CN104097213A

CN104097213A - Upper limb exoskeleton based on parallel driving joint

Info

Publication number: CN104097213A
Application number: CN201410377134.5A
Authority: CN
Inventors: 朱延河; 陈燕燕; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2014-08-01
Filing date: 2014-08-01
Publication date: 2014-10-15
Anticipated expiration: 2034-08-01
Also published as: CN104097213B

Abstract

The invention discloses an upper limb exoskeleton based on a parallel driving joint, relates to an assist robot, and aims to solve the problems of poor motion accuracy, large size and small motion range of an upper limb exoskeleton robot. The upper limb exoskeleton comprises a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint, the elbow joint and the wrist joint are arranged in sequence; an elbow connecting plate on the elbow joint and a shoulder fixing frame on the shoulder joint are arranged one above the other; a wrist connecting plate on the wrist joint and an elbow fixing frame on the elbow joint are arranged one above the other; a second long connecting slot in the elbow connecting plate is in sliding connection with a first long connecting slot in the shoulder fixing frame; a fourth long connecting slot in the elbow connecting plate is in sliding connection with a third connecting long slot in the elbow fixing frame. The upper limb exoskeleton is applied to assistance of the aged and disabled, medical rehabilitation and the like.

Description

Upper limbs ectoskeleton based on parallel drive joint

Technical field

The present invention relates to a kind of power-assisting robot, be specifically related to a kind of upper limbs ectoskeleton based on parallel drive joint.

Background technology

At present, exoskeleton robot can be born load for human body increases the mobility of human body, and he is very promising in all fields, and for example military affairs on the march, in earthquake rescue, human muscle's rehabilitation is medium, and still, current existing upper limbs ectoskeleton design is to be designed to master with cascaded structure mostly, this structure motion low precision, and each free degree has separate electrical motor to drive, make motor burden large, thereby cause motor size to increase.And existing parallel-connection structure mostly is connecting rod link form, range of movement is also greatly limited.

Summary of the invention

Of the present invention for solving the problem that existing upper limbs exoskeleton robot kinematic accuracy is poor, volume is large, range of movement is little, and a kind of upper limbs ectoskeleton based on parallel drive joint is proposed.

The present invention includes shoulder joint, elbow joint and wrist joint,

Shoulder joint comprises that shoulder inner ring drive motors, shoulder outer ring drive motors, shoulder inner ring decelerator, shoulder outer ring decelerator, shoulder inner ring travelling gear, shoulder outer ring travelling gear, shoulder bracing frame, shoulder inner ring spur gear, shoulder inner ring bevel gear, shoulder outer ring spur gear, shoulder outer ring bevel gear, shoulder drive bracing frame, take on left angular wheel, take on right bevel gear, shoulder Left Drive pinion, Left Drive gear wheel, right transmission gear wheel, take on right drive pinion, left gear case lid, right gear case lid, shoulder fixed mount and shoulder support plate

Shoulder bracing frame is annular, shoulder support plate is arranged on the end of shoulder bracing frame, the vertical setting of axis of shoulder support plate and elbow bracing frame, shoulder inner ring decelerator be arranged in parallel with shoulder outer ring decelerator, and the output shaft of shoulder inner ring decelerator and shoulder outer ring decelerator is all through shoulder support plate, shoulder inner ring drive motors is connected with shoulder inner ring decelerator, shoulder outer ring drive motors is connected with shoulder outer ring decelerator, shoulder inner ring travelling gear is fixed on by key on the output shaft of shoulder inner ring decelerator, shoulder outer ring travelling gear is fixed on by key on the output shaft of shoulder outer ring decelerator, shoulder inner ring spur gear engages with shoulder inner ring travelling gear, shoulder inner ring bevel gear arranges side by side and coaxially with shoulder inner ring spur gear, shoulder inner ring bevel gear is connected by screw composition shoulder inner ring annulus with shoulder inner ring spur gear, shoulder inner ring annulus is sleeved on by needle bearing on the external diameter of shoulder bracing frame, shoulder outer ring spur gear engages with shoulder outer ring travelling gear, shoulder outer ring bevel gear arranges side by side and coaxially with shoulder outer ring spur gear, shoulder outer ring bevel gear is connected by screw composition shoulder outer ring annulus with shoulder outer ring spur gear, shoulder outer ring annulus is sleeved on by needle bearing on the external diameter of shoulder inner ring annulus,

Shoulder drives bracing frame to comprise shoulder support ring, shoulder left gear case and shoulder right gear case, shoulder left gear case is identical with the structure of shoulder right gear case, shoulder left gear case and shoulder right gear case are symmetricly set on the inwall of shoulder support ring taking the axis of shoulder support ring as benchmark, shoulder left gear case through-thickness is provided with shoulder left angular wheel axis hole, the inner side end of shoulder left gear case is provided with Left Drive gear wheel axial trough, and the in the same horizontal line setting parallel with the axis of Left Drive gear wheel axial trough of the axis of shoulder left angular wheel axis hole, the axis of shoulder left angular wheel axis hole and vertical setting of axis of shoulder support ring, shoulder right gear case through-thickness is provided with the right bevel gear axis hole of the shoulder just right with takeing on left angular wheel axis hole, the inner side end of shoulder right gear case is provided with the right transmission gear wheel axial trough just right with Left Drive gear wheel axial trough, shoulder support ring is arranged on by needle bearing in the internal diameter of shoulder bracing frame,

Shoulder left angular wheel engages with shoulder outer ring bevel gear, shoulder left angular wheel is arranged on the outside of shoulder left gear case, and the gear shaft on shoulder left angular wheel is through shoulder left angular wheel axis hole, the gear shaft of shoulder left angular wheel is fixed in shoulder left angular wheel axis hole by ball bearing, shoulder Left Drive pinion is arranged in Left Drive gear wheel axial trough, and shoulder Left Drive pinion is fixed on by key on the gear shaft of shoulder left angular wheel, Left Drive gear wheel engages with shoulder Left Drive pinion, and during gear shaft one end of Left Drive gear wheel is fixed in Left Drive gear wheel axial trough by ball bearing, the gear shaft other end of Left Drive gear wheel is arranged in left gear case lid by ball bearing, left gear case lid is arranged on shoulder left gear case by screw,

Takeing on right bevel gear engages with shoulder inner ring bevel gear, take on right bevel gear and be arranged on the outside of takeing on right gear case, and the gear shaft of takeing on right bevel gear passes the right bevel gear axis hole of shoulder, the gear shaft of takeing on right bevel gear is fixed in the right bevel gear axis hole of shoulder by ball bearing, takeing on right drive pinion is arranged in right transmission gear wheel axial trough, and takeing on right drive pinion is fixed on by key on the gear shaft of the right bevel gear of shoulder, right transmission gear wheel engages with the right drive pinion of shoulder, and gear shaft one end of right transmission gear wheel is fixed in right transmission gear wheel axial trough by ball bearing, the gear shaft other end of right transmission gear wheel is arranged in right gear case lid by ball bearing, right gear case lid is arranged on shoulder right gear case by screw,

Shoulder fixed mount is arranged between shoulder left gear case and shoulder right gear case, the two ends of shoulder fixed mount are fixedly connected with the gear shaft of right transmission gear wheel with corresponding Left Drive gear wheel respectively, shoulder fixed mount be provided with parallel with the axis of takeing on support ring first be connected elongated slot

Elbow joint comprises that elbow fixed mount, elbow connecting plate, elbow support plate, elbow inner ring drive motors, elbow outer ring drive motors, elbow inner ring decelerator, elbow outer ring decelerator, elbow inner ring travelling gear, elbow outer ring travelling gear, elbow bracing frame, elbow inner ring spur gear, elbow inner ring bevel gear, elbow outer ring spur gear, elbow outer ring bevel gear, elbow drive bracing frame, elbow left angular wheel, the right bevel gear of elbow, elbow Left Drive pinion, the right drive pinion of elbow, three left planetary gears of elbow and three right planetary gears of elbow

Elbow bracing frame is annular, elbow support plate is arranged on the end of elbow bracing frame, the vertical setting of axis of elbow support plate and elbow bracing frame, elbow connecting plate is arranged on the outside of elbow support plate, the axis of elbow connecting plate and elbow bracing frame be arranged in parallel, elbow connecting plate is provided with the second connection elongated slot parallel with elbow bracing frame axis, elbow inner ring decelerator and elbow outer ring decelerator be arranged in parallel, and the output shaft of elbow inner ring decelerator and elbow outer ring decelerator is all through elbow support plate, elbow inner ring drive motors is connected with elbow inner ring decelerator, elbow outer ring drive motors is connected with elbow outer ring decelerator, elbow inner ring travelling gear is fixed on by key on the output shaft of elbow inner ring decelerator, elbow outer ring travelling gear is fixed on by key on the output shaft of elbow outer ring decelerator, elbow inner ring spur gear engages with elbow inner ring travelling gear, elbow inner ring bevel gear and elbow inner ring spur gear arrange side by side and coaxially, elbow inner ring bevel gear and elbow inner ring spur gear are connected by screw composition elbow inner ring annulus, elbow inner ring annulus is sleeved on by needle bearing on the external diameter of elbow bracing frame, elbow outer ring spur gear engages with elbow outer ring travelling gear, elbow outer ring bevel gear and elbow outer ring spur gear arrange side by side and coaxially, elbow outer ring bevel gear and elbow outer ring spur gear are connected by screw composition elbow outer ring annulus, elbow outer ring annulus is sleeved on by needle bearing on the external diameter of elbow inner ring annulus,

Elbow drives bracing frame to comprise elbow support ring, elbow left gear case and elbow right gear case, elbow left gear case is identical with the structure of elbow right gear case, elbow left gear case and elbow right gear case are symmetricly set on a side end face of elbow support ring taking the axis of elbow support ring as benchmark, elbow left gear case through-thickness is provided with elbow left angular wheel axis hole, the inner side end of elbow left gear case is provided with the elbow left lateral star gear grooved coaxial with elbow left angular wheel axis hole, elbow left lateral star gear grooved is provided with the left inside gear of elbow along circumferential inner wall, elbow right gear case through-thickness is provided with the elbow right bevel gear axis hole just right with elbow left angular wheel axis hole, the inner side end of elbow right gear case is provided with the elbow right lateral star gear grooved just right with elbow left lateral star gear grooved, elbow right lateral star gear grooved is provided with the right inside gear of elbow along circumferential inner wall, the plane at the axis place of the axis of elbow left angular wheel axis hole and the right bevel gear axis hole of elbow is perpendicular with the plane at the axis of shoulder left angular wheel axis hole and the axis place of the right bevel gear axis hole of shoulder, elbow support ring is arranged on by needle bearing in the internal diameter of elbow bracing frame,

Elbow left angular wheel engages with elbow outer ring bevel gear, elbow left angular wheel is arranged on the outside of elbow left gear case, and the gear shaft on elbow left angular wheel is through elbow left angular wheel axis hole, the gear shaft of elbow left angular wheel is fixed in elbow left angular wheel axis hole by ball bearing, elbow Left Drive pinion is fixed on by key on the gear shaft of elbow left angular wheel, three left planetary gears of elbow are arranged between elbow Left Drive pinion and the left inside gear of elbow, the left planetary gear of each elbow all engages with elbow Left Drive pinion and the left inside gear of elbow

The right bevel gear of elbow engages with elbow inner ring bevel gear, the right bevel gear of elbow is arranged on the outside of elbow right gear case, and the gear shaft on the right bevel gear of elbow is through the right bevel gear axis hole of elbow, the gear shaft of the right bevel gear of elbow is fixed in the right bevel gear axis hole of elbow by ball bearing, the right drive pinion of elbow is fixed on by key on the gear shaft of the right bevel gear of elbow, three right planetary gears of elbow are arranged between the right drive pinion of elbow and the right inside gear of elbow, the right planetary gear of each elbow all engages with the right drive pinion of elbow and the right inside gear of elbow

Elbow fixed mount is arranged between elbow left gear case and elbow right gear case, the two ends of elbow fixed mount are fixedly connected with the gear shaft of the right drive pinion of elbow with corresponding elbow Left Drive pinion respectively, elbow fixed mount be provided with parallel with the axis of elbow support ring the 3rd be connected elongated slot

Wrist joint comprises that wrist connecting plate, wrist support plate, wrist inner ring drive motors, wrist outer ring drive motors, wrist inner ring decelerator, wrist outer ring decelerator, wrist inner ring travelling gear, wrist outer ring travelling gear, wrist bracing frame, wrist inner ring spur gear, wrist inner ring bevel gear, wrist outer ring spur gear, wrist outer ring bevel gear, wrist drive bracing frame, wrist left angular wheel, the right bevel gear of wrist, wrist Left Drive pinion, the right drive pinion of wrist, wrist joint handle, three left planetary gears of wrist and three right planetary gears of wrist

Wrist bracing frame is annular, wrist support plate is arranged on the end of wrist bracing frame, the vertical setting of axis of wrist support plate and wrist bracing frame, wrist connecting plate is arranged on the outside of wrist support plate, the axis of wrist connecting plate and wrist bracing frame be arranged in parallel, wrist connecting plate is provided with the four connection elongated slot parallel with wrist bracing frame axis, wrist inner ring decelerator and wrist outer ring decelerator be arranged in parallel, and the output shaft of wrist inner ring decelerator and wrist outer ring decelerator is all through wrist support plate, wrist inner ring drive motors is connected with wrist inner ring decelerator, wrist outer ring drive motors is connected with wrist outer ring decelerator, wrist inner ring travelling gear is fixed on by key on the output shaft of wrist inner ring decelerator, wrist outer ring travelling gear is fixed on by key on the output shaft of wrist outer ring decelerator, wrist inner ring spur gear engages with wrist inner ring travelling gear, wrist inner ring bevel gear and wrist inner ring spur gear arrange side by side and coaxially, wrist inner ring bevel gear and wrist inner ring spur gear are connected by screw composition wrist inner ring annulus, wrist inner ring annulus is sleeved on by needle bearing on the external diameter of wrist bracing frame, wrist outer ring spur gear engages with wrist outer ring travelling gear, wrist outer ring bevel gear and wrist outer ring spur gear arrange side by side and coaxially, wrist outer ring bevel gear and wrist outer ring spur gear are connected by screw composition wrist outer ring annulus, wrist outer ring annulus is sleeved on by needle bearing on the external diameter of wrist inner ring annulus,

Wrist drives bracing frame to comprise wrist support ring, wrist left gear case and wrist right gear case, wrist left gear case is identical with the structure of wrist right gear case, wrist left gear case and wrist right gear case are symmetricly set on a side end face of wrist support ring taking the axis of wrist support ring as benchmark, wrist left gear case through-thickness is provided with wrist left angular wheel axis hole, the inner side end of wrist left gear case is provided with the wrist left lateral star gear grooved coaxial with wrist left angular wheel axis hole, wrist left lateral star gear grooved is provided with the left inside gear of wrist along circumferential inner wall, wrist right gear case through-thickness is provided with the wrist right bevel gear axis hole just right with wrist left angular wheel axis hole, the inner side end of wrist right gear case is provided with the wrist right lateral star gear grooved just right with wrist left lateral star gear grooved, wrist right lateral star gear grooved is provided with the right inside gear of wrist along circumferential inner wall, the plane at the axis place of the axis of the plane at the axis place of the axis of wrist left angular wheel axis hole and the right bevel gear axis hole of wrist and elbow left angular wheel axis hole and the right bevel gear axis hole of elbow is perpendicular, wrist support ring is arranged on by needle bearing in the internal diameter of wrist bracing frame,

Wrist left angular wheel engages with wrist outer ring bevel gear, wrist left angular wheel is arranged on the outside of wrist left gear case, and the gear shaft on wrist left angular wheel is through wrist left angular wheel axis hole, the gear shaft of wrist left angular wheel is fixed in wrist left angular wheel axis hole by ball bearing, wrist Left Drive pinion is fixed on by key on the gear shaft of wrist left angular wheel, three left planetary gears of wrist are arranged between wrist Left Drive pinion and the left inside gear of wrist, the left planetary gear of each wrist all engages with wrist Left Drive pinion and the left inside gear of wrist

The right bevel gear of wrist engages with wrist inner ring bevel gear, the right bevel gear of wrist is arranged on the outside of wrist right gear case, and the gear shaft on the right bevel gear of wrist is through the right bevel gear axis hole of wrist, the gear shaft of the right bevel gear of wrist is fixed in the right bevel gear axis hole of wrist by ball bearing, the right drive pinion of wrist is fixed on by key on the gear shaft of the right bevel gear of wrist, three right planetary gears of wrist are arranged between the right drive pinion of wrist and the right inside gear of wrist, the right planetary gear of each wrist all engages with the right drive pinion of wrist and the right inside gear of wrist

Wrist joint handle is arranged between wrist left gear case and wrist right gear case, and the two ends of wrist joint handle are fixedly connected with the gear shaft of the right drive pinion of wrist with corresponding wrist Left Drive pinion respectively,

Shoulder joint, elbow joint and wrist joint set gradually, shoulder fixed mount in elbow connecting plate and shoulder joint on elbow joint is setting up and down, elbow fixed mount on wrist connecting plate and elbow joint on wrist joint is setting up and down, the second connection elongated slot and first is connected elongated slot and is slidably connected, and the 4th connection elongated slot and the 3rd is connected elongated slot and is slidably connected.

The present invention compared with prior art has following beneficial effect:

One, because shoulder joint of the present invention, elbow joint and wrist joint are individual components, each parts have adopted the mode of parallel drive, and the kind of drive all adopts gear drive, increase accuracy and the range of movement of motion, kinematic accuracy is more than doubled compared to existing technology.

Two, between shoulder joint of the present invention and elbow joint by first be connected elongated slot and second connect elongated slot be slidably connected, between elbow joint and wrist joint by the 3rd be connected elongated slot and the 4th connect elongated slot be slidably connected, and each elongated slot can carry out length adjustment according to the size of human body, serviceability of the present invention is improved.

Three, the present invention has two motors to bear in the time of each free degree motion, has shared the burden of motor, and motor parallel setting, thereby reduces the volume of motor, has increased compactedness.

Brief description of the drawings

Fig. 1 is overall structure stereogram of the present invention;

Fig. 2 is the structural perspective of shoulder joint A;

Fig. 3 is the position relationship stereogram of shoulder inner ring spur gear 8, shoulder inner ring bevel gear 9 and shoulder bracing frame 7;

Fig. 4 is the position relationship stereogram of shoulder outer ring spur gear 10, shoulder outer ring bevel gear 11, shoulder driving bracing frame 12 and shoulder bracing frame 7;

Fig. 5 is the structural perspective that shoulder drives bracing frame 12;

Fig. 6 is the structural perspective (contrary with the view direction of Fig. 5) that shoulder drives bracing frame 12;

Fig. 7 is the position relationship stereogram of shoulder left angular wheel 13, shoulder Left Drive pinion 15, Left Drive gear wheel 16 and left gear case 12-2;

Fig. 8 is the right bevel gear 14 of shoulder, take on the position relationship stereogram of right drive pinion 18, right transmission gear wheel 17 and right gear case 12-3;

Fig. 9 is the structural perspective of elbow joint B;

Figure 10 is the position relationship stereogram of elbow inner ring drive motors 31, elbow outer ring drive motors 32, elbow inner ring decelerator 33, elbow outer ring decelerator 34, elbow inner ring travelling gear 35, elbow outer ring travelling gear 36, elbow inner ring spur gear 38, elbow inner ring bevel gear 39 and elbow bracing frame 37;

Figure 11 is the position relationship stereogram of elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow driving bracing frame 42, elbow left angular wheel 43, the right bevel gear 44 of elbow, elbow Left Drive pinion 45 and three left planetary gears 46 of elbow;

Figure 12 is the position relationship stereogram (contrary with the view direction of Figure 11) of elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow driving bracing frame 42, elbow left angular wheel 43, the right bevel gear 44 of elbow, the right drive pinion 48 of elbow and three right planetary gears 47 of elbow;

Figure 13 is the structural perspective of wrist joint C;

Figure 14 is the position relationship stereogram that wrist connecting plate 49, wrist support plate 50, wrist inner ring travelling gear 55, wrist outer ring travelling gear 56, wrist outer ring spur gear 60, wrist outer ring bevel gear 61 and wrist drive bracing frame 62;

Figure 15 is wrist connecting plate 49, wrist support plate 50, wrist inner ring travelling gear 55, wrist outer ring travelling gear 56, wrist bracing frame 57 are connected elongated slot 49-1 position relationship stereogram with the 3rd;

Figure 16 is the position relationship stereogram of wrist inner ring spur gear 58, wrist inner ring bevel gear 59 and wrist bracing frame 57;

Figure 17 is the position relationship stereogram of wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist driving bracing frame 62, wrist left angular wheel 63, the right bevel gear 64 of wrist, wrist Left Drive pinion 65 and three left planetary gears 66 of wrist;

Figure 18 is the position relationship stereogram of wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist driving bracing frame 62, wrist left angular wheel 63, the right bevel gear 64 of wrist, the right drive pinion 68 of wrist and three right planetary gears 67 of wrist.

Detailed description of the invention

Detailed description of the invention one: in conjunction with Fig. 1～Figure 18, present embodiment is described, present embodiment comprises shoulder joint A, elbow joint B and wrist joint C,

Shoulder joint A comprises that shoulder inner ring drive motors 1, shoulder outer ring drive motors 2, shoulder inner ring decelerator 3, shoulder outer ring decelerator 4, shoulder inner ring travelling gear 5, shoulder outer ring travelling gear 6, shoulder bracing frame 7, shoulder inner ring spur gear 8, shoulder inner ring bevel gear 9, shoulder outer ring spur gear 10, shoulder outer ring bevel gear 11, shoulder drive bracing frame 12, shoulder left angular wheel 13, take on right bevel gear 14, shoulder Left Drive pinion 15, Left Drive gear wheel 16, right transmission gear wheel 17, take on right drive pinion 18, left gear case lid 19, right gear case lid 20, shoulder fixed mount 21 and shoulder support plate 22

Shoulder bracing frame 7 is annular, shoulder support plate 22 is arranged on the end of shoulder bracing frame 7, the vertical setting of axis of shoulder support plate 22 and elbow bracing frame 37, shoulder inner ring decelerator 3 be arranged in parallel with shoulder outer ring decelerator 4, and the output shaft of shoulder inner ring decelerator 3 and shoulder outer ring decelerator 4 is all through shoulder support plate 22, shoulder inner ring decelerator 3 and shoulder outer ring decelerator 4 are all fixed on shoulder support plate 22, shoulder inner ring drive motors 1 is connected with shoulder inner ring decelerator 3, shoulder outer ring drive motors 2 is connected with shoulder outer ring decelerator 4, shoulder inner ring travelling gear 5 is fixed on by key on the output shaft of shoulder inner ring decelerator 3, shoulder outer ring travelling gear 6 is fixed on by key on the output shaft of shoulder outer ring decelerator 4, see Fig. 3, shoulder inner ring spur gear 8 engages with shoulder inner ring travelling gear 5, shoulder inner ring bevel gear 9 arranges side by side and coaxially with shoulder inner ring spur gear 8, shoulder inner ring bevel gear 9 is connected by screw composition shoulder inner ring annulus with shoulder inner ring spur gear 8, shoulder inner ring annulus is sleeved on by needle bearing on the external diameter of shoulder bracing frame 7, shoulder inner ring spur gear 8 and shoulder inner ring bevel gear 9 can with shoulder bracing frame 7 relative rotation motion of driving system, can directly drive shoulder inner ring spur gear 8 and shoulder inner ring bevel gear 9 to rotate by the rotation of shoulder inner ring drive motors 1, see Fig. 3, shoulder outer ring spur gear 10 engages with shoulder outer ring travelling gear 6, shoulder outer ring bevel gear 11 arranges side by side and coaxially with shoulder outer ring spur gear 10, shoulder outer ring bevel gear 11 is connected by screw composition shoulder outer ring annulus with shoulder outer ring spur gear 10, shoulder outer ring annulus is sleeved on by needle bearing on the external diameter of shoulder inner ring annulus, shoulder outer ring annulus, shoulder inner ring annulus and shoulder bracing frame 7 can do independently rotational motion, can directly drive the rotation of shoulder outer ring spur gear 10 and shoulder outer ring bevel gear 11 by the rotation of shoulder outer ring drive motors 2, see Fig. 4,

Shoulder drives bracing frame 12 to comprise shoulder support ring 12-1, shoulder left gear case 12-2 and shoulder right gear case 12-3, shoulder left gear case 12-2 is identical with the structure of shoulder right gear case 12-3, shoulder left gear case 12-2 and shoulder right gear case 12-3 are symmetricly set on the inwall of shoulder support ring 12-1 taking the axis of shoulder support ring 12-1 as benchmark, shoulder left gear case 12-2 through-thickness is provided with shoulder left angular wheel axis hole 12-4, the inner side end of shoulder left gear case 12-2 is provided with Left Drive gear wheel axial trough 12-5, and the in the same horizontal line setting parallel with the axis of Left Drive gear wheel axial trough 12-5 of the axis of shoulder left angular wheel axis hole 12-4, the axis of shoulder left angular wheel axis hole 12-4 and vertical setting of axis of shoulder support ring 12-1, shoulder right gear case 12-3 through-thickness is provided with the shoulder right bevel gear axis hole 12-6 just right with takeing on left angular wheel axis hole 12-4, the inner side end of shoulder right gear case 12-3 is provided with the right transmission gear wheel axial trough 12-7 just right with Left Drive gear wheel axial trough 12-5, shoulder support ring 12-1 is arranged on by needle bearing in the internal diameter of shoulder bracing frame 7, shoulder drives bracing frame 12 can do independently rotational motion, see Fig. 4, Fig. 5 and Fig. 6,

Shoulder left angular wheel 13 engages with shoulder outer ring bevel gear 11, shoulder left angular wheel 13 is arranged on the outside of shoulder left gear case 12-2, and the gear shaft on shoulder left angular wheel 13 is through shoulder left angular wheel axis hole 12-4, the gear shaft of shoulder left angular wheel 13 is fixed in shoulder left angular wheel axis hole 12-4 by ball bearing, shoulder Left Drive pinion 15 is arranged in Left Drive gear wheel axial trough 12-5, and shoulder Left Drive pinion 15 is fixed on by key on the gear shaft of shoulder left angular wheel 13, Left Drive gear wheel 16 engages with shoulder Left Drive pinion 15, and during gear shaft one end of Left Drive gear wheel 16 is fixed in Left Drive gear wheel axial trough 12-5 by ball bearing, the gear shaft other end of Left Drive gear wheel 16 is arranged in left gear case lid 19 by ball bearing, left gear case lid 19 is arranged on shoulder left gear case 12-2 by screw, see Fig. 6 and Fig. 7,

Takeing on right bevel gear 14 engages with shoulder inner ring bevel gear 9, take on right bevel gear 14 and be arranged on the outside of takeing on right gear case 12-3, and the gear shaft of takeing on right bevel gear 14 passes the right bevel gear axis hole 12-6 of shoulder, the gear shaft of takeing on right bevel gear 14 is fixed in the right bevel gear axis hole 12-6 of shoulder by ball bearing, takeing on right drive pinion 18 is arranged in right transmission gear wheel axial trough 12-7, and takeing on right drive pinion 18 is fixed on by key on the gear shaft of the right bevel gear 14 of shoulder, right transmission gear wheel 17 engages with the right drive pinion 18 of shoulder, and gear shaft one end of right transmission gear wheel 17 is fixed in right transmission gear wheel axial trough 12-7 by ball bearing, the gear shaft other end of right transmission gear wheel 17 is arranged in right gear case lid 20 by ball bearing, right gear case lid 20 is arranged on shoulder right gear case 12-3 by screw, see Fig. 2 and Fig. 7,

Shoulder fixed mount 21 is arranged between shoulder left gear case 12-2 and shoulder right gear case 12-3, the two ends of shoulder fixed mount 21 are fixedly connected with the gear shaft of right transmission gear wheel 17 with corresponding Left Drive gear wheel 16 respectively, shoulder fixed mount 21 be provided with parallel with the axis of takeing on support ring 12-1 first be connected elongated slot 21-1, shoulder support plate 22 is fan-shaped, and fan-shaped internal diameter is identical with the internal diameter of shoulder bracing frame 7

Elbow joint B comprises that elbow fixed mount 28, elbow connecting plate 29, elbow support plate 30, elbow inner ring drive motors 31, elbow outer ring drive motors 32, elbow inner ring decelerator 33, elbow outer ring decelerator 34, elbow inner ring travelling gear 35, elbow outer ring travelling gear 36, elbow bracing frame 37, elbow inner ring spur gear 38, elbow inner ring bevel gear 39, elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive the right drive pinion of bracing frame 42, elbow left angular wheel 43, the right bevel gear 44 of elbow, elbow Left Drive pinion 45, elbow 48, three the left planetary gears 46 of elbow and three right planetary gears 47 of elbow

Elbow bracing frame 37 is annular, elbow support plate 30 is arranged on the end of elbow bracing frame 37, the vertical setting of axis of elbow support plate 30 and elbow bracing frame 37, elbow connecting plate 29 is arranged on the outside of elbow support plate 30, elbow connecting plate 29 be arranged in parallel with the axis of elbow bracing frame 37, elbow connecting plate 29 is provided with the second connection elongated slot 29-1 parallel with elbow bracing frame 37 axis, elbow inner ring decelerator 33 be arranged in parallel with elbow outer ring decelerator 34, and the output shaft of elbow inner ring decelerator 33 and elbow outer ring decelerator 34 is all through elbow support plate 30, elbow inner ring drive motors 31 is connected with elbow inner ring decelerator 33, elbow outer ring drive motors 32 is connected with elbow outer ring decelerator 34, elbow inner ring travelling gear 35 is fixed on by key on the output shaft of elbow inner ring decelerator 33, elbow outer ring travelling gear 36 is fixed on by key on the output shaft of elbow outer ring decelerator 34, elbow inner ring spur gear 38 engages with elbow inner ring travelling gear 35, elbow inner ring bevel gear 39 arranges side by side and coaxially with elbow inner ring spur gear 38, elbow inner ring bevel gear 39 is connected by screw composition elbow inner ring annulus with elbow inner ring spur gear 38, elbow inner ring annulus is sleeved on by needle bearing on the external diameter of elbow bracing frame 37, elbow inner ring spur gear 38 and elbow inner ring bevel gear 39 can with elbow bracing frame 37 relative rotation motion of driving system, can directly drive elbow inner ring spur gear 38 and elbow inner ring bevel gear 39 to rotate by the rotation of elbow inner ring drive motors 31, see Figure 10, elbow outer ring spur gear 40 engages with elbow outer ring travelling gear 36, elbow outer ring bevel gear 41 arranges side by side and coaxially with elbow outer ring spur gear 40, elbow outer ring bevel gear 41 is connected by screw composition elbow outer ring annulus with elbow outer ring spur gear 40, elbow outer ring annulus is sleeved on by needle bearing on the external diameter of elbow inner ring annulus, elbow outer ring annulus, elbow inner ring annulus and elbow bracing frame 37 can do independently rotational motion, can directly drive the rotation of elbow outer ring spur gear 40 and elbow outer ring bevel gear 41 by the rotation of elbow outer ring drive motors 32, see Fig. 9,

Elbow drives bracing frame 42 to comprise elbow support ring 42-1, elbow left gear case 42-2 and elbow right gear case 42-3, elbow left gear case 42-2 is identical with the structure of elbow right gear case 42-3, elbow left gear case 42-2 and elbow right gear case 42-3 are symmetricly set on a side end face of elbow support ring 42-1 taking the axis of elbow support ring 42-1 as benchmark, elbow left gear case 42-2 through-thickness is provided with elbow left angular wheel axis hole 42-4, the inner side end of elbow left gear case 42-2 is provided with the elbow left lateral star gear grooved 42-5 coaxial with elbow left angular wheel axis hole 42-4, elbow left lateral star gear grooved 42-5 is provided with the left inside gear 42-6 of elbow along circumferential inner wall, elbow right gear case 42-3 through-thickness is provided with the elbow right bevel gear axis hole 42-7 just right with elbow left angular wheel axis hole 42-4, the inner side end of elbow right gear case 42-3 is provided with the elbow right lateral star gear grooved 42-8 just right with elbow left lateral star gear grooved 42-5, elbow right lateral star gear grooved 42-8 is provided with the right inside gear 42-9 of elbow along circumferential inner wall, the plane at the axis place of the axis of elbow left angular wheel axis hole 42-4 and the right bevel gear axis hole of elbow 42-7 is perpendicular with the plane at the axis of shoulder left angular wheel axis hole 12-4 and the axis place of the right bevel gear axis hole 12-6 of shoulder, elbow support ring 42-1 is arranged on by needle bearing in the internal diameter of elbow bracing frame 37, elbow drives bracing frame 42 can do independently rotational motion, see Figure 11 and Figure 12,

Elbow left angular wheel 43 engages with elbow outer ring bevel gear 41, elbow left angular wheel 43 is arranged on the outside of elbow left gear case 42-2, and the gear shaft on elbow left angular wheel 43 is through elbow left angular wheel axis hole 42-4, the gear shaft of elbow left angular wheel 43 is fixed in elbow left angular wheel axis hole 42-4 by ball bearing, elbow Left Drive pinion 45 is fixed on by key on the gear shaft of elbow left angular wheel 43, three left planetary gears 46 of elbow are arranged between elbow Left Drive pinion 45 and the left inside gear 42-6 of elbow, the left planetary gear 46 of each elbow all engages with elbow Left Drive pinion 45 and the left inside gear 42-6 of elbow, the left planetary gear 46 of each elbow is arranged on elbow left gear case 42-2 by ball bearing, elbow support plate 30 is fan-shaped, and fan-shaped internal diameter is identical with the internal diameter of elbow bracing frame 37, see Fig. 9, Figure 11 and Figure 12,

The right bevel gear 44 of elbow engages with elbow inner ring bevel gear 39, the right bevel gear 44 of elbow is arranged on the outside of elbow right gear case 42-3, and the gear shaft on the right bevel gear 44 of elbow is through the right bevel gear axis hole of elbow 42-7, the gear shaft of the right bevel gear 44 of elbow is fixed in the right bevel gear axis hole of elbow 42-7 by ball bearing, the right drive pinion 48 of elbow is fixed on by key on the gear shaft of the right bevel gear 44 of elbow, three right planetary gears 47 of elbow are arranged between the right drive pinion 48 of elbow and the right inside gear 42-9 of elbow, the right planetary gear 47 of each elbow all engages with the right drive pinion 48 of elbow and the right inside gear 42-9 of elbow, the right planetary gear 47 of each elbow is arranged on elbow right gear case 42-3 by ball bearing, see Fig. 9, Figure 11 and Figure 12,

Elbow fixed mount 28 is arranged between elbow left gear case 42-2 and elbow right gear case 42-3, the two ends of elbow fixed mount 28 are fixedly connected with the gear shaft of the right drive pinion 48 of elbow with corresponding elbow Left Drive pinion 45 respectively, elbow fixed mount 28 be provided with parallel with the axis of elbow support ring 42-1 the 3rd be connected elongated slot 28-1, see Fig. 9, Figure 11 and Figure 12

Wrist joint C comprises that wrist connecting plate 49, wrist support plate 50, wrist inner ring drive motors 51, wrist outer ring drive motors 52, wrist inner ring decelerator 53, wrist outer ring decelerator 54, wrist inner ring travelling gear 55, wrist outer ring travelling gear 56, wrist bracing frame 57, wrist inner ring spur gear 58, wrist inner ring bevel gear 59, wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist drive bracing frame 62, wrist left angular wheel 63, the right bevel gear 64 of wrist, wrist Left Drive pinion 65, the right drive pinion 68 of wrist, wrist joint handle 69, three the left planetary gears 66 of wrist and three right planetary gears 67 of wrist

Wrist bracing frame 57 is annular, wrist support plate 50 is arranged on the end of wrist bracing frame 57, the vertical setting of axis of wrist support plate 50 and wrist bracing frame 57, wrist connecting plate 49 is arranged on the outside of wrist support plate 50, wrist connecting plate 49 be arranged in parallel with the axis of wrist bracing frame 57, wrist connecting plate 49 is provided with the four connection elongated slot 49-1 parallel with wrist bracing frame 57 axis, wrist inner ring decelerator 53 be arranged in parallel with wrist outer ring decelerator 54, and the output shaft of wrist inner ring decelerator 53 and wrist outer ring decelerator 54 is all through wrist support plate 50, wrist inner ring drive motors 51 is connected with wrist inner ring decelerator 53, wrist outer ring drive motors 52 is connected with wrist outer ring decelerator 54, wrist inner ring travelling gear 55 is fixed on by key on the output shaft of wrist inner ring decelerator 53, wrist outer ring travelling gear 56 is fixed on by key on the output shaft of wrist outer ring decelerator 54, wrist inner ring spur gear 58 engages with wrist inner ring travelling gear 55, wrist inner ring bevel gear 59 arranges side by side and coaxially with wrist inner ring spur gear 58, see Figure 16, wrist inner ring bevel gear 59 is connected by screw composition wrist inner ring annulus with wrist inner ring spur gear 58, wrist inner ring annulus is sleeved on by needle bearing on the external diameter of wrist bracing frame 57, wrist inner ring spur gear 58 and wrist inner ring bevel gear 59 can with wrist bracing frame 57 relative rotation motion of driving system, can directly drive wrist inner ring spur gear 58 and wrist inner ring bevel gear 59 to rotate by the rotation of wrist inner ring drive motors 51, see Figure 16, wrist outer ring spur gear 60 engages with wrist outer ring travelling gear 56, wrist outer ring bevel gear 61 arranges side by side and coaxially with wrist outer ring spur gear 60, wrist outer ring bevel gear 61 is connected by screw composition wrist outer ring annulus with wrist outer ring spur gear 60, wrist outer ring annulus is sleeved on by needle bearing on the external diameter of wrist inner ring annulus, wrist outer ring annulus, wrist inner ring annulus and wrist bracing frame 57 can do independently rotational motion, can directly drive the rotation of wrist outer ring spur gear 60 and wrist outer ring bevel gear 61 by the rotation of wrist outer ring drive motors 52, see Figure 14, wrist support plate 50 is fan-shaped, and fan-shaped internal diameter is identical with the internal diameter of wrist bracing frame 57,

Wrist drives bracing frame 62 to comprise wrist support ring 62-1, wrist left gear case 62-2 and wrist right gear case 62-3, wrist left gear case 62-2 is identical with the structure of wrist right gear case 62-3, wrist left gear case 62-2 and wrist right gear case 62-3 are symmetricly set on a side end face of wrist support ring 62-1 taking the axis of wrist support ring 62-1 as benchmark, wrist left gear case 62-2 through-thickness is provided with wrist left angular wheel axis hole 62-4, the inner side end of wrist left gear case 62-2 is provided with the wrist left lateral star gear grooved 62-5 coaxial with wrist left angular wheel axis hole 62-4, wrist left lateral star gear grooved 62-5 is provided with the left inside gear 62-6 of wrist along circumferential inner wall, wrist right gear case 62-3 through-thickness is provided with the wrist right bevel gear axis hole 62-7 just right with wrist left angular wheel axis hole 62-4, the inner side end of wrist right gear case 62-3 is provided with the wrist right lateral star gear grooved 62-8 just right with wrist left lateral star gear grooved 62-5, wrist right lateral star gear grooved 62-8 is provided with the right inside gear 62-9 of wrist along circumferential inner wall, the plane perpendicular (being the plane at the axis of wrist left angular wheel axis hole 62-4 and the axis place of the right bevel gear axis hole of wrist 62-7 and the plane parallel at the axis of shoulder left angular wheel axis hole 12-4 and the axis place of the right bevel gear axis hole 12-6 of shoulder) at the axis place of the axis of the plane at the axis place of the axis of wrist left angular wheel axis hole 62-4 and the right bevel gear axis hole of wrist 62-7 and elbow left angular wheel axis hole 42-4 and the right bevel gear axis hole of elbow 42-7, wrist support ring 62-1 is arranged on by needle bearing in the internal diameter of wrist bracing frame 57, wrist drives bracing frame 62 can do independently rotational motion, see Figure 17 and Figure 18

Wrist left angular wheel 63 engages with wrist outer ring bevel gear 61, wrist left angular wheel 63 is arranged on the outside of wrist left gear case 62-2, and the gear shaft on wrist left angular wheel 63 is through wrist left angular wheel axis hole 62-4, the gear shaft of wrist left angular wheel 63 is fixed in wrist left angular wheel axis hole 62-4 by ball bearing, wrist Left Drive pinion 65 is fixed on by key on the gear shaft of wrist left angular wheel 63, three left planetary gears 66 of wrist are arranged between wrist Left Drive pinion 65 and the left inside gear 62-6 of wrist, the left planetary gear 66 of each wrist all engages with wrist Left Drive pinion 65 and the left inside gear 62-6 of wrist, the left planetary gear 66 of each wrist is arranged on wrist left gear case 62-2 by ball bearing, see Fig. 9, Figure 11 and Figure 12,

The right bevel gear 64 of wrist engages with wrist inner ring bevel gear 59, the right bevel gear 64 of wrist is arranged on the outside of wrist right gear case 62-3, and the gear shaft on the right bevel gear 64 of wrist is through the right bevel gear axis hole of wrist 62-7, the gear shaft of the right bevel gear 64 of wrist is fixed in the right bevel gear axis hole of wrist 62-7 by ball bearing, the right drive pinion 68 of wrist is fixed on by key on the gear shaft of the right bevel gear 64 of wrist, three right planetary gears 67 of wrist are arranged between the right drive pinion 68 of wrist and the right inside gear 62-9 of wrist, the right planetary gear 67 of each wrist all engages with the right drive pinion 68 of wrist and the right inside gear 62-9 of wrist, the right planetary gear 67 of each wrist is arranged on wrist right gear case 62-3 by ball bearing, see Figure 13, Figure 14, Figure 17 and Figure 18,

Wrist joint handle 69 is arranged between wrist left gear case 62-2 and wrist right gear case 62-3, and the two ends of wrist joint handle 69 are fixedly connected with the gear shaft of the right drive pinion 68 of wrist with corresponding wrist Left Drive pinion 65 respectively, see Figure 13,

Shoulder joint A, elbow joint B and wrist joint C set gradually, elbow connecting plate 29 on elbow joint B is setting up and down with the shoulder fixed mount 21 on shoulder joint A, wrist connecting plate 49 on wrist joint C is setting up and down with the elbow fixed mount 28 on elbow joint B, the second connection elongated slot 29-1 is connected elongated slot 21-1 with first and is slidably connected by Connection Element, and the 4th connection elongated slot 49-1 is connected elongated slot 28-1 with the 3rd and is slidably connected by Connection Element.The second connection elongated slot 29-1 is connected elongated slot 21-1 with first can be according to the adjusted size length of human body.The 4th connection elongated slot 49-1 is connected elongated slot 28-1 with the 3rd can be according to the adjusted size length of human body.The axis of movement of elbow joint B is mutually vertical with the axis of movement of shoulder joint A.Wrist joint handle 69 pivot centers on wrist joint C and the axis of movement of elbow joint B are perpendicular.

Detailed description of the invention two: present embodiment is described in conjunction with Fig. 3, Fig. 9, Figure 10 and Figure 15, the shoulder support plate 22 of present embodiment is made one with shoulder bracing frame 7, see Fig. 3, elbow support plate 30, elbow connecting plate 29 are made one with elbow bracing frame 37, see Fig. 9 and Figure 10, wrist support plate 50, wrist connecting plate 49 are made one with wrist bracing frame 57, see Figure 15.Be designed to like this increase the stability of structure.Other composition and annexation are identical with detailed description of the invention one.

Detailed description of the invention three: present embodiment is described in conjunction with Fig. 3, Figure 10 and Figure 16, the external diameter of the shoulder inner ring bevel gear 9 of present embodiment is identical with the external diameter of shoulder inner ring spur gear 8, see Fig. 3, the external diameter of elbow inner ring bevel gear 39 is identical with the external diameter of elbow inner ring spur gear 38, see Figure 10, the external diameter of wrist inner ring bevel gear 59 is identical with the external diameter of wrist inner ring spur gear 58, sees Figure 16.Other composition and annexation are identical with detailed description of the invention one or two.

Detailed description of the invention four: present embodiment is described in conjunction with Fig. 4, Fig. 9 and Figure 14, the external diameter of the shoulder outer ring bevel gear 11 of present embodiment is identical with the external diameter of shoulder outer ring spur gear 10, see Fig. 4, the external diameter of elbow outer ring bevel gear 41 is identical with the external diameter of elbow outer ring spur gear 40, see Fig. 9, the external diameter of wrist outer ring bevel gear 61 is identical with the external diameter of wrist outer ring spur gear 60, sees Figure 14.Other composition and annexation are identical with detailed description of the invention three.

Detailed description of the invention five: in conjunction with Fig. 5, present embodiment is described, the axis of the shoulder left angular wheel axis hole 12-4 of present embodiment and the axis of Left Drive gear wheel axial trough 12-5 are in the same horizontal line.Other composition and annexation are identical with detailed description of the invention one, two or four.

Detailed description of the invention six: in conjunction with Fig. 6, present embodiment is described, the axis of the right bevel gear axis hole of the shoulder 12-6 of present embodiment and the axis of right transmission gear wheel axial trough 12-7 are in the same horizontal line.Other composition and annexation are identical with detailed description of the invention five.

Detailed description of the invention seven: in conjunction with Figure 11 and Figure 12, present embodiment is described, the left planetary gear 46 of three elbows of present embodiment is along same circumference uniform distribution setting, and three right planetary gears 47 of elbow are along same circumference uniform distribution setting.Other composition and annexation are identical with detailed description of the invention six.

Detailed description of the invention eight: in conjunction with Figure 17 and Figure 18, present embodiment is described, the left planetary gear 66 of three wrists of present embodiment is along same circumference uniform distribution setting, and three right planetary gears 67 of wrist are along same circumference uniform distribution setting.Other composition and annexation are identical with detailed description of the invention seven.

Detailed description of the invention nine: present embodiment is described in conjunction with Fig. 5, Fig. 6, Figure 11, Figure 12, Figure 17 and Figure 18, shoulder left gear case 12-2, the shoulder right gear case 12-3 of present embodiment and shoulder support ring 12-1 make one, see Fig. 5 and Fig. 6, elbow left gear case 42-2, elbow right gear case 42-3 and elbow support ring 42-1 make one, see Figure 11 and Figure 12, wrist left gear case 62-2, wrist right gear case 62-3 and wrist support ring 62-1 make one, see Figure 17 and Figure 18.Other composition and annexation are identical with detailed description of the invention eight.

Detailed description of the invention ten: present embodiment is described in conjunction with Fig. 5 and Fig. 6, present embodiment different from detailed description of the invention nine are that it also increases and has gear baffle 12-6, gear baffle 12-6 is positioned at the below of shoulder fixed mount 21 and is arranged on shoulder inner ring bevel gear 9 and a side for shoulder outer ring bevel gear 11, and gear baffle 12-6 and shoulder support ring 12-1 make one.Gear baffle 12-8 is keeping off shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11, prevents from takeing on inner ring bevel gear 9 and contacts with arm with shoulder outer ring bevel gear 11.Other composition and annexation are identical with detailed description of the invention nine.

Operation principle:

1, in the time that shoulder inner ring travelling gear 5 rotates backward with shoulder outer ring travelling gear 6, shoulder left angular wheel 13 does rotating in same direction with the right bevel gear 14 of shoulder, be that Left Drive gear wheel 16 does motion in the same way with right transmission gear wheel 17, drive shoulder fixed mount 21 in the vertical direction motion (takeing on fixed mount 21 rotates around the axis of Left Drive gear wheel 16 and right transmission gear wheel 17) that rotates, thereby drive elbow joint B and wrist joint C are in the vertical direction motion that rotates.

2, in the time of shoulder inner ring travelling gear 5 and shoulder outer ring travelling gear 6 rotating in same direction, shoulder left angular wheel 13 does counter-rotational trend with the right bevel gear 14 of shoulder, but because Left Drive gear wheel 16 is fixedly connected with shoulder fixed mount 21 with right transmission gear wheel 17, so shoulder left angular wheel 13 can not occur with the rotational motion of the right bevel gear 14 of shoulder, now, due to reaction force, and shoulder left angular wheel 13 engages with shoulder outer ring bevel gear 11, takeing on right bevel gear 14 engages with shoulder inner ring bevel gear 9, being equivalent to take on left angular wheel 13 is fixed on shoulder outer ring bevel gear 11, takeing on right bevel gear 14 is fixed on shoulder inner ring bevel gear 9, shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11 are rotated and will drive the axial-movement of shoulder fixed mount 21 around shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11, take on fixed mount 21 and do the rotation of horizontal direction.Thereby drive elbow joint B and wrist joint C to do the rotation of horizontal direction.

3, in the time that elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36 rotate backward, elbow left angular wheel 43 does rotating in same direction with the right bevel gear 44 of elbow, be that the right drive pinion 48 of elbow Left Drive pinion 45 and elbow does motion in the same way, drive elbow fixed mount 28 to rotate around the axis of elbow Left Drive pinion 45 and the right drive pinion 48 of elbow, thereby drive wrist joint C in the motion that rotates of this direction.Three left planetary gears 46 of elbow and three right planetary gears 47 of elbow play a part to adjust gearratio in transmission.

4, in the time of elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36 rotating in same direction, elbow left angular wheel 43 does counter-rotational trend with the right bevel gear 44 of elbow, but because the right drive pinion 48 of elbow Left Drive pinion 45 and elbow is fixedly connected with elbow fixed mount 28, so elbow left angular wheel 43 can not occur with the rotational motion of the right bevel gear 44 of elbow, now, due to reaction force, and elbow left angular wheel 43 engages with elbow outer ring travelling gear 36, the right bevel gear 44 of elbow engages with elbow inner ring travelling gear 35, being equivalent to elbow left angular wheel 43 is fixed on elbow outer ring travelling gear 36, the right bevel gear 44 of elbow is fixed on elbow inner ring travelling gear 35, elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36 rotate and will drive the axial-movement of elbow fixed mount 28 around elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36, thereby drive wrist joint C to do the rotation of this direction.

5, in the time that wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56 rotate backward, wrist left angular wheel 63 does rotating in same direction with the right bevel gear 64 of wrist, be that the right drive pinion 68 of wrist Left Drive pinion 65 and wrist does motion in the same way, drive wrist joint handle 69 to rotate around the axis of wrist Left Drive pinion 65 and the right drive pinion 68 of wrist, three left planetary gears 66 of wrist and three right planetary gears 67 of wrist play a part to adjust gearratio in transmission.

6, in the time of wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56 rotating in same direction, wrist left angular wheel 63 does counter-rotational trend with the right bevel gear 64 of wrist, but because the right drive pinion 68 of wrist Left Drive pinion 65 and wrist is fixedly connected with wrist joint handle 69, so wrist left angular wheel 63 can not occur with the rotational motion of the right bevel gear 64 of wrist, now, due to reaction force, and wrist left angular wheel 63 engages with wrist outer ring travelling gear 56, the right bevel gear 64 of wrist engages with wrist inner ring travelling gear 55, being equivalent to wrist left angular wheel 63 is fixed on wrist outer ring travelling gear 56, the right bevel gear 64 of wrist is fixed on wrist inner ring travelling gear 55, wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56 rotate and will drive the axial-movement of wrist joint handle 69 around wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56.

Claims

1. the upper limbs ectoskeleton based on parallel drive joint, is characterized in that: the described upper limbs ectoskeleton based on parallel drive joint comprises shoulder joint (A), elbow joint (B) and wrist joint (C),

Shoulder joint (A) comprises shoulder inner ring drive motors (1), shoulder outer ring drive motors (2), shoulder inner ring decelerator (3), shoulder outer ring decelerator (4), shoulder inner ring travelling gear (5), shoulder outer ring travelling gear (6), shoulder bracing frame (7), shoulder inner ring spur gear (8), shoulder inner ring bevel gear (9), shoulder outer ring spur gear (10), shoulder outer ring bevel gear (11), shoulder drives bracing frame (12), shoulder left angular wheel (13), take on right bevel gear (14), shoulder Left Drive pinion (15), Left Drive gear wheel (16), right transmission gear wheel (17), take on right drive pinion (18), left gear case lid (19), right gear case lid (20), shoulder fixed mount (21) and shoulder support plate (22),

Shoulder bracing frame (7) is annular, shoulder support plate (22) is arranged on the end of shoulder bracing frame (7), shoulder support plate (22) and vertical setting of axis of elbow bracing frame (37), shoulder inner ring decelerator (3) be arranged in parallel with shoulder outer ring decelerator (4), and the output shaft of shoulder inner ring decelerator (3) and shoulder outer ring decelerator (4) is all through shoulder support plate (22), shoulder inner ring drive motors (1) is connected with shoulder inner ring decelerator (3), shoulder outer ring drive motors (2) is connected with shoulder outer ring decelerator (4), shoulder inner ring travelling gear (5) is fixed on by key on the output shaft of shoulder inner ring decelerator (3), shoulder outer ring travelling gear (6) is fixed on by key on the output shaft of shoulder outer ring decelerator (4), shoulder inner ring spur gear (8) engages with shoulder inner ring travelling gear (5), shoulder inner ring bevel gear (9) arranges side by side and coaxially with shoulder inner ring spur gear (8), shoulder inner ring bevel gear (9) is connected by screw composition shoulder inner ring annulus with shoulder inner ring spur gear (8), shoulder inner ring annulus is sleeved on by needle bearing on the external diameter of shoulder bracing frame (7), shoulder outer ring spur gear (10) engages with shoulder outer ring travelling gear (6), shoulder outer ring bevel gear (11) arranges side by side and coaxially with shoulder outer ring spur gear (10), shoulder outer ring bevel gear (11) is connected by screw composition shoulder outer ring annulus with shoulder outer ring spur gear (10), shoulder outer ring annulus is sleeved on by needle bearing on the external diameter of shoulder inner ring annulus,

Shoulder drives bracing frame (12) to comprise shoulder support ring (12-1), shoulder left gear case (12-2) and shoulder right gear case (12-3), shoulder left gear case (12-2) is identical with the structure of shoulder right gear case (12-3), shoulder left gear case (12-2) and shoulder right gear case (12-3) are symmetricly set on the inwall of takeing on support ring (12-1) taking the axis of takeing on support ring (12-1) as benchmark, shoulder left gear case (12-2) through-thickness is provided with shoulder left angular wheel axis hole (12-4), the inner side end of shoulder left gear case (12-2) is provided with Left Drive gear wheel axial trough (12-5), parallel and the setting in the same horizontal line of the axis of axis and the Left Drive gear wheel axial trough (12-5) of shoulder left angular wheel axis hole (12-4), the axis of shoulder left angular wheel axis hole (12-4) and vertical setting of axis of takeing on support ring (12-1), shoulder right gear case (12-3) through-thickness is provided with the shoulder right bevel gear axis hole (12-6) just right with takeing on left angular wheel axis hole (12-4), the inner side end of shoulder right gear case (12-3) is provided with the right transmission gear wheel axial trough (12-7) just right with Left Drive gear wheel axial trough (12-5), shoulder support ring (12-1) is arranged in the internal diameter of shoulder bracing frame (7) by needle bearing

Shoulder left angular wheel (13) engages with shoulder outer ring bevel gear (11), shoulder left angular wheel (13) is arranged on the outside of shoulder left gear case (12-2), and the gear shaft on shoulder left angular wheel (13) is through shoulder left angular wheel axis hole (12-4), the gear shaft of shoulder left angular wheel (13) is fixed in shoulder left angular wheel axis hole (12-4) by ball bearing, shoulder Left Drive pinion (15) is arranged in Left Drive gear wheel axial trough (12-5), and shoulder Left Drive pinion (15) is fixed on by key on the gear shaft of shoulder left angular wheel (13), Left Drive gear wheel (16) engages with shoulder Left Drive pinion (15), and during gear shaft one end of Left Drive gear wheel (16) is fixed in Left Drive gear wheel axial trough (12-5) by ball bearing, the gear shaft other end of Left Drive gear wheel (16) is arranged in left gear case lid (19) by ball bearing, left gear case lid (19) is arranged on shoulder left gear case (12-2) by screw

Takeing on right bevel gear (14) engages with shoulder inner ring bevel gear (9), take on right bevel gear (14) and be arranged on the outside of takeing on right gear case (12-3), and the gear shaft of takeing on right bevel gear (14) passes the right bevel gear axis hole of shoulder (12-6), the gear shaft of takeing on right bevel gear (14) is fixed in the right bevel gear axis hole of shoulder (12-6) by ball bearing, takeing on right drive pinion (18) is arranged in right transmission gear wheel axial trough (12-7), and takeing on right drive pinion (18) is fixed on by key on the gear shaft of the right bevel gear of shoulder (14), right transmission gear wheel (17) engages with the right drive pinion of shoulder (18), and gear shaft one end of right transmission gear wheel (17) is fixed in right transmission gear wheel axial trough (12-7) by ball bearing, the gear shaft other end of right transmission gear wheel (17) is arranged in right gear case lid (20) by ball bearing, right gear case lid (20) is arranged on shoulder right gear case (12-3) by screw

Shoulder fixed mount (21) is arranged between shoulder left gear case (12-2) and shoulder right gear case (12-3), the two ends of shoulder fixed mount (21) are fixedly connected with the gear shaft of right transmission gear wheel (17) with corresponding Left Drive gear wheel (16) respectively, shoulder fixed mount (21) be provided with parallel with the axis of takeing on support ring (12-1) first be connected elongated slot (21-1)

Elbow joint (B) comprises elbow fixed mount (28), elbow connecting plate (29), elbow support plate (30), elbow inner ring drive motors (31), elbow outer ring drive motors (32), elbow inner ring decelerator (33), elbow outer ring decelerator (34), elbow inner ring travelling gear (35), elbow outer ring travelling gear (36), elbow bracing frame (37), elbow inner ring spur gear (38), elbow inner ring bevel gear (39), elbow outer ring spur gear (40), elbow outer ring bevel gear (41), elbow drives bracing frame (42), elbow left angular wheel (43), the right bevel gear of elbow (44), elbow Left Drive pinion (45), the right drive pinion of elbow (48), three left planetary gears of elbow (46) and three right planetary gears of elbow (47),

Elbow bracing frame (37) is annular, elbow support plate (30) is arranged on the end of elbow bracing frame (37), the vertical setting of axis of elbow support plate (30) and elbow bracing frame (37), elbow connecting plate (29) is arranged on the outside of elbow support plate (30), elbow connecting plate (29) be arranged in parallel with the axis of elbow bracing frame (37), elbow connecting plate (29) is provided with the second connection elongated slot (29-1) parallel with elbow bracing frame (37) axis, elbow inner ring decelerator (33) be arranged in parallel with elbow outer ring decelerator (34), and the output shaft of elbow inner ring decelerator (33) and elbow outer ring decelerator (34) is all through elbow support plate (30), elbow inner ring drive motors (31) is connected with elbow inner ring decelerator (33), elbow outer ring drive motors (32) is connected with elbow outer ring decelerator (34), elbow inner ring travelling gear (35) is fixed on by key on the output shaft of elbow inner ring decelerator (33), elbow outer ring travelling gear (36) is fixed on by key on the output shaft of elbow outer ring decelerator (34), elbow inner ring spur gear (38) engages with elbow inner ring travelling gear (35), elbow inner ring bevel gear (39) arranges side by side and coaxially with elbow inner ring spur gear (38), elbow inner ring bevel gear (39) is connected by screw composition elbow inner ring annulus with elbow inner ring spur gear (38), elbow inner ring annulus is sleeved on by needle bearing on the external diameter of elbow bracing frame (37), (36 engage elbow outer ring spur gear (40) with elbow outer ring travelling gear, elbow outer ring bevel gear (41) arranges side by side and coaxially with elbow outer ring spur gear (40), elbow outer ring bevel gear (41) is connected by screw composition elbow outer ring annulus with elbow outer ring spur gear (40), elbow outer ring annulus is sleeved on by needle bearing on the external diameter of elbow inner ring annulus,

Elbow drives bracing frame (42) to comprise elbow support ring (42-1), elbow left gear case (42-2) and elbow right gear case (42-3), elbow left gear case (42-2) is identical with the structure of elbow right gear case (42-3), elbow left gear case (42-2) and elbow right gear case (42-3) are symmetricly set on a side end face of elbow support ring (42-1) taking the axis of elbow support ring (42-1) as benchmark, elbow left gear case (42-2) through-thickness is provided with elbow left angular wheel axis hole (42-4), the inner side end of elbow left gear case (42-2) is provided with the elbow left lateral star gear grooved (42-5) coaxial with elbow left angular wheel axis hole (42-4), elbow left lateral star gear grooved (42-5) is provided with the left inside gear of elbow (42-6) along circumferential inner wall, elbow right gear case (42-3) through-thickness is provided with the elbow right bevel gear axis hole (42-7) just right with elbow left angular wheel axis hole (42-4), the inner side end of elbow right gear case (42-3) is provided with the elbow right lateral star gear grooved (42-8) just right with elbow left lateral star gear grooved (42-5), elbow right lateral star gear grooved (42-8) is provided with the right inside gear of elbow (42-9) along circumferential inner wall, the plane at the axis place of the right bevel gear axis hole of the axis of elbow left angular wheel axis hole (42-4) and elbow (42-7) is perpendicular with the plane at the axis of shoulder left angular wheel axis hole (12-4) and the axis place of the right bevel gear axis hole of shoulder (12-6), elbow support ring (42-1) is arranged in the internal diameter of elbow bracing frame (37) by needle bearing

Elbow left angular wheel (43) engages with elbow outer ring bevel gear (41), elbow left angular wheel (43) is arranged on the outside of elbow left gear case (42-2), and the gear shaft on elbow left angular wheel (43) is through elbow left angular wheel axis hole (42-4), the gear shaft of elbow left angular wheel (43) is fixed in elbow left angular wheel axis hole (42-4) by ball bearing, elbow Left Drive pinion (45) is fixed on by key on the gear shaft of elbow left angular wheel (43), three left planetary gears of elbow (46) are arranged between elbow Left Drive pinion (45) and the left inside gear of elbow (42-6), the left planetary gear of each elbow (46) all engages with elbow Left Drive pinion (45) and the left inside gear of elbow (42-6),

The right bevel gear of elbow (44) engages with elbow inner ring bevel gear (39), the right bevel gear of elbow (44) is arranged on the outside of elbow right gear case (42-3), and the gear shaft on the right bevel gear of elbow (44) is through the right bevel gear axis hole of elbow (42-7), the gear shaft of the right bevel gear of elbow (44) is fixed in the right bevel gear axis hole of elbow (42-7) by ball bearing, the right drive pinion of elbow (48) is fixed on by key on the gear shaft of the right bevel gear of elbow (44), three right planetary gears of elbow (47) are arranged between the right drive pinion of elbow (48) and the right inside gear of elbow (42-9), the right planetary gear of each elbow (47) all engages with the right drive pinion of elbow (48) and the right inside gear of elbow (42-9),

Elbow fixed mount (28) is arranged between elbow left gear case (42-2) and elbow right gear case (42-3), the two ends of elbow fixed mount (28) are fixedly connected with the gear shaft of the right drive pinion of elbow (48) with corresponding elbow Left Drive pinion (45) respectively, elbow fixed mount (28) be provided with parallel with the axis of elbow support ring (42-1) the 3rd be connected elongated slot (28-1)

Wrist joint (C) comprises wrist connecting plate (49), wrist support plate (50), wrist inner ring drive motors (51), wrist outer ring drive motors (52), wrist inner ring decelerator (53), wrist outer ring decelerator (54), wrist inner ring travelling gear (55), wrist outer ring travelling gear (56), wrist bracing frame (57), wrist inner ring spur gear (58), wrist inner ring bevel gear (59), wrist outer ring spur gear (60), wrist outer ring bevel gear (61), wrist drives bracing frame (62), wrist left angular wheel (63), the right bevel gear of wrist (64), wrist Left Drive pinion (65), the right drive pinion of wrist (68), wrist joint handle (69), three left planetary gears of wrist (66) and three right planetary gears of wrist (67),

Wrist bracing frame (57) is annular, wrist support plate (50) is arranged on the end of wrist bracing frame (57), the vertical setting of axis of wrist support plate (50) and wrist bracing frame (57), wrist connecting plate (49) is arranged on the outside of wrist support plate (50), wrist connecting plate (49) be arranged in parallel with the axis of wrist bracing frame (57), wrist connecting plate (49) is provided with the four connection elongated slot (49-1) parallel with wrist bracing frame (57) axis, wrist inner ring decelerator (53) be arranged in parallel with wrist outer ring decelerator (54), and the output shaft of wrist inner ring decelerator (53) and wrist outer ring decelerator (54) is all through wrist support plate (50), wrist inner ring drive motors (51) is connected with wrist inner ring decelerator (53), wrist outer ring drive motors (52) is connected with wrist outer ring decelerator (54), wrist inner ring travelling gear (55) is fixed on by key on the output shaft of wrist inner ring decelerator (53), wrist outer ring travelling gear (56) is fixed on by key on the output shaft of wrist outer ring decelerator (54), wrist inner ring spur gear (58) engages with wrist inner ring travelling gear (55), wrist inner ring bevel gear (59) arranges side by side and coaxially with wrist inner ring spur gear (58), wrist inner ring bevel gear (59) is connected by screw composition wrist inner ring annulus with wrist inner ring spur gear (58), wrist inner ring annulus is sleeved on by needle bearing on the external diameter of wrist bracing frame (57), wrist outer ring spur gear (60) engages with wrist outer ring travelling gear (56), wrist outer ring bevel gear (61) arranges side by side and coaxially with wrist outer ring spur gear (60), wrist outer ring bevel gear (61) is connected by screw composition wrist outer ring annulus with wrist outer ring spur gear (60), wrist outer ring annulus is sleeved on by needle bearing on the external diameter of wrist inner ring annulus,

Wrist drives bracing frame (62) to comprise wrist support ring (62-1), wrist left gear case (62-2) and wrist right gear case (62-3), wrist left gear case (62-2) is identical with the structure of wrist right gear case (62-3), wrist left gear case (62-2) and wrist right gear case (62-3) are symmetricly set on a side end face of wrist support ring (62-1) taking the axis of wrist support ring (62-1) as benchmark, wrist left gear case (62-2) through-thickness is provided with wrist left angular wheel axis hole (62-4), the inner side end of wrist left gear case (62-2) is provided with the wrist left lateral star gear grooved (62-5) coaxial with wrist left angular wheel axis hole (62-4), wrist left lateral star gear grooved (62-5) is provided with the left inside gear of wrist (62-6) along circumferential inner wall, wrist right gear case (62-3) through-thickness is provided with the wrist right bevel gear axis hole (62-7) just right with wrist left angular wheel axis hole (62-4), the inner side end of wrist right gear case (62-3) is provided with the wrist right lateral star gear grooved (62-8) just right with wrist left lateral star gear grooved (62-5), wrist right lateral star gear grooved (62-8) is provided with the right inside gear of wrist (62-9) along circumferential inner wall, the plane at the axis place of the right bevel gear axis hole of the axis of the plane at the axis place of the right bevel gear axis hole of the axis of wrist left angular wheel axis hole (62-4) and wrist (62-7) and elbow left angular wheel axis hole (42-4) and elbow (42-7) is perpendicular, wrist support ring (62-1) is arranged in the internal diameter of wrist bracing frame (57) by needle bearing

Wrist left angular wheel (63) engages with wrist outer ring bevel gear (61), wrist left angular wheel (63) is arranged on the outside of wrist left gear case (62-2), and the gear shaft on wrist left angular wheel (63) is through wrist left angular wheel axis hole (62-4), the gear shaft of wrist left angular wheel (63) is fixed in wrist left angular wheel axis hole (62-4) by ball bearing, wrist Left Drive pinion (65) is fixed on by key on the gear shaft of wrist left angular wheel (63), three left planetary gears of wrist (66) are arranged between wrist Left Drive pinion (65) and the left inside gear of wrist (62-6), the left planetary gear of each wrist (66) all engages with wrist Left Drive pinion (65) and the left inside gear of wrist (62-6),

The right bevel gear of wrist (64) engages with wrist inner ring bevel gear (59), the right bevel gear of wrist (64) is arranged on the outside of wrist right gear case (62-3), and the gear shaft on the right bevel gear of wrist (64) is through the right bevel gear axis hole of wrist (62-7), the gear shaft of the right bevel gear of wrist (64) is fixed in the right bevel gear axis hole of wrist (62-7) by ball bearing, the right drive pinion of wrist (68) is fixed on by key on the gear shaft of the right bevel gear of wrist (64), three right planetary gears of wrist (67) are arranged between the right drive pinion of wrist (68) and the right inside gear of wrist (62-9), the right planetary gear of each wrist (67) all engages with the right drive pinion of wrist (68) and the right inside gear of wrist (62-9),

Wrist joint handle (69) is arranged between wrist left gear case (62-2) and wrist right gear case (62-3), the two ends of wrist joint handle (69) are fixedly connected with the gear shaft of the right drive pinion of wrist (68) with corresponding wrist Left Drive pinion (65) respectively

Shoulder joint (A), elbow joint (B) and wrist joint (C) set gradually, elbow connecting plate (29) on elbow joint (B) is setting up and down with the shoulder fixed mount (21) in shoulder joint (A), wrist connecting plate (49) on wrist joint (C) is setting up and down with the elbow fixed mount (28) on elbow joint (B), the second connection elongated slot (29-1) is connected elongated slot (21-1) and is slidably connected with first, the 4th connection elongated slot (49-1) is connected elongated slot (28-1) and is slidably connected with the 3rd.

2. the upper limbs ectoskeleton based on parallel drive according to claim 1, it is characterized in that: described shoulder support plate (22) is made one with shoulder bracing frame (7), elbow support plate (30), elbow connecting plate (29) are made one with elbow bracing frame (37), and wrist support plate (50), wrist connecting plate (49) are made one with wrist bracing frame (57).

3. according to the upper limbs ectoskeleton based on parallel drive described in claim 1 or 2, it is characterized in that: the external diameter of shoulder inner ring bevel gear (9) is identical with the external diameter of shoulder inner ring spur gear (8), the external diameter of elbow inner ring bevel gear (39) is identical with the external diameter of elbow inner ring spur gear (38), and the external diameter of wrist inner ring bevel gear (59) is identical with the external diameter of wrist inner ring spur gear (58).

4. the upper limbs ectoskeleton based on parallel drive according to claim 3, it is characterized in that: the external diameter of shoulder outer ring bevel gear (11) is identical with the external diameter of shoulder outer ring spur gear (10), the external diameter of elbow outer ring bevel gear (41) is identical with the external diameter of elbow outer ring spur gear (40), and the external diameter of wrist outer ring bevel gear (61) is identical with the external diameter of wrist outer ring spur gear (60).

5. according to the upper limbs ectoskeleton based on parallel drive described in claim 1,2 or 4, it is characterized in that: the axis of the axis of described shoulder left angular wheel axis hole (12-4) and Left Drive gear wheel axial trough (12-5) in the same horizontal line.

6. the upper limbs ectoskeleton based on parallel drive according to claim 5, is characterized in that: the axis of the axis of the right bevel gear axis hole of described shoulder (12-6) and right transmission gear wheel axial trough (12-7) in the same horizontal line.

7. the upper limbs ectoskeleton based on parallel drive according to claim 6, is characterized in that: three left planetary gears of elbow (46) are along same circumference uniform distribution setting, and three right planetary gears of elbow (47) are along same circumference uniform distribution setting.

8. the upper limbs ectoskeleton based on parallel drive according to claim 7, is characterized in that: three left planetary gears of wrist (66) are along same circumference uniform distribution setting, and three right planetary gears of wrist (67) are along same circumference uniform distribution setting.

9. the upper limbs ectoskeleton based on parallel drive according to claim 8, it is characterized in that: described shoulder left gear case (12-2), shoulder right gear case (12-3) and shoulder support ring (12-1) are made one, described elbow left gear case (42-2), elbow right gear case (42-3) and elbow support ring (42-1) are made one, and described wrist left gear case (62-2), wrist right gear case (62-3) and wrist support ring (62-1) are made one.

10. the upper limbs ectoskeleton based on parallel drive according to claim 9, it is characterized in that: described upper arm bracing frame (12) also comprises gear baffle (12-8), gear baffle (12-8) is positioned at the below of upper arm fixed mount (21) and is arranged on inner ring bevel gear (9) and a side for outer ring bevel gear (11), and gear baffle (12-8) is made one with shoulder support ring (12-1).