CN110450135B - A Dynamic Suspension Weight Support System - Google Patents

A Dynamic Suspension Weight Support System Download PDF

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CN110450135B
CN110450135B CN201910694048.XA CN201910694048A CN110450135B CN 110450135 B CN110450135 B CN 110450135B CN 201910694048 A CN201910694048 A CN 201910694048A CN 110450135 B CN110450135 B CN 110450135B
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pneumatic muscle
motor
driving device
force
drive device
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CN110450135A (en
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黄剑
霍军
涂细凯
茹宏格
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明涉及康复医疗机器人技术领域，公开了一种动态悬吊式体重支持系统，包括电机驱动装置以及气动肌肉驱动装置；电机驱动装置和气动肌肉驱动装置分别安装于框架上，电机驱动装置设置于悬吊单元的一侧，并通过连接单元与悬吊单元连接，气动肌肉驱动装置设置于悬吊单元的另一侧，并通过连接单元与悬吊单元连接，悬吊单元用于连接使用者，电机检测装置与电机驱动装置连接，气动肌肉检测装置与气动肌肉驱动装置连接，电机驱动装置、气动肌肉驱动装置、电机检测装置以及气动肌肉检测装置分别与控制器电连接。本发明具有能提供给人体恒定的减重力，驱动力具备柔性，驱动力控制简单的技术效果。

Figure 201910694048

The invention relates to the technical field of rehabilitation medical robots, and discloses a dynamic suspension type weight support system, comprising a motor drive device and a pneumatic muscle drive device; the motor drive device and the pneumatic muscle drive device are respectively mounted on a frame, and the motor drive device is arranged on the One side of the suspension unit is connected with the suspension unit through the connection unit, the pneumatic muscle driving device is arranged on the other side of the suspension unit, and is connected with the suspension unit through the connection unit, and the suspension unit is used to connect the user, The motor detection device is connected with the motor drive device, the pneumatic muscle detection device is connected with the pneumatic muscle drive device, and the motor drive device, the pneumatic muscle drive device, the motor detection device and the pneumatic muscle detection device are respectively electrically connected with the controller. The invention has the technical effects that the constant weight reduction can be provided to the human body, the driving force is flexible, and the driving force control is simple.

Figure 201910694048

Description

Dynamic suspension type weight support system
Technical Field
The invention relates to the technical field of rehabilitation medical robots, in particular to a dynamic suspension type weight support system.
Background
At present, the aging problem of the population of China is getting more and more serious, the population proportion of the disabled is getting larger and larger, and the number of patients who need rehabilitation medical treatment urgently is also increasing year by year. At present, rehabilitation training is mainly guided by professional doctors and is mostly carried out in rehabilitation places such as hospitals, a great amount of time and manpower are consumed in the rehabilitation training process, along with the development of the robot technology, more and more scientific research institutions begin to use the robot technology in the design and research and development of rehabilitation training equipment, wherein an exoskeleton is a typical power assisting device. The dynamic suspension device for assisting the exoskeleton assistance is connected with a user through a rope, and has the capability of dynamically losing weight and even enabling the user to be separated from the ground.
The existing weight-reducing suspension system adopts a single drive or adds elastic elements such as springs and the like as a passive weight-reducing mode, so that the inertia force is continuously changed due to the continuous change of the gravity center of a human body, the gravity reducing force is continuously changed, approximately constant pulling force cannot be provided when the human body moves, and comfortable experience cannot be provided for a user. Yet another is a dual drive suspension system which requires both position and force feedback considerations, which greatly increases the difficulty of control, and which is prone to instability. And the flexibility of the motor system is poor, and an elastic element is generally required for assistance, which causes a control problem.
There is therefore a need for a weight support system that accurately controls the weight reduction force provided to a user, while having a certain compliance, without generating excessive drag forces, while reducing the difficulty of controlling the weight reduction force, and providing different assistance to users of different heights and weights.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a dynamic suspension type weight support system, which solves the technical problems of poor stability, poor flexibility and great control difficulty of the weight reduction of the suspension system in the prior art.
In order to achieve the above technical objects, the present invention provides a dynamic suspension type weight support system, including a motor driving device, a pneumatic muscle driving device, a motor detecting device, a pneumatic muscle detecting device, a controller, a suspension unit, a connecting unit, and a frame;
the motor driving device and the pneumatic muscle driving device are respectively installed on the frame, the motor driving device is arranged on one side of the suspension unit and is connected with the suspension unit through the connecting unit, the pneumatic muscle driving device is arranged on the other side of the suspension unit and is connected with the suspension unit through the connecting unit, the suspension unit is used for connecting a user, the motor detection device is connected with the motor driving device, the pneumatic muscle detection device is connected with the pneumatic muscle driving device, and the motor driving device, the pneumatic muscle driving device, the motor detection device and the pneumatic muscle detection device are respectively electrically connected with the controller.
Compared with the prior art, the invention has the beneficial effects that: the pneumatic muscle driving device and the motor driving device are used for driving, the double-driving design can provide constant weight-reducing force for a human body, meanwhile, the driving force provided by the pneumatic muscle has certain flexibility, other flexible elements are not needed, the flexibility of the weight-reducing force provided by the system is better, and the comfort level and the experience feeling of the human body are improved. Meanwhile, the pneumatic muscle detection device and the motor detection device are used for respectively detecting the motor driving device and the pneumatic muscle driving device, and the dual drives are separately detected, so that the detection is more convenient, and the control is easier.
Drawings
FIG. 1 is a schematic diagram of an arrangement structure of an embodiment of the dynamic suspension weight support system provided in the present invention;
FIG. 2 is a schematic structural view of an embodiment of a connection unit of the dynamic suspension weight support system according to the present invention;
FIG. 3 is a schematic partial structural view of an embodiment of the motor driving device of the dynamic suspension weight support system of the present invention;
FIG. 4 is a schematic partial structural view of an embodiment of the pneumatic muscle actuation device of the dynamic suspension weight support system of the present invention;
FIG. 5 is a block diagram of the physical structure of one embodiment of the dynamic suspension weight support system provided in the present invention;
FIG. 6 is a mathematical model diagram of an embodiment of the dynamic suspended weight support system of the present invention;
fig. 7 is a flowchart of impedance control of an embodiment of the dynamic suspension weight support system of the present invention.
Reference numerals:
1. motor driving device, 11, motor, 12, speed reducer, 13, shaft coupling, 14, bearing, 15, roller, 16, mounting rack, 17, copper column, 2, pneumatic muscle driving device, 21, pneumatic muscle, 22, connector, 3, motor detection device, 31, first force sensor, 4, pneumatic muscle detection device, 41, second force sensor, 42, displacement sensor, 43, connecting plate, 44, fixing base, 5, suspension unit, 51, cable, 6, connecting unit, 61, first pulley, 62, second pulley, 63, third pulley, 64, fourth pulley, 65, fifth pulley, 66, sixth pulley, 67, rope, 7, frame, 81, slide rail, 82, slider, 10, user.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, embodiment 1 of the present invention provides a dynamic suspension type weight support system, hereinafter referred to as the present system, including a motor driving device 1, a pneumatic muscle driving device 2, a motor detecting device 3, a pneumatic muscle detecting device 4, a controller, a suspension unit 5, a connecting unit 6, and a frame 7;
motor drive 1 and pneumatic muscle drive 2 install respectively in on the frame 7, motor drive 1 set up in hang in midair one side of unit 5, and pass through linkage unit 6 with hang in midair the unit 5 and connect, pneumatic muscle drive 2 set up in hang in midair the opposite side of unit 5, and pass through linkage unit 6 with hang in midair the unit 5 and connect, hang in midair unit 5 and be used for connecting user 10, motor detection device 3 with motor drive 1 connects, pneumatic muscle detection device 4 with pneumatic muscle drive 2 connects, motor drive 1, pneumatic muscle drive 2, motor detection device 3 and pneumatic muscle detection device 4 respectively with the controller electricity is connected.
The embodiment of the invention adopts the pneumatic muscle driving device 2 and the motor driving device 1 to provide double driving force, the motor driving device 1 is used as a main suspension force output device, the flexible pneumatic muscle driving device 2 is used as a regulator, the swing of the gravity center during the motion of the human body is adapted, and the pneumatic muscle driving device is mainly used for providing constant supporting force for the human body in the rehabilitation training. The user 10 is connected with the suspension unit 5, the motor driving device 1 and the pneumatic muscle driving device 2 are both connected with the suspension unit 5 through the connecting unit 6, so that a certain supporting force is provided for the user 10, when the human body performs rehabilitation exercise, the controller adapts to the up-and-down change of the gravity center of the human body during exercise by changing the telescopic length of the pneumatic muscle driving device 2, and the tension on the connecting unit 6 is kept, namely the supporting force provided for the user 10 is a constant value. The pneumatic muscle driving device 2 is selected as the auxiliary driving device, and the driving force provided by the pneumatic muscle driving device 2 has certain flexibility and does not generate excessive pulling force, so that other flexible elements are not needed to be used, the weight reduction force provided by the system is better in flexibility, and the comfort degree and the experience feeling of a human body are improved. Meanwhile, the pneumatic muscle driving device 2 is simple in structure and easy to control. When the pneumatic muscle driving device 2 does not work, the pneumatic muscle driving device can also be used as a static suspension system which can be regarded as a static suspension system with certain flexibility, namely, the pneumatic muscle driving device only has the effect of pulling up the human body. The motor detection device 3 is used for detecting the force and the position of the motor driving device 1, the pneumatic muscle detection device 4 is used for detecting the force and the position of the pneumatic muscle driving device 2, and the motor driving device 1 and the pneumatic muscle driving device 2 respectively detect, so that the detection is more convenient, and the control is simpler.
When in use, the height of the suspension unit 5 is firstly adjusted in a large range through the motor driving device 1, so that the suspension unit 5 is lowered, a user 10 can conveniently wear the connecting device, and the connecting device is connected with the suspension unit 5. Then the motor driving device 1 adjusts the connecting unit 6 to be tensioned, so as to achieve the pre-tightening effect. The controller controls the motor driving device 1 and the pneumatic muscle driving device 2 to operate coordinately at the same time, and the dynamic suspension effect is achieved.
The invention adopts the motor driving device 1 as the basis of large-scale position adjustment, and uses the pneumatic muscle driving device 2 as the second driving device to solve the problems of difficult compliance and constant force and high control difficulty in the prior art. Meanwhile, due to the fact that the two drives are used for detecting respectively, the difficulty of detection and control is reduced.
Preferably, as shown in fig. 2 and 3, the connection unit 6 comprises a rope 67, a first pulley block and a second pulley block;
one end of the rope 67 passes through the suspension unit 5, bypasses the first pulley block and then is connected with the motor driving device 1, and the other end of the rope 67 bypasses the second pulley block and then is connected with the pneumatic muscle driving device 2.
Specifically, the first pulley block comprises a first pulley 61, a second pulley 62, a third pulley 63 and a fourth pulley 64, one end of a rope 67 sequentially rounds the first pulley 61, the second pulley 62, the third pulley 63 and the fourth pulley 64 and then is connected with the roller 15, and when the motor 11 rotates, the rope 67 is wound on the roller 15. The second pulley block comprises a fifth pulley 65 and a sixth pulley 66, and the other end of the rope 67 sequentially rounds the fifth pulley 65 and the sixth pulley 66 and then is connected with the moving end of the pneumatic muscle 21. The user 10 is connected to the suspension unit 5 through the cable 51 by dynamically outputting the gravity-reducing force to the suspension unit 5 through the rope 67, constituting a dynamic suspension weight-reducing system. The pneumatic muscle driving device 2 and the motor driving device 1 are respectively disposed at both sides of the suspension unit 5 and are respectively connected to both ends of the rope 67, so that interference between the two driving devices can be reduced, and control of the two driving devices is also made simpler.
Preferably, as shown in fig. 3, the motor detection device 3 comprises a first force sensor 31 and an encoder;
the first pulley block comprises a bearing pulley, the first force sensor 31 is arranged on the frame 7, the bearing pulley is pressed on the first force sensor 31, and the rope 67 is wound on the bearing pulley and applies pressure to the first force sensor 31; the encoder is mounted on the motor drive device 1, and the first force sensor 31 and the encoder are electrically connected to the controller, respectively.
Specifically, in the present embodiment, the motor driving device 1 is driven by the motor 11, and the encoder is built in the motor 11, which is not shown in the figure. In this embodiment, the first force sensor 31 is used for detecting the output force of the motor 11, and the encoder is used for detecting the rotation position of the motor 11, so as to obtain the retraction distance of the rope 67 when the motor 11 rotates, and the first force sensor 31 and the encoder are used for respectively detecting the force parameter and the position parameter of the motor 11, so that the controller can conveniently control the force and the position of the controller respectively. When the first force sensor 31 works, the inward pressure generated by the pressure of the rope 67 on the bearing pulley is transmitted to the first force sensor 31, and the first force sensor 31 receives a pressure signal, converts the pressure signal into an electric signal and transmits the electric signal to the controller, so that the detection of the output force of the motor 11 is completed. Specifically, the third sheave 63 is a load bearing sheave in this embodiment.
Preferably, as shown in fig. 4, the pneumatic muscle detecting device 4 comprises a second force sensor 41 and a displacement sensor 42;
one end of the second force sensor 41 is fixed on the frame 7, the other end of the second force sensor 41 is connected with the pneumatic muscle driving device 2, the displacement sensor 42 is fixed on the frame 7, the moving end of the displacement sensor 42 is connected with the moving end of the pneumatic muscle driving device 2 and moves synchronously with the pneumatic muscle driving device 2, and the second force sensor 41 and the displacement sensor 42 are respectively and electrically connected with the controller.
The pneumatic muscle driving device 2 is driven by a pneumatic muscle 21, the pneumatic muscle 21 is an air cylinder, the second force sensor 41 is used for detecting the output force of the pneumatic muscle 21, and the displacement sensor 42 is used for detecting the stretching position of the pneumatic muscle 21. The force parameter and the position parameter of the pneumatic muscle 21 are respectively detected by the second force sensor 41 and the displacement sensor 42, so that the controller can conveniently control the force and the position of the pneumatic muscle respectively.
Specifically, the first force sensor 31 and the second force sensor 41 are respectively disposed on two sides of the suspension unit 5, and the encoder and the displacement sensor 42 are separately disposed, so that the detection of the force and the position of the motor 11 and the pneumatic muscle 21 is more convenient, and the mutual interference between the motor 11 and the pneumatic muscle 21 during the detection is reduced, because the motor 11 and the pneumatic muscle 21 are respectively disposed on two sides of the suspension unit 5, and the detection of the force and the position of the motor 11 and the pneumatic muscle 21 is separately performed.
Preferably, as shown in fig. 4, the displacement sensor 42 is fixed to the frame 7, a slide rail 81 is further installed on the frame 7, the displacement sensor 42 and the slide rail 81 are both arranged along the extending and retracting direction of the pneumatic muscle driving device 2, a slide block 82 is slidably installed in the slide rail 81, and the moving end of the pneumatic muscle driving device 2 is connected to the slide block 82.
The displacement sensor 42 is fixed on the frame 7 through two fixing seats 44, and the moving end of the displacement sensor 42 is connected to the connecting head 22 of the pneumatic muscle 21 through a connecting plate 43 and follows the stretching and retracting synchronous movement of the pneumatic muscle 21. The slide rails 81 and the sliders 82 are provided to guide the expansion and contraction of the displacement sensor 42 and the expansion and contraction of the pneumatic muscle 21.
Preferably, as shown in fig. 3, the motor driving device 1 includes a motor 11, a reducer 12, a coupling 13, a bearing 14, a roller 15, a mounting bracket 16, and a copper column 17;
the mounting bracket 16 pass through the copper post 17 install in on the frame 7, motor 11 and reduction gear 12 passes through the bolt fastening in on the mounting bracket 16, motor 11 with reduction gear 12 connects, wear to be equipped with the roller bearing in the cylinder 15, the output shaft of reduction gear 12 passes through shaft coupling 13 with the roller bearing is connected, the roller bearing passes through bearing 14 is fixed in on the frame 7, cylinder 15 passes through linkage unit 6 with hang in midair the unit 5 and connect, cylinder 15 passes through linkage unit 6 with power is connected with position detection device, motor 11 with the controller electricity is connected.
The motor 11 drives the roller 15 to roll through the speed reducer 12, the coupling 13 and the bearing 14, and the roller 15 outputs the gravity to the suspension unit 5 through the connecting unit 6 when rolling. Meanwhile, the height of the suspension unit 5 can be adjusted in a large range by controlling the rotation angle of the roller 15, so that the system can adapt to human bodies with different heights and has a pre-tightening effect.
Preferably, as shown in fig. 4, the pneumatic muscle driving device 2 includes a pneumatic muscle 21 and a connector 22, one end of the pneumatic muscle 21 is connected to the pneumatic muscle detecting device 4 and is mounted on the frame 7 through the pneumatic muscle detecting device 4, the other end of the pneumatic muscle 21 is connected to the connecting unit 6 through the connector 22, and the pneumatic muscle 21 is electrically connected to the controller.
The moving end of the pneumatic muscle 21 is connected with the suspension unit 5 through a rope 67 for providing a driving force, and the non-moving end of the pneumatic muscle 21 is fixed on the frame 7 through the pneumatic muscle detecting device 4, so that the output force and the position of the pneumatic muscle 21 can be detected.
Preferably, the controller is used for controlling the stretching movement of the pneumatic muscle driving device 2 according to the motion track of the height of the gravity center of the human body; the controller is also configured to control the output force of the motor drive apparatus 1 in accordance with a desired weight reduction.
The controller realizes the adjustment of the system position by controlling the position of the pneumatic muscle 21 and realizes the adjustment of the system suspension force by controlling the output force of the motor 11, namely realizing the simultaneous control of the force and the position. The position control is completed by the pneumatic muscle driving device 2 as an actuator, and the control aim is to make the position movement of the pneumatic muscle driving device 2 approach to the movement track of the gravity center height of the human body. The force control is performed by the motor drive apparatus 1 as an actuator, with the control target being to maintain the output force of the motor drive apparatus 1 at a constant value around the desired gravitational pull.
Preferably, the stretching position of the pneumatic muscle driving device 2 is controlled according to the motion track of the height of the center of gravity of the human body, specifically:
Δx＝xp+xm
xd＝xp＝F(x)-xm
where Δ x is the total displacement of the rope 67, xpAs a measure of the extension distance, x, of the pneumatic muscle-driving device 2mCalculated for the encoder of the motor 11, xdF (x) is a control target value used by a controller for controlling the position of the pneumatic muscle driving device 2, and is a motion track of the height of the center of gravity of the human body.
Preferably, the output force of the motor driving device 1 is controlled according to the desired weight reduction, specifically:
FG±ΔF＝Fp+Fm-f
Fd＝Fm＝FG-Fp+f
wherein, FGFor the desired gravitational pull, Δ F is the tolerance, FpFor the detection of the output force of the pneumatic muscle drive 2, FmAs a detected value of the output force of the motor drive 1, FdF is a control target value for the controller for controlling the output force of the motor drive device 1, and f is a system friction force, and f is a constant.
The controller realizes the precise adjustment of two parameters of position and force. When the user 10 exercises, the first force sensor 31 acquires a detection value of the output force of the motor 11, the encoder acquires a detection value of the length of the motor 11 winding and unwinding rope 67, the second force sensor 41 acquires a detection value of the output force of the pneumatic muscle 21, and the displacement sensor 42 acquires a detection value of the expansion and contraction distance of the pneumatic muscle 21. A control target value of the output force of the motor 11 is calculated based on the detected value of the output force of the motor 11, the detected value of the output force of the pneumatic muscle 21 and the expected weight reduction force, and is used as a control signal for controlling the motor 11 by the controller. And calculating a control target value of the pneumatic muscle 21 according to the detection value of the position of the pneumatic muscle 21, the detection value of the rotating position of the motor 11 and the motion track of the height of the gravity center of the human body, and using the control target value as a control signal for controlling the pneumatic muscle 21 by the controller. By controlling the output force of the motor 11 and the stretching position of the pneumatic muscle 21, two elements of position and force are controlled simultaneously, so that the tension of the rope 67 is kept constant, and the effect of outputting constant gravity is achieved.
Specifically, to realize the control of the two parameters of force and position, a physical structure block diagram of the system is first established, as shown in fig. 5, and a mathematical model diagram is obtained according to the physical structure block diagram, as shown in fig. 6.
In fig. 5 and 6, h is the height of the motor 11 and the pneumatic muscle 21, x is the height of the center of the suspension unit 5, and T is the tension of the rope 67.
The control law of position control is derived as follows
The three-element model of pneumatic muscle 21 is:
Figure BDA0002148779810000091
where m, b, k are the three parameters of the pneumatic muscle 21 ternary model, ysIs the position of the moving end of the pneumatic muscle 21,
Figure BDA0002148779810000092
is ysThe first derivative of (a) is,
Figure BDA0002148779810000093
is ysThe second derivative of (f), (p) is the external force of the pneumatic muscle 21.
Let u ═ Δ P ═ P-P0，y＝ys-y0The three-element model is simplified as follows:
Figure BDA0002148779810000094
wherein b ═ α0-α1P0)/m，c＝(β0-β1P0)/m，α＝α1/m，β＝β1/m，γ＝(γ1+β1y0)/m；
Let x1＝y，
Figure BDA0002148779810000095
The state space expression of the three-element model is as follows:
Figure BDA0002148779810000096
Figure BDA0002148779810000097
order to
Figure BDA0002148779810000098
The dynamic error, i.e. the system model error equation, is described as:
Figure BDA0002148779810000099
Figure BDA00021487798100000910
based on a model error equation, obtaining a self-adaptive control law of position control:
Figure BDA00021487798100000911
Figure BDA00021487798100000912
Figure BDA00021487798100000913
wherein, K1,K2Is undetermined parameter, lambda and xi are system parameters,
Figure BDA00021487798100000914
is an adaptive estimate of u.
As shown in fig. 7, the impedance control rate of force control is derived as follows:
the dynamic model equations of the system are described below,
Figure BDA0002148779810000101
wherein, the matrix M, C, G are the state parameters of the system, U ═ F, τ]TF is the interaction force at the point of action and J is the jacobian matrix.
The kinetic control equation of the system is as follows:
Figure BDA0002148779810000102
wherein, FdF detected value of output force of system, Kd,Bd,MdRespectively stiffness, damping and inertia of the system.
Obtaining an impedance control law according to a dynamic model equation and a dynamic control equation, wherein the impedance control law is as follows:
Figure BDA0002148779810000103
wherein, Kp,Kv,KfRespectively, a position matrix, a velocity matrix, and a gain matrix for the force.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (9)

1.一种动态悬吊式体重支持系统，其特征在于，包括电机驱动装置、气动肌肉驱动装置、电机检测装置、气动肌肉检测装置、控制器、悬吊单元、连接单元以及框架；1. a dynamic suspension type body weight support system, is characterized in that, comprises motor drive device, pneumatic muscle drive device, motor detection device, pneumatic muscle detection device, controller, suspension unit, connection unit and frame; 所述电机驱动装置和气动肌肉驱动装置分别安装于所述框架上，所述电机驱动装置设置于所述悬吊单元的一侧，并通过所述连接单元与所述悬吊单元连接，所述气动肌肉驱动装置设置于所述悬吊单元的另一侧，并通过所述连接单元与所述悬吊单元连接，所述悬吊单元用于连接使用者，所述电机检测装置与所述电机驱动装置连接，所述气动肌肉检测装置与所述气动肌肉驱动装置连接，所述电机驱动装置、气动肌肉驱动装置、电机检测装置以及气动肌肉检测装置分别与所述控制器电连接；The motor driving device and the pneumatic muscle driving device are respectively installed on the frame, the motor driving device is arranged on one side of the suspension unit, and is connected with the suspension unit through the connecting unit, the The pneumatic muscle driving device is arranged on the other side of the suspension unit, and is connected to the suspension unit through the connection unit. The suspension unit is used to connect the user, and the motor detection device is connected to the motor. a drive device is connected, the pneumatic muscle detection device is connected to the pneumatic muscle drive device, and the motor drive device, the pneumatic muscle drive device, the motor detection device and the pneumatic muscle detection device are respectively electrically connected to the controller; 所述连接单元包括绳索、第一滑轮组以及第二滑轮组；the connecting unit includes a rope, a first pulley block and a second pulley block; 所述绳索的一端穿过所述悬吊单元，并绕过所述第一滑轮组后与所述电机驱动装置连接，所述绳索的另一端绕过所述第二滑轮组后与所述气动肌肉驱动装置连接。One end of the rope passes through the suspension unit and is connected to the motor drive device after bypassing the first pulley block, and the other end of the rope is driven by the pneumatic muscle after bypassing the second pulley block device connection. 2.根据权利要求1所述的动态悬吊式体重支持系统，其特征在于，所述电机检测装置包括第一力传感器以及编码器；2. The dynamic suspension type body weight support system according to claim 1, wherein the motor detection device comprises a first force sensor and an encoder; 所述第一滑轮组包括承重滑轮，所述第一力传感器安装于所述框架上，所述承重滑轮压设于所述第一力传感器上，所述绳索绕设于所述承重滑轮上并朝所述第一力传感器施加压力；所述编码器安装于所述电机驱动装置上，所述第一力传感器以及编码器分别与所述控制器电连接。The first pulley set includes a load-bearing pulley, the first force sensor is mounted on the frame, the load-bearing pulley is pressed on the first force sensor, and the rope is wound around the load-bearing pulley and faces toward the load-bearing pulley. The first force sensor applies pressure; the encoder is mounted on the motor driving device, and the first force sensor and the encoder are respectively electrically connected to the controller. 3.根据权利要求1所述的动态悬吊式体重支持系统，其特征在于，所述气动肌肉检测装置包括第二力传感器以及位移传感器；3. The dynamic suspension type body weight support system according to claim 1, wherein the pneumatic muscle detection device comprises a second force sensor and a displacement sensor; 所述第二力传感器的一端固定于所述框架上，所述第二力传感器的另一端与所述气动肌肉驱动装置连接，所述位移传感器固定于所述框架上，所述位移传感器的移动端与所述气动肌肉驱动装置的移动端连接，并跟随所述气动肌肉驱动装置同步移动，所述第二力传感器以及位移传感器分别与所述控制器电连接。One end of the second force sensor is fixed on the frame, the other end of the second force sensor is connected with the pneumatic muscle driving device, the displacement sensor is fixed on the frame, and the movement of the displacement sensor The end is connected with the moving end of the pneumatic muscle driving device, and moves synchronously with the pneumatic muscle driving device, and the second force sensor and the displacement sensor are respectively electrically connected to the controller. 4.根据权利要求3所述的动态悬吊式体重支持系统，其特征在于，所述位移传感器固定于所述框架上，所述框架上还安装有滑轨，所述位移传感器以及所述滑轨均沿所述气动肌肉驱动装置的伸缩方向设置，所述滑轨内可滑动地安装有滑块，所述气动肌肉驱动装置的移动端与所述滑块连接。4 . The dynamic suspension type body weight support system according to claim 3 , wherein the displacement sensor is fixed on the frame, and a slide rail is also installed on the frame, and the displacement sensor and the slide The rails are all arranged along the telescopic direction of the pneumatic muscle driving device, a sliding block is slidably installed in the sliding rail, and the moving end of the pneumatic muscle driving device is connected with the sliding block. 5.根据权利要求1所述的动态悬吊式体重支持系统，其特征在于，所述电机驱动装置包括电机、减速器、联轴器、滚筒以及安装架；5. The dynamic suspension type body weight support system according to claim 1, wherein the motor drive device comprises a motor, a reducer, a coupling, a roller and a mounting frame; 所述安装架安装于所述框架上，所述电机以及所述减速器固定于所述安装架上，所述电机与所述减速器连接，所述滚筒内穿设有滚轴，所述减速器的输出轴通过所述联轴器与所述滚轴连接，所述滚筒通过所述连接单元与所述悬吊单元连接，所述滚筒通过所述连接单元与所述电机检测装置连接，所述电机与所述控制器电连接。The mounting frame is installed on the frame, the motor and the speed reducer are fixed on the mounting frame, the motor is connected with the speed reducer, the roller is provided with a roller, the speed reducer The output shaft of the device is connected to the roller through the coupling, the roller is connected to the suspension unit through the connection unit, and the roller is connected to the motor detection device through the connection unit. The motor is electrically connected to the controller. 6.根据权利要求1所述的动态悬吊式体重支持系统，其特征在于，所述气动肌肉驱动装置包括气动肌肉以及连接头，所述气动肌肉的一端与所述气动肌肉检测装置连接，并通过气动肌肉检测装置安装于所述框架上，所述气动肌肉的另一端通过所述连接头与所述连接单元连接，所述气动肌肉与所述控制器电连接。6. The dynamic suspension type body weight support system according to claim 1, wherein the pneumatic muscle driving device comprises a pneumatic muscle and a connecting head, one end of the pneumatic muscle is connected with the pneumatic muscle detection device, and The pneumatic muscle detection device is installed on the frame, the other end of the pneumatic muscle is connected to the connection unit through the connection head, and the pneumatic muscle is electrically connected to the controller. 7.根据权利要求1-6任一所述的动态悬吊式体重支持系统，其特征在于，所述控制器用于根据人体重心高度运动轨迹控制所述气动肌肉驱动装置的伸缩移动；所述控制器还用于根据期望减重力控制所述电机驱动装置的输出力。7. The dynamic suspension type body weight support system according to any one of claims 1-6, wherein the controller is used to control the telescopic movement of the pneumatic muscle drive device according to the movement trajectory of the height of the center of gravity of the human body; the control The actuator is also used to control the output force of the motor drive according to the desired weight reduction. 8.根据权利要求7所述的动态悬吊式体重支持系统，其特征在于，根据人体重心高度运动轨迹控制所述气动肌肉驱动装置的伸缩位置，具体为：8. The dynamic suspension type body weight support system according to claim 7, wherein the telescopic position of the pneumatic muscle drive device is controlled according to the height motion trajectory of the human body's center of gravity, specifically: Δx＝xp+xm Δx=x p +x m xd＝xp＝F(x)-xm x d =x p =F(x)-x m 其中，Δx为绳索的总移动值，xp为气动肌肉驱动装置位置的检测值，xm为电机驱动装置位置的检测值，xd为控制器用于控制所述气动肌肉驱动装置位置的控制目标值，F(x)为所述人体重心高度运动轨迹。Among them, Δx is the total movement value of the rope, x p is the detected value of the position of the pneumatic muscle driving device, x m is the detected value of the position of the motor driving device, and x d is the control target used by the controller to control the position of the pneumatic muscle driving device value, F(x) is the height movement trajectory of the body's center of gravity. 9.根据权利要求7所述的动态悬吊式体重支持系统，其特征在于，根据期望减重力控制所述电机驱动装置的输出力，具体为：9. The dynamic suspension type body weight support system according to claim 7, wherein the output force of the motor drive device is controlled according to the desired weight reduction, specifically: FG±ΔF＝Fp+Fm-fF G ±ΔF=F p +F m -f Fd＝Fm＝FG-Fp+fF d =F m =F G -F p +f 其中，FG为所述期望减重力，ΔF为允许误差，Fp为气动肌肉驱动装置输出力的检测值，Fm为电机驱动装置输出力的检测值，Fd为控制器用于控制所述电机驱动装置输出力的控制目标值，f为系统摩擦力。Among them, F G is the expected weight reduction, ΔF is the allowable error, F p is the detected value of the output force of the pneumatic muscle drive, F m is the detected value of the output force of the motor drive, and F d is the controller used to control the The control target value of the output force of the motor drive device, f is the system friction force.
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