing module starts, and handles failure, ensures running gear operation of the present invention；The central processing unit
5 be-kind of high-performance heterogeneous computing platforms, is the brain of present invention auxiliary running gear, general processor in calculated performance and
The present invention auxiliary diversified data processing needs of running gear can be met in efficiency, central processing unit 5 is built-in with GPU and intelligently draws
It holds up the heterogeneous computing platforms that processor forms together with CPU and calculates present invention auxiliary running gear performance to be promoted, it being capable of basis
The design feature of each computing subsystem distributes different calculating tasks for it, is improving calculated performance, Energy Efficiency Ratio and real-time
The advantage not available for conventional architectures is embodied in terms of guarantee, it is intelligent electromechanical device that the present invention, which assists running gear,
Integrated use machinery and precision machinery, microelectronics and computer, automatically control and drive, visits barrier device 29 and information processing and
The multidisciplinary technological incorporation such as artificial intelligence, the ability for making present invention auxiliary running gear form cognition, impression and action are accurate complete
At from sit on station, stand to walk, go to stop, stand to sit, isotype of going upstairs operation task, carry computing platform need to meet it is more
Kind requires, including：Sensing capability：Have abundant I/O interfaces, a variety of I/O agreements such as USB 3, UART, I2C is supported, to connect
All kinds of spy barrier 29 data of device are received, each motive position can be controlled, such as biped, both arms, both hands, both legs and head, are completed more
The action of a dimension realizes rehabilitation training walking, and has the guarantee in terms of real-time and safety, the centre of device
Reason device 5 should cope with the processing of data, and can meet all kinds of intelligence computation demands, and in terms of power consumption control, power supply system 3 can expire
Foot reduces power consumption；The total output drive system 12 of the right side lower end setting of the body 1, inside sets there are one stepper motor and 1：
250 gear-box cannot directly drive wheel driving both arms and both legs since stepper motor torque is not big enough, so needing to add
A upper reduction box increases the output torque of stepper motor, while stepper motor speed reduces, the 1 of setting：250 tooth
Roller box makes the output torque of stepper motor increase 250 times, but speed is reduced to 1/250.To ensure that present invention auxiliary walking
The walking stability and harmony of system；The stepper motor set in total output drive system 12 and 1：250 gear-box mainly by
The included control card of total output drive system 12 and control chip control the frequency of stepper motor to obtain come what is controlled
To stepper motor speed governing, when control signal frequency is higher, stepper motor turns faster, and frequency is lower, and stepper motor turns slower.
Its parameter be the output torque of stepper motor, stepper motor power decision, as the related joint control of total output drive system 12
The left arm power drive module 6 of driving part processed, right arm power drive module 7, left arm support 8, right arm support 9, left hip power
Regulating system 13, right hip dynamics control system 14, left thigh power power drive system 15, right thigh power power drive system 16,
Left knee joint switching mechanism 17, right knee joint switching mechanism 18, left leg power fluid to system 19, right leg power fluid to system
20, left foot rotating mechanism 21, right sufficient rotating mechanism 22, left foot walking pedal 23, be equipped in right sufficient walking pedal 24 in
Small type stepping motor and driving gear and the connecting rod assembly set link；12 main function of total output drive system and controlled quentity controlled variable are exactly
Left arm power drive module 6, right arm power drive module 7, left arm support 8, the right arm branch of control present invention auxiliary running gear
Frame 9, left hip dynamics control system 13, right hip dynamics control system 14, left thigh power power drive system 15, right thigh power electric
Drive system 16, left knee joint switching mechanism 17, right knee joint switching mechanism 18, left leg power fluid to system 19, right leg
Power fluid is to system 20, left foot rotating mechanism 21, right sufficient rotating mechanism 22, left foot walking pedal 23, right sufficient walking pedal
Small type stepping motor and driving gear built in 24 link with connecting rod assembly, to drive the double of present invention auxiliary running gear
The movement in the joints such as foot, both arms, both hands, both legs and head controls this hair by controlling the rotating speed number of turns of each stepper motor
The distance of bright auxiliary running gear movement and direction, and mechanical two-armed spider, double hip power adjustments, both legs power electric is driven to drive
The degree of bending or movement in dynamic, double knee joint conversion and the joints such as biped rotating mechanism and sufficient walking pedal away from
From etc., and solve allow total output drive system 12 and its it is associated control driving component built in each small type stepping motor and
Drive gear that can be used according to the intention for the residual soldier that fights with connecting rod.Control card and control chip is just needed to be controlled；Have
These control cards and chip, the present invention by the microcontroller that is set in total output drive system 12 and total output drive system 12 and
Its it is associated control driving component built in each small type stepping motor and drive gear connected with connecting rod, with program come
Each stepper motor and driving gear and connecting rod are controlled, for controlling the speed of stepper motor, the reality in running gear of the present invention
Border performance is exactly the actual motion speed walked, and the speed that running gear of the present invention is walked leans on the rotating speed of stepper motor entirely, thus logical
Cross each small type stepping motor built in the component that control card drives total output drive system 12 and its associated control and drive
Moving gear carries out speed control and adjusting；When the total output drive system 12 drives the left arm power drive module of left upper end
When 6, left arm power drive module 6 can the left hip dynamics control system of synchronous interaction 13；It is corresponding, in the right end of body 1, total output
Drive system 12 drives right arm power drive module 7, the right hip dynamics control system of 7 synchronous interaction of right arm power drive module
14；The left arm power drive module 6 can synchronize turn left arm support 8 in 180 degree limit angle according to rehabilitation training requirement band
Dynamic left arm is raised one's hand, is put down, and front swing arm, rear-swing arm act, and the front end of left arm support 8 is equipped with left platen button 10, left platen
Button 10 is manipulated by residual soldier's left hand of fighting, and the left platen button 10 is additionally provided with controllable left hip dynamics control system 13
Button, when left hip dynamics control system 13 is run can turn lower end left thigh power power drive system 15, left thigh power electric
15 turn lower end of drive system connection left knee joint switching mechanism 17, left knee joint switching mechanism 17 again turn lower end connection
Left leg power fluid to system 19, left leg power fluid to system 19 resynchronizes the left foot rotating mechanism 21 of turn lower end connection,
21 front end of left foot rotating mechanism is equipped with the left foot walking pedal 23 that can be walked；When the total output drive system 12
When driving the right arm power drive module 7 of upper right side, right arm power drive module 7 can the right hip dynamics control system of synchronous interaction
14, the right arm support 9 can synchronize turn right arm support 9 and drive right arm to make according to rehabilitation training requirement in 180 degree limit angle
It raises one's hand, put down, front swing arm, rear-swing arm act, and the front end of right arm support 9 is equipped with right platen button 11, and right platen button 11 is
By residual soldier's right hand manipulation of fighting, the right platen button 11 is additionally provided with the button of controllable right hip dynamics control system 14,
Right hip dynamics control system 14 when running can turn lower end right thigh power power drive system 16, right thigh power power drive system
The right knee joint switching mechanism 18 of 16 turn lower ends connection, the right leg that turn lower end couples again of right knee joint switching mechanism 18 are dynamic
For power liquid to system 20, right leg power fluid to system 20 resynchronizes the right sufficient rotating mechanism 22 of turn lower end connection, the right foot
22 front end of rotating mechanism is equipped with the right sufficient walking pedal 24 that can be walked.
Above-mentioned spy barrier device 29 is the eyes of present invention auxiliary running gear, is to visit barrier device, infrared barrier detection device, sound by optics to visit
Barrier device, power visit barrier device, pressure-sensitive spy hinders device, position visits the multi-functional spy of one kind that barrier device is combined into and hinders device.
Above-mentioned anti-drop belt 25 is to bind disable armyman to prevent from being worn on wearable suit 2 with disable armyman from body 1
Upper landing.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, according to the technical essence of the invention to above example institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.
Claims (3)
1. a kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy, it is characterised in that：Including body
（1）, wearable suit（2）, power supply system（3）, accumulator group（4）, central processing unit（5）, left arm power drive module（6）,
Right arm power drive module（7）, left arm support（8）, right arm support（9）, left platen button（10）, right platen button（11）, it is total
Power-driven system（12）, left hip dynamics control system（13）, right hip dynamics control system（14）, left thigh power electric drive trains
System（15）, right thigh power power drive system（16）, left knee joint switching mechanism（17）, right knee joint switching mechanism（18）, it is left
Shank power fluid is to system（19）, right leg power fluid to system（20）, left foot rotating mechanism（21）, right sufficient rotating mechanism
（22）, left foot walking pedal（23）, right sufficient walking pedal（24）, anti-drop belt（25）, the helmet（26）, left earphone（27）, it is right
Earphone（28）, visit barrier device（29）, mask（30）；The body（1）Upper end be equipped with accumulator group（4）, the body（1）After
End is equipped with power supply system（3）, power supply system（3）Rear end connect for central processing unit（5）, the body（1）Left side lower end
Equipped with left hip dynamics control system（13）, left hip dynamics control system（13）Lower end couples left thigh power power drive system
（15）, left thigh power power drive system（15）Lower end couples left knee joint switching mechanism（17）, left knee joint switching mechanism
（17）Lower end couples left leg power fluid to system（19）, left leg power fluid to system（19）Lower end couples left foot rotating mechanism
（21）, the left foot rotating mechanism（21）Front end is equipped with left foot walking pedal（23）, the body（1）Right side lower end be equipped with
Total output drive system（12）, total output drive system（12）Lower end is equipped with right hip dynamics control system（14）, right hip power tune
Section system（14）Lower end couples right thigh power power drive system（16）, right thigh power power drive system（16）Lower end connection is right
Knee joint switching mechanism（18）, right knee joint switching mechanism（18）Lower end couples right leg power fluid to system（20）, right leg
Power fluid is to system（20）The right sufficient rotating mechanism of lower end connection（22）, the right sufficient rotating mechanism（22）Front end is equipped with right foot and walks
Formula pedal（24）, the body（1）Front end on the left of be equipped with left arm power drive module（6）, left arm power drive module（6）Before
Hold the left arm support that is screwed on（8）, left arm support（8）Front end is equipped with left platen button（10）, the body（1）Front end on the right side of be equipped with
Right arm power drive module（7）, right arm power drive module（7）Front end is screwed on right arm support（9）, right arm support（9）Front end is set
There is right platen button（11）, the body（1）When in use, body（1）Front end can be fitted in wearable suit（2）The back of the body
Face, the wearable suit（2）Upper end is equipped with the helmet（26）, the helmet（26）Left side be equipped with left earphone（27）, the helmet（26）'s
Right side is equipped with right earphone（28）, the helmet（26）Front end be equipped with mask（30）, the mask（30）Upper end and the helmet（26）Company
It meets place and is equipped with to visit and hinder device（29）, the wearable suit（2）Shirtfront is additionally provided with anti-drop belt（25）；The body（1）Using quality
Gently, the firm titanium alloy material of material makes, in body（1）The accumulator group of upper end setting（4）Using lithium electricity as power source,
And pass through accumulator group（4）Peripheral interface and power supply system（3）, central processing unit（5）, total output drive system（12）Connection,
Realize the information exchange of power supply output and charging process control, the power supply system（3）Effect be by itself serial ports
Control circuit is realized to the state-detection of each driving power system, communications command execution and state in present invention auxiliary running gear
The interaction of feedback, and by information such as built-in detection chip monitoring voltage, electric current, electricity and temperature, realize auxiliary to the present invention
The real time monitoring of walk help walking system operating status protects accumulator group（4）And circuit safety, the power supply system（3）Also to storing
Battery pack（4）It crosses and puts, overcharges protection, overcurrent, overvoltage protection and short circuit, surge protection work as power supply system（3）Built-in inspection
It surveys chip and detects accumulator group（4）When brownout, power supply system（3）On power-supply system upload and warning information and cut automatically
Disconnected accumulator group（4）Power switch, to prevent accumulator group（4）It crosses and puts；When the battery charge for detecting accumulator group
When more than predetermined saturation value, power supply system（3）Power-supply system be automatically stopped cut-out switch, stop accumulator group（4）Charging, from
And over-charging of battery is prevented, comprehensive function ensures accumulator group（4）It is safe to use, extend accumulator group（4）Battery use the longevity
Life, power supply system（3）Controllable accumulator group（4）It realizes automatic charging, passes through power supply system（3）Another built-in driving circuit control
Relay group processed is realized to accumulator group（4）Charging, power switching and equipment power supply individually control, and it is follow-up that function, which also resides in,
It checks present invention auxiliary running gear operating status, analyzes present invention auxiliary running gear operation troubles, stored in the form of item
Power supply status when order executes and exception occurs, in power supply system（3）Inside it is additionally provided with radiator fan and electric boiling plate（Do not show
Go out）, act on controllable present invention auxiliary running gear internal temperature and reach accumulator group（4）What interior battery and equipment worked
Preference temperature, the power supply system（3）Also be built-in with power module, can according to the present invention auxiliary running gear voltage class and
Power requirement, conversion is assigned as each branch power supply output, in power supply system（3）Panel on（It is not shown）Indicator light shows power supply
The states such as system communication, electricity and branch power supply；Power supply system（3）By acquiring the present invention auxiliary each power consumption mould of running gear
The information such as voltage, electric current and the battery of block node and test point temperature are remaining by the way that present invention auxiliary running gear is calculated
The estimated value of working time and the state of its work, and pass through power supply system（3）Interface and responsible decision-making treatment centre
Manage device（5）It is communicated, by being central processing unit to the analysis per situation all the way（5）Decision is provided, meanwhile, by always moving
Power-driven system（12）Driving circuit controls relay to per corresponding power supply control is carried out respectively all the way, occurring in running gear
When problem, central processing unit（5）Built-in emergency processing module starts, and handles failure, ensures running gear of the present invention
Operation；The central processing unit（5）It is-kind of high-performance heterogeneous computing platforms, is the brain of present invention auxiliary running gear,
Its general processor can meet the present invention auxiliary diversified data processing needs of running gear in calculated performance and efficiency, in
Central processor（5）It is built-in with the heterogeneous computing platforms that GPU intelligent engine processors form together with CPU and calculates the present invention to be promoted
Running gear performance is assisted, different calculating tasks can be distributed for it according to the design feature of each computing subsystem, carried
The advantage not available for conventional architectures is embodied in terms of high calculated performance, Energy Efficiency Ratio and Real-time Ability, the present invention assists walking
System is intelligent electromechanical device, and integrated use machinery and precision machinery, microelectronics and computer are automatically controlled and driven
Dynamic, spy barrier device（29）With the multidisciplinary technological incorporation such as information processing and artificial intelligence, present invention auxiliary running gear is made to be formed
The ability of cognition, impression and action, it is accurate complete from sit on station, stand to walk, go to stop, stand to sit, isotype of going upstairs operates
Task, the computing platform carried need to meet a variety of requirements, including：Sensing capability：Have abundant I/O interfaces, supports USB
3, a variety of I/O agreements such as UART, I2C hinder device to receive all kinds of spies（29）Data can control each motive position, such as
The action of multiple dimensions is completed on biped, both arms, both hands, both legs and head, realizes rehabilitation training walking, and have real-time
With the guarantee in terms of safety, the central processing unit of device（5）The processing of data should be coped with, and all kinds of intelligence meters can be met
Calculation demand, in terms of power consumption control, power supply system（3）Reduction power consumption can be met；The body（1）Right side lower end setting it is total
Power-driven system（12）, inside set there are one stepper motor and 1：250 gear-box, since stepper motor torque is not big enough,
Wheel driving both arms and both legs cannot be directly driven, so needing to increase the power output of stepper motor plus a reduction box
Square, while stepper motor speed reduces, the 1 of setting：250 gear-box makes the output torque of stepper motor increase 250 times,
But speed is reduced to 1/250.To ensure that the walking stability and harmony of present invention auxiliary running gear；Total output drives
System（12）The stepper motor inside set and 1：250 gear-box is mainly by total output drive system（12）Included control card and control
Coremaking piece controls the frequency of stepper motor to obtain to stepper motor speed governing, when control signal frequency is got over come what is controlled
Height, stepper motor turn faster, and frequency is lower, and stepper motor turns slower.Its parameter is the output torque of stepper motor, stepping
The power decision of motor, as total output drive system（12）The left arm power drive module of associated control driving part
（6）, right arm power drive module（7）, left arm support（8）, right arm support（9）, left hip dynamics control system（13）, right hip power
Regulating system（14）, left thigh power power drive system（15）, right thigh power power drive system（16）, left knee joint interpreter
Structure（17）, right knee joint switching mechanism（18）, left leg power fluid to system（19）, right leg power fluid to system（20）, it is left
Sufficient rotating mechanism（21）, right sufficient rotating mechanism（22）, left foot walking pedal（23）, right sufficient walking pedal（24）Inside it is equipped with
Built-in small type stepping motor and driving gear links with connecting rod assembly；Total output drive system（12）Main function and controlled quentity controlled variable
It is exactly the left arm power drive module of control present invention auxiliary running gear（6）, right arm power drive module（7）, left arm support
（8）, right arm support（9）, left hip dynamics control system（13）, right hip dynamics control system（14）, left thigh power electric drive trains
System（15）, right thigh power power drive system（16）, left knee joint switching mechanism（17）, right knee joint switching mechanism（18）, it is left
Shank power fluid is to system（19）, right leg power fluid to system（20）, left foot rotating mechanism（21）, right sufficient rotating mechanism
（22）, left foot walking pedal（23）, right sufficient walking pedal（24）Built-in small type stepping motor and driving gear and connecting rod
Combination links, to drive the movement in the joints such as biped, both arms, both hands, both legs and the head of the invention for assisting running gear,
It controls distance and the direction of present invention auxiliary running gear movement by controlling the rotating speed number of turns of each stepper motor, and drives
Mechanical two-armed spider, double hip power adjustments, both legs power electric drive, double knee joint conversion and biped rotating mechanism and sufficient row
It walks the degree of bending in the joints such as formula pedal or the distance of movement etc., and solves to allow total output drive system（12）And its it is related
Each small type stepping motor and driving gear built in the component of the control driving of connection can make with connecting rod according to the intention for the residual soldier that fights
With.Control card and control chip is just needed to be controlled；There are these control cards and chip, the present invention to drive total output
System（12）The microcontroller inside set and total output drive system（12）And its it is each built in the component of associated control driving
Small type stepping motor and driving gear are connected with connecting rod, and each stepper motor and driving gear and connecting rod are controlled with program,
For controlling the speed of stepper motor, the practical manifestation in running gear of the present invention is exactly the actual motion speed walked, this
The speed that invention running gear is walked leans on the rotating speed of stepper motor entirely, thus by control card to total output drive system（12）And its
Each small type stepping motor and driving gear built in the component of associated control driving carry out speed control and adjusting；When described
Total output drive system（12）Drive the left arm power drive module of left upper end（6）When, left arm power drive module（6）It can be same
The left hip dynamics control system of step linkage（13）；It is corresponding, in body（1）Right end, total output drive system（12）Drive right arm
Power drive module（7）, the right arm power drive module（7）The right hip dynamics control system of synchronous interaction（14）；The left side
Arm power drive module（6）Turn left arm support can be synchronized（8）Drive left arm is required to make according to rehabilitation training in 180 degree limit angle
It raises one's hand, put down, front swing arm, rear-swing arm act, left arm support（8）Front end be equipped with left platen button（10）, left platen button
（10）It is to be manipulated by residual soldier's left hand of fighting, the left platen button（10）It is additionally provided with controllable left hip dynamics control system
（13）Button, left hip dynamics control system（13）It can turn lower end left thigh power power drive system when operation（15）, Zuo great
Leg power power drive system（15）The left knee joint switching mechanism of turn lower end connection（17）, left knee joint switching mechanism（17）Again
The left leg power fluid of turn lower end connection is to system（19）, left leg power fluid to system（19）Resynchronize the connection of turn lower end
Left foot rotating mechanism（21）, the left foot rotating mechanism（21）Front end is equipped with the left foot walking pedal that can be walked（23）；
When the total output drive system（12）Drive the right arm power drive module of upper right side（7）When, right arm power drive module
（7）It can the right hip dynamics control system of synchronous interaction（14）, the right arm support（9）Turn right arm support can be synchronized（9）180
Drive right arm is required to raise one's hand, put down according to rehabilitation training in degree limit angle, front swing arm, rear-swing arm act, right arm support（9）'s
Front end is equipped with right platen button（11）, right platen button（11）It is to be manipulated by residual soldier's right hand of fighting, the right platen button
（11）It is additionally provided with controllable right hip dynamics control system（14）Button, right hip dynamics control system（14）It can be under turn when operation
Hold right thigh power power drive system（16）, right thigh power power drive system（16）The right knee joint conversion of turn lower end connection
Mechanism（18）, right knee joint switching mechanism（18）The right leg power fluid of turn lower end connection is to system again（20）, right leg is dynamic
Power liquid is to system（20）Resynchronize the right sufficient rotating mechanism of turn lower end connection（22）, the right sufficient rotating mechanism（22）Front end is set
There is the right sufficient walking pedal that can be walked（24）.
2. a kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy according to claim 1,
It is characterized in that the spy barrier device（29）It is the eyes of present invention auxiliary running gear, is that barrier device, infrared barrier detection device, sound are visited by optics
Spy barrier device, power visit barrier device, pressure-sensitive spy hinders device, position visits the multi-functional spy of one kind that barrier device is combined into and hinders device.
3. a kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy according to claim 1,
It is characterized in that the anti-drop belt（25）It is to bind disable armyman to prevent from being worn on wearable suit with disable armyman（2）Slave
Body（1）Upper landing.
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| CN201810524181.6A CN108743248A (en) | 2018-05-28 | 2018-05-28 | A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy |
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