CN104097213B - Based on the upper limbs ectoskeleton in parallel drive joint - Google Patents

Based on the upper limbs ectoskeleton in parallel drive joint Download PDF

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Publication number
CN104097213B
CN104097213B CN201410377134.5A CN201410377134A CN104097213B CN 104097213 B CN104097213 B CN 104097213B CN 201410377134 A CN201410377134 A CN 201410377134A CN 104097213 B CN104097213 B CN 104097213B
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China
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wrist
elbow
gear
shoulder
inner ring
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CN104097213A (en
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朱延河
陈燕燕
赵杰
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Harbin Institute of Technology
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Harbin Institute of Technology
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Abstract

Based on the upper limbs ectoskeleton in parallel drive joint, it relates to a kind of power-assisting robot, poor to solve existing upper limbs exoskeleton robot kinematic accuracy, and volume is large, the problem that range of movement is little.The present invention includes shoulder joint, elbow joint and wrist joint, shoulder joint, elbow joint and wrist joint set gradually, elbow connecting plate on elbow joint and the shoulder fixed mount in shoulder joint setting up and down, wrist connecting plate on wrist joint and the elbow fixed mount on elbow joint setting up and down, the second connection elongated slot on elbow connecting plate is connected elongated slot with first on shoulder fixed mount and is slidably connected, and the 4th connection elongated slot on elbow connecting plate is connected elongated slot with the 3rd on elbow fixed mount and is slidably connected.The present invention is used for helping the elderly and helps the disabled, medical rehabilitation etc.

Description

Based on the upper limbs ectoskeleton in 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 bear for human body the mobility that load increases human body, and he is very promising in all fields, and such as military affairs on the march, in earthquake rescue, human muscle's rehabilitation is medium, but current existing upper limbs ectoskeleton design is be designed to master with cascaded structure mostly, this structure motion low precision, and each free degree has separate electrical motor to drive, motor is born large, thus cause motor size to increase.And existing parallel-connection structure, mostly be 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 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 drives bracing frame, shoulder 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 axes normal of shoulder support plate and wrist support is arranged, 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 and shoulder inner ring spur gear are side by side and coaxially arrange, shoulder inner ring bevel gear is connected by screw to form with shoulder inner ring spur gear takes on inner ring annulus, 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 and shoulder outer ring spur gear are side by side and coaxially arrange, shoulder outer ring bevel gear is connected by screw to form with shoulder outer ring spur gear takes on outer ring annulus, 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 with axis take on support ring for reference symmetry is arranged on the inwall takeing on support ring, 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, the axis of shoulder left angular wheel axis hole and the axis being parallel of Left Drive gear wheel axial trough and arrange in same level, the axis of shoulder left angular wheel axis hole is arranged with the axes normal 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 shoulder left gear case, 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 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,
Take on right bevel gear to engage with shoulder inner ring bevel gear, take on the outside that right bevel gear is arranged on shoulder right gear case, and the gear shaft takeed on right bevel gear is through the right bevel gear axis hole of shoulder, the gear shaft 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 shoulder right gear case, and take on right drive pinion be fixed on by key take on right bevel gear gear shaft on, 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 corresponding Left Drive gear wheel with right transmission gear wheel respectively, shoulder fixed mount be provided with parallel with the axis takeing on support ring first be connected elongated slot;
Elbow joint comprises 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, wrist support, elbow inner ring spur gear, elbow inner ring bevel gear, elbow outer ring spur gear, elbow outer ring bevel gear, elbow drives 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,
Wrist support is annular, elbow support plate is arranged on the end of wrist support, the axes normal of elbow support plate and wrist support is arranged, elbow connecting plate is arranged on the outside of elbow support plate, the axis being parallel of elbow connecting plate and wrist support is arranged, elbow connecting plate is provided with and is connected elongated slot with second of wrist support axis being parallel, 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 are side by side and coaxially arrange, elbow inner ring bevel gear and elbow inner ring spur gear are connected by screw and form elbow inner ring annulus, elbow inner ring annulus is sleeved on the external diameter of wrist support by needle bearing, elbow outer ring spur gear engages with elbow outer ring travelling gear, elbow outer ring bevel gear and elbow outer ring spur gear are side by side and coaxially arrange, elbow outer ring bevel gear and elbow outer ring spur gear are connected by screw and form 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 with the axis of elbow support ring for reference symmetry is arranged on a side end face of elbow support ring, 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 circumferentially inwall is provided with the left inside gear of elbow, elbow right gear case through-thickness is provided with the right bevel gear axis hole of the elbow 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 circumferentially inwall is provided with the right inside gear of elbow, axis and shoulder left angular wheel axis hole and the axis perpendicular takeing on right bevel gear axis hole of elbow left angular wheel axis hole and elbow right bevel gear axis hole, elbow support ring is arranged in the internal diameter of wrist support by needle bearing,
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 with elbow Left Drive pinion and the left inside gears meshing 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, and the right planetary gear of each elbow is right drive pinion and the right inside gears meshing of elbow with elbow all;
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 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 drives 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 axes normal of wrist support plate and wrist bracing frame is arranged, wrist connecting plate is arranged on the outside of wrist support plate, the axis being parallel of wrist connecting plate and wrist bracing frame is arranged, wrist connecting plate is provided with and is connected elongated slot with the 4th of wrist bracing frame axis being parallel the, 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 are side by side and coaxially arrange, wrist inner ring bevel gear and wrist inner ring spur gear are connected by screw and form 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 are side by side and coaxially arrange, wrist outer ring bevel gear and wrist outer ring spur gear are connected by screw and form 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 with the axis of wrist support ring for reference symmetry is arranged on a side end face of wrist support ring, 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 circumferentially inwall is provided with the left inside gear of wrist, wrist right gear case through-thickness is provided with the right bevel gear axis hole of the wrist 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 circumferentially inwall is provided with the right inside gear of wrist, the axis perpendicular of the axis of wrist left angular wheel axis hole and wrist right bevel gear axis hole and elbow left angular wheel axis hole and the right bevel gear axis hole of elbow, wrist support ring is arranged in the internal diameter of wrist bracing frame by needle bearing,
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 with wrist Left Drive pinion and the left inside gears meshing 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, and the right planetary gear of each wrist is right drive pinion and the right inside gears meshing of wrist with wrist all;
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, elbow connecting plate on elbow joint and the shoulder fixed mount in shoulder joint setting up and down, wrist connecting plate on wrist joint and the elbow fixed mount on elbow joint setting up and down, 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 employed the mode of parallel drive, and the kind of drive all adopts gear drive, add accuracy and the range of movement of motion, kinematic accuracy is more than doubled compared to existing technology.
Two, shoulder joint of the present invention be connected elongated slot and second by first between elbow joint and connect elongated slot and be slidably connected, between elbow joint with 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 when each free degree motion, shared the burden of motor, and motor parallel is arranged, thus reduces the volume of motor, add compactedness.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the structural perspective of shoulder joint A;
Fig. 3 is shoulder inner ring spur gear 8, takes on the position relationship stereogram of inner ring bevel gear 9 and shoulder bracing frame 7;
Fig. 4 is shoulder outer ring spur gear 10, takes on outer ring bevel gear 11, takes on the position relationship stereogram 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, takes 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 wrist support 37;
The position relationship stereogram that Figure 11 is elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive bracing frame 42, elbow left angular wheel 43, the right bevel gear of elbow 44, elbow Left Drive pinion 45 and three left planetary gears 46 of elbow;
The position relationship stereogram (contrary with the view direction of Figure 11) that Figure 12 is elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive bracing frame 42, elbow left angular wheel 43, the right bevel gear of elbow 44, the right drive pinion of elbow 48 and three right planetary gears of elbow 47;
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;
The position relationship stereogram that 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 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;
The position relationship stereogram that Figure 17 is 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 of wrist 64, wrist Left Drive pinion 65 and three left planetary gears 66 of wrist;
The position relationship stereogram that Figure 18 is 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 of wrist 64, the right drive pinion of wrist 68 and three right planetary gears 67 of wrist.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Figure 18 illustrates present embodiment, present embodiment 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 is arranged with the axes normal of wrist support 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 the output shaft of shoulder inner ring decelerator 3 by key, shoulder outer ring travelling gear 6 is fixed on the output shaft of shoulder outer ring decelerator 4 by key, see Fig. 3, shoulder inner ring spur gear 8 engages with shoulder inner ring travelling gear 5, shoulder inner ring bevel gear 9 and shoulder inner ring spur gear 8 are side by side and coaxially arrange, shoulder inner ring bevel gear 9 is connected by screw to form with shoulder inner ring spur gear 8 takes on inner ring annulus, 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, shoulder inner ring spur gear 8 and shoulder inner ring bevel gear 9 can be directly driven 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 and shoulder outer ring spur gear 10 are side by side and coaxially arrange, shoulder outer ring bevel gear 11 is connected by screw to form with shoulder outer ring spur gear 10 takes on outer ring annulus, 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, the rotation of shoulder outer ring spur gear 10 and shoulder outer ring bevel gear 11 directly can be driven 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 with axis take on support ring 12-1 for reference symmetry is arranged on the inwall takeing on support ring 12-1, 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, the axis of shoulder left angular wheel axis hole 12-4 and the axis being parallel of Left Drive gear wheel axial trough 12-5 and arrange in same level, the axis of shoulder left angular wheel axis hole 12-4 is arranged with the axes normal 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 shoulder left gear case 12-2, and shoulder Left Drive pinion 15 is fixed on the gear shaft of shoulder left angular wheel 13 by key, Left Drive gear wheel 16 engages with shoulder Left Drive pinion 15, and 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,
Take on right bevel gear 14 to engage with shoulder inner ring bevel gear 9, take on the outside that right bevel gear 14 is arranged on shoulder right gear case 12-3, and the gear shaft takeed on right bevel gear 14 is through the right bevel gear axis hole 12-6 of shoulder, the gear shaft 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 shoulder right gear case 12-3, and take on right drive pinion 18 be fixed on by key take on right bevel gear 14 gear shaft on, 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 corresponding Left Drive gear wheel 16 with right transmission gear wheel 17 respectively, shoulder fixed mount 21 be provided with parallel with the axis 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 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, wrist support 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 44 of elbow, elbow Left Drive pinion 45, the right drive pinion 48 of elbow, three left planetary gears of elbow 46 and three right planetary gears 47 of elbow,
Wrist support 37 is annular, elbow support plate 30 is arranged on the end of wrist support 37, elbow support plate 30 is arranged with the axes normal of wrist support 37, elbow connecting plate 29 is arranged on the outside of elbow support plate 30, elbow connecting plate 29 is arranged with the axis being parallel of wrist support 37, elbow connecting plate 29 is provided with and is connected elongated slot 29-1 with second of wrist support 37 axis being parallel, elbow inner ring decelerator 33 and elbow outer ring decelerator 34 be arranged in parallel, 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 the output shaft of elbow inner ring decelerator 33 by key, elbow outer ring travelling gear 36 is fixed on the output shaft of elbow outer ring decelerator 34 by key, elbow inner ring spur gear 38 engages with elbow inner ring travelling gear 35, elbow inner ring bevel gear 39 and elbow inner ring spur gear 38 are side by side and coaxially arrange, elbow inner ring bevel gear 39 and elbow inner ring spur gear 38 are connected by screw and form elbow inner ring annulus, elbow inner ring annulus is sleeved on by needle bearing on the external diameter of wrist support 37, elbow inner ring spur gear 38 and elbow inner ring bevel gear 39 can with wrist support 37 relative rotation motion of driving system, elbow inner ring spur gear 38 and elbow inner ring bevel gear 39 can be directly driven 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 and elbow outer ring spur gear 40 are side by side and coaxially arrange, elbow outer ring bevel gear 41 and elbow outer ring spur gear 40 are connected by screw and form elbow outer ring annulus, 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 wrist support 37 can do independently rotational motion, the rotation of elbow outer ring spur gear 40 and elbow outer ring bevel gear 41 directly can be driven 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 with the axis of elbow support ring 42-1 for reference symmetry is arranged on a side end face of elbow support ring 42-1, 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 circumferentially inwall is provided with the left inside gear 42-6 of elbow, 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 circumferentially inwall is provided with the right inside gear 42-9 of elbow, axis and shoulder left angular wheel axis hole 12-4 and the axis perpendicular takeing on right bevel gear axis hole 12-6 of elbow left angular wheel axis hole 42-4 and elbow right bevel gear axis hole 42-7, elbow support ring 42-1 is arranged on by needle bearing in the internal diameter of wrist support 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 the gear shaft of elbow left angular wheel 43 by key, three left planetary gears of elbow 46 are arranged between elbow Left Drive pinion 45 and the left inside gear 42-6 of elbow, the left planetary gear of each elbow 46 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 wrist support 37, see Fig. 9, Figure 11 and Figure 12,
Right bevel gear 44 engages with elbow inner ring bevel gear 39 elbow, 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 of elbow 44 is through elbow right bevel gear axis hole 42-7, the gear shaft of the right bevel gear of elbow 44 is fixed in elbow right bevel gear axis hole 42-7 by ball bearing, the right drive pinion of elbow 48 is fixed on the gear shaft of the right bevel gear 44 of elbow by key, three right planetary gears of elbow 47 are arranged between the right drive pinion of elbow 48 and the right inside gear 42-9 of elbow, all right with the elbow drive pinion 48 of the right planetary gear of each elbow 47 and the right inside gear 42-9 of elbow engage, 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 corresponding elbow Left Drive pinion 45 with the right drive pinion 48 of elbow 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 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 64 of wrist, wrist Left Drive pinion 65, the right drive pinion 68 of wrist, wrist joint handle 69, three left planetary gears of wrist 66 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, wrist support plate 50 is arranged with the axes normal of wrist bracing frame 57, wrist connecting plate 49 is arranged on the outside of wrist support plate 50, wrist connecting plate 49 is arranged with the axis being parallel of wrist bracing frame 57, wrist connecting plate 49 is provided with and is connected elongated slot 49-1 with the 4th of wrist bracing frame 57 axis being parallel the, wrist inner ring decelerator 53 and wrist outer ring decelerator 54 be arranged in parallel, 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 the output shaft of wrist inner ring decelerator 53 by key, wrist outer ring travelling gear 56 is fixed on the output shaft of wrist outer ring decelerator 54 by key, wrist inner ring spur gear 58 engages with wrist inner ring travelling gear 55, wrist inner ring bevel gear 59 and wrist inner ring spur gear 58 are side by side and coaxially arrange, see Figure 16, wrist inner ring bevel gear 59 and wrist inner ring spur gear 58 are connected by screw and form wrist inner ring annulus, 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, wrist inner ring spur gear 58 and wrist inner ring bevel gear 59 can be directly driven 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 and wrist outer ring spur gear 60 are side by side and coaxially arrange, wrist outer ring bevel gear 61 and wrist outer ring spur gear 60 are connected by screw and form wrist outer ring annulus, 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, the rotation of wrist outer ring spur gear 60 and wrist outer ring bevel gear 61 directly can be driven 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 with the axis of wrist support ring 62-1 for reference symmetry is arranged on a side end face of wrist support ring 62-1, 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 circumferentially inwall is provided with the left inside gear 62-6 of wrist, 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 circumferentially inwall is provided with the right inside gear 62-9 of wrist, the axis of wrist left angular wheel axis hole 62-4 and wrist right bevel gear axis hole 62-7 and the axis perpendicular (namely the axis of wrist left angular wheel axis hole 62-4 and wrist right bevel gear axis hole 62-7 parallels with the axis takeing on right bevel gear axis hole 12-6 with shoulder left angular wheel axis hole 12-4) of elbow left angular wheel axis hole 42-4 and elbow right bevel gear axis hole 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 the gear shaft of wrist left angular wheel 63 by key, three left planetary gears of wrist 66 are arranged between wrist Left Drive pinion 65 and the left inside gear 62-6 of wrist, the left planetary gear of each wrist 66 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,
Right bevel gear 64 engages with wrist inner ring bevel gear 59 wrist, 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 of wrist 64 is through wrist right bevel gear axis hole 62-7, the gear shaft of the right bevel gear of wrist 64 is fixed in wrist right bevel gear axis hole 62-7 by ball bearing, the right drive pinion of wrist 68 is fixed on the gear shaft of the right bevel gear 64 of wrist by key, three right planetary gears of wrist 67 are arranged between the right drive pinion of wrist 68 and the right inside gear 62-9 of wrist, all right with the wrist drive pinion 68 of the right planetary gear of each wrist 67 and the right inside gear 62-9 of wrist engage, 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 corresponding wrist Left Drive pinion 65 with the right drive pinion 68 of wrist 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, 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.Second connection elongated slot 29-1 is connected elongated slot 21-1 with first can according to the size adjusting length of human body.4th connection elongated slot 49-1 is connected elongated slot 28-1 with the 3rd can according to the size adjusting 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 center on wrist joint C and the axis of movement of elbow joint B perpendicular.
Detailed description of the invention two: composition graphs 3, Fig. 9, Figure 10 and Figure 15 illustrate present embodiment, the shoulder support plate 22 of present embodiment makes one with shoulder bracing frame 7, see Fig. 3, elbow support plate 30, elbow connecting plate 29 make one with wrist support 37, see Fig. 9 and Figure 10, wrist support plate 50, wrist connecting plate 49 make one with wrist bracing frame 57, see Figure 15.Be designed to the stability increasing structure like this.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 3, Figure 10 and Figure 16 illustrate present embodiment, 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 identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 4, Fig. 9 and Figure 14 illustrate present embodiment, 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 identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 5 illustrates present embodiment, 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 same level.Other composition and annexation and detailed description of the invention one, two or four identical.
Detailed description of the invention six: composition graphs 6 illustrates present embodiment, the axis of the shoulder right bevel gear axis hole 12-6 of present embodiment and the axis of right transmission gear wheel axial trough 12-7 are in same level.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: present embodiment is described in conjunction with Figure 11 and Figure 12, three left planetary gears of elbow 46 of present embodiment are arranged along same circumference uniform distribution, and three right planetary gears of elbow 47 are arranged along same circumference uniform distribution.Other composition and annexation identical with detailed description of the invention six.
Detailed description of the invention eight: present embodiment is described in conjunction with Figure 17 and Figure 18, three left planetary gears of wrist 66 of present embodiment are arranged along same circumference uniform distribution, and three right planetary gears of wrist 67 are arranged along same circumference uniform distribution.Other composition and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: composition graphs 5, Fig. 6, Figure 11, Figure 12, Figure 17 and Figure 18 illustrate present embodiment, shoulder left gear case 12-2, shoulder right gear case 12-3 and the shoulder support ring 12-1 of present embodiment 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 identical with detailed description of the invention eight.
Detailed description of the invention ten: composition graphs 5 and Fig. 6 illustrate present embodiment, also increasing unlike it with detailed description of the invention nine of present embodiment has gear baffle 12-8, gear baffle 12-8 is positioned at the below of shoulder fixed mount 21 and is arranged on shoulder inner ring bevel gear 9 and the side of takeing on outer ring bevel gear 11, and gear baffle 12-8 makes one with shoulder support ring 12-1.Gear baffle 12-8 keeps off shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11, prevents shoulder inner ring bevel gear 9 from contacting with arm with shoulder outer ring bevel gear 11.Other composition and annexation identical with detailed description of the invention nine.
Operation principle:
1, when takeing on inner ring travelling gear 5 and rotating 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, namely Left Drive gear wheel 16 and right transmission gear wheel 17 do and move in the same way, drive shoulder fixed mount 21 to rotate motion (namely take on fixed mount 21 rotate around the axis of Left Drive gear wheel 16 and right transmission gear wheel 17) at vertical direction, thus drive elbow joint B and wrist joint C to rotate motion at vertical direction.
2, when takeing on inner ring travelling gear 5 with 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 take on left angular wheel 13 to engage with shoulder outer ring bevel gear 11, take on right bevel gear 14 to engage with shoulder inner ring bevel gear 9, being equivalent to shoulder 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 shoulder fixed mount 21 will be driven around the axial-movement of shoulder inner ring bevel gear 9 with shoulder outer ring bevel gear 11, namely the rotation that fixed mount 21 does horizontal direction is takeed on.Thus drive elbow joint B and wrist joint C to do the rotation of horizontal direction.
3, when elbow inner ring travelling gear 35 rotates backward with elbow outer ring travelling gear 36, elbow left angular wheel 43 and the right bevel gear 44 of elbow do rotating in same direction, namely elbow Left Drive pinion 45 and the right drive pinion 48 of elbow do and move in the same way, elbow fixed mount 28 is driven to rotate around the axis of elbow Left Drive pinion 45 and the right drive pinion 48 of elbow, the motion thus drive wrist joint C rotates in this direction.Three left planetary gears of elbow 46 and three right planetary gears 47 of elbow play a part to adjust gearratio in transmission.
4, when elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36 rotating in same direction, elbow left angular wheel 43 and the right bevel gear of elbow 44 do counter-rotational trend, 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, right bevel gear 44 engages with elbow inner ring travelling gear 35 elbow, 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 the axial-movement that elbow fixed mount 28 will be driven around elbow inner ring travelling gear 35 and elbow outer ring travelling gear 36, thus drive wrist joint C to do the rotation in this direction.
5, when wrist inner ring travelling gear 55 rotates backward with wrist outer ring travelling gear 56, wrist left angular wheel 63 and the right bevel gear 64 of wrist do rotating in same direction, namely wrist Left Drive pinion 65 and the right drive pinion 68 of wrist do and move 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 of wrist 66 and three right planetary gears 67 of wrist play a part to adjust gearratio in transmission.
6, when wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56 rotating in same direction, wrist left angular wheel 63 and the right bevel gear of wrist 64 do counter-rotational trend, 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, right bevel gear 64 engages with wrist inner ring travelling gear 55 wrist, 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 the axial-movement that wrist joint handle 69 will be driven around wrist inner ring travelling gear 55 and wrist outer ring travelling gear 56.

Claims (8)

1. based on the upper limbs ectoskeleton in parallel drive joint, it 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) is arranged with the axes normal of wrist support (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 the output shaft of shoulder inner ring decelerator (3) by key, shoulder outer ring travelling gear (6) is fixed on the output shaft of shoulder outer ring decelerator (4) by key, shoulder inner ring spur gear (8) engages with shoulder inner ring travelling gear (5), shoulder inner ring bevel gear (9) and shoulder inner ring spur gear (8) are side by side and coaxially arrange, shoulder inner ring bevel gear (9) is connected by screw to form with shoulder inner ring spur gear (8) takes on inner ring annulus, 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) and shoulder outer ring spur gear (10) are side by side and coaxially arrange, shoulder outer ring bevel gear (11) is connected by screw to form with shoulder outer ring spur gear (10) takes on outer ring annulus, 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 that reference symmetry is arranged on the inwall of shoulder support ring (12-1) to take on the axis of support ring (12-1), 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), shoulder left angular wheel axis hole (12-4) axis and Left Drive gear wheel axial trough (12-5) axis being parallel and arrange in same level, the axis of shoulder left angular wheel axis hole (12-4) is arranged with the axes normal of shoulder support ring (12-1), shoulder right gear case (12-3) through-thickness is provided with the right bevel gear axis hole (12-6) of the shoulder 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 shoulder left gear case (12-2), and shoulder Left Drive pinion (15) is fixed on the gear shaft of shoulder left angular wheel (13) by key, Left Drive gear wheel (16) engages with shoulder Left Drive pinion (15), and 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
Take on right bevel gear (14) to engage with shoulder inner ring bevel gear (9), take on the outside that right bevel gear (14) is arranged on shoulder right gear case (12-3), and the gear shaft takeed on right bevel gear (14) is through the right bevel gear axis hole (12-6) of shoulder, the gear shaft 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 shoulder right gear case (12-3), and take on right drive pinion (18) by key be fixed on shoulder right bevel gear (14) gear shaft on, right transmission gear wheel (17) is engaged 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 corresponding Left Drive gear wheel (16) with right transmission gear wheel (17) respectively, shoulder fixed mount (21) be provided with parallel with the axis 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), wrist support (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),
Wrist support (37) is annular, elbow support plate (30) is arranged on the end of wrist support (37), elbow support plate (30) is arranged with the axes normal of wrist support (37), elbow connecting plate (29) is arranged on the outside of elbow support plate (30), elbow connecting plate (29) is arranged with the axis being parallel of wrist support (37), elbow connecting plate (29) is provided with and is connected elongated slot (29-1) with second of wrist support (37) axis being parallel, elbow inner ring decelerator (33) and elbow outer ring decelerator (34) be arranged in parallel, 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 the output shaft of elbow inner ring decelerator (33) by key, elbow outer ring travelling gear (36) is fixed on the output shaft of elbow outer ring decelerator (34) by key, elbow inner ring spur gear (38) engages with elbow inner ring travelling gear (35), elbow inner ring bevel gear (39) and elbow inner ring spur gear (38) are side by side and coaxially arrange, elbow inner ring bevel gear (39) and elbow inner ring spur gear (38) are connected by screw and form elbow inner ring annulus, elbow inner ring annulus is sleeved on by needle bearing on the external diameter of wrist support (37), (36 engage for elbow outer ring spur gear (40) and elbow outer ring travelling gear, elbow outer ring bevel gear (41) and elbow outer ring spur gear (40) are side by side and coaxially arrange, elbow outer ring bevel gear (41) and elbow outer ring spur gear (40) are connected by screw and form 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 (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 that reference symmetry is arranged on a side end face of elbow support ring (42-1) with the axis of elbow support ring (42-1), 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 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) circumferentially inwall is provided with the left inside gear of elbow (42-6), elbow right gear case (42-3) through-thickness is provided with the right bevel gear axis hole (42-7) of the elbow 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 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) circumferentially inwall is provided with the right inside gear of elbow (42-9), axis and shoulder left angular wheel axis hole (12-4) and the axis perpendicular takeing on right bevel gear axis hole (12-6) of elbow left angular wheel axis hole (42-4) and elbow right bevel gear axis hole (42-7), elbow support ring (42-1) is arranged in the internal diameter of wrist support (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 (42-7) of elbow, the gear shaft of the right bevel gear of elbow (44) is fixed in the right bevel gear axis hole (42-7) of elbow by ball bearing, the right drive pinion of elbow (48) is fixed on the gear shaft of the right bevel gear of elbow (44) by key, 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), all right with the elbow drive pinion (48) of the right planetary gear of each elbow (47) and the right inside gear of elbow (42-9) engage,
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), wrist support plate (50) is arranged with the axes normal of wrist bracing frame (57), wrist connecting plate (49) is arranged on the outside of wrist support plate (50), wrist connecting plate (49) is arranged with the axis being parallel of wrist bracing frame (57), wrist connecting plate (49) is provided with and is connected elongated slot (49-1) with the 4th of wrist bracing frame (57) axis being parallel the, wrist inner ring decelerator (53) and wrist outer ring decelerator (54) be arranged in parallel, 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 the output shaft of wrist inner ring decelerator (53) by key, wrist outer ring travelling gear (56) is fixed on the output shaft of wrist outer ring decelerator (54) by key, wrist inner ring spur gear (58) engages with wrist inner ring travelling gear (55), wrist inner ring bevel gear (59) and wrist inner ring spur gear (58) are side by side and coaxially arrange, wrist inner ring bevel gear (59) and wrist inner ring spur gear (58) are connected by screw and form wrist inner ring annulus, 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) is engaged with wrist outer ring travelling gear (56), wrist outer ring bevel gear (61) and wrist outer ring spur gear (60) are side by side and coaxially arrange, wrist outer ring bevel gear (61) and wrist outer ring spur gear (60) are connected by screw and form 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 (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 that reference symmetry is arranged on a side end face of wrist support ring (62-1) with the axis of wrist support ring (62-1), 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 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) circumferentially inwall is provided with the left inside gear of wrist (62-6), wrist right gear case (62-3) through-thickness is provided with the right bevel gear axis hole (62-7) of the wrist 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 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) circumferentially inwall is provided with the right inside gear of wrist (62-9), the axis perpendicular of the axis of wrist left angular wheel axis hole (62-4) and wrist right bevel gear axis hole (62-7) and elbow left angular wheel axis hole (42-4) and the right bevel gear axis hole (42-7) of elbow, 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 (62-7) of wrist, the gear shaft of the right bevel gear of wrist (64) is fixed in the right bevel gear axis hole (62-7) of wrist by ball bearing, the right drive pinion of wrist (68) is fixed on the gear shaft of the right bevel gear of wrist (64) by key, 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), all right with the wrist drive pinion (68) of the right planetary gear of each wrist (67) and the right inside gear of wrist (62-9) engage,
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), 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 joint according to claim 1, it is characterized in that: described shoulder support plate (22) makes one with shoulder bracing frame (7), elbow support plate (30), elbow connecting plate (29) and wrist support (37) make one, and one made by wrist support plate (50), wrist connecting plate (49) and wrist bracing frame (57).
3. the upper limbs ectoskeleton based on parallel drive joint according to claim 1 and 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 joint 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. the upper limbs ectoskeleton based on parallel drive joint according to claim 1,2 or 4, it is characterized in that: three left planetary gears of elbow (46) are arranged along same circumference uniform distribution, three right planetary gears of elbow (47) are arranged along same circumference uniform distribution.
6. the upper limbs ectoskeleton based on parallel drive joint according to claim 5, is characterized in that: three left planetary gears of wrist (66) are arranged along same circumference uniform distribution, and three right planetary gears of wrist (67) are arranged along same circumference uniform distribution.
7. the upper limbs ectoskeleton based on parallel drive joint according to claim 6, it is characterized in that: described shoulder left gear case (12-2), shoulder right gear case (12-3) and shoulder support ring (12-1) make one, one made by described elbow left gear case (42-2), elbow right gear case (42-3) and elbow support ring (42-1), and one made by described wrist left gear case (62-2), wrist right gear case (62-3) and wrist support ring (62-1).
8. the upper limbs ectoskeleton based on parallel drive joint according to claim 7, it is characterized in that: described shoulder drives bracing frame (12) also to comprise gear baffle (12-8), gear baffle (12-8) is positioned at the below of upper arm fixed mount (21) and is arranged on the side of inner ring bevel gear (9) and outer ring bevel gear (11), and gear baffle (12-8) makes one with shoulder support ring (12-1).
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