CN105252522A - Flexible transmission upper-limb exoskeleton robot for wearing - Google Patents

Flexible transmission upper-limb exoskeleton robot for wearing Download PDF

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Publication number
CN105252522A
CN105252522A CN201510811638.8A CN201510811638A CN105252522A CN 105252522 A CN105252522 A CN 105252522A CN 201510811638 A CN201510811638 A CN 201510811638A CN 105252522 A CN105252522 A CN 105252522A
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CN
China
Prior art keywords
joint
shoulder
fixed wheel
planetary gear
elbow
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CN201510811638.8A
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Chinese (zh)
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CN105252522B (en
Inventor
高永生
肖飞云
朱延河
王胜新
赵杰
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Harbin Institute of Technology
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Harbin Institute of Technology
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Priority to CN201510811638.8A priority Critical patent/CN105252522B/en
Publication of CN105252522A publication Critical patent/CN105252522A/en
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Publication of CN105252522B publication Critical patent/CN105252522B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure

Abstract

The invention discloses a flexible transmission upper-limb exoskeleton robot for wearing, relates to a robot for wearing, and aims to solve such problems as low rigidity and weak loading capacity due to an upper-limb exoskeleton robot belonging to a serial connecting structure and caused incapability of safe and reliable life assistance for weak people. A wrist joint mechanism comprises a wrist joint driving fixed wheel, a human body palm fixed piece, a wrist joint moving wheel connecting piece, a wrist joint planet gear, a wrist joint driving rod, a wrist joint driving rod power input wheel, an exoskeleton front arm, an L-shaped connecting piece and a wrist joint steel wire rope; an elbow joint mechanism comprises an elbow joint planet gear, an elbow joint planet gear support frame, a first elbow joint driving fixed wheel, a second elbow joint driving fixed wheel, an elbow joint connecting upper arm frame, a U-shaped frame body and an elbow joint steel wire rope; and a shoulder joint mechanism comprises a shoulder joint planet gear, a shoulder joint driving fixed wheel, an exoskeleton support piece, a jack component, a shoulder joint driving fixed wheel connecting plate, a shoulder joint driving piece, an exoskeleton upper arm, a shoulder joint steel wire rope and an exoskeleton upper arm connecting shaft. The flexible transmission upper-limb exoskeleton robot for wearing is applied to the field of robot operation.

Description

A kind of Flexible Transmission upper limbs exoskeleton robot for dressing
Technical field
The present invention relates to a kind of robot for dressing, being specifically related to a kind of Flexible Transmission upper limbs exoskeleton robot for dressing.
Background technology
At present, a lot of national Aging of Population problem, such as Chinese, Japanese, Italian.Along with the quickening of rhythm of life now, the elderly occurs that the probability of various dyskinesia also increases year by year.Meanwhile, the crowd of physical function damage or deformity is also faced with dyskinesia problem.Upper extremity exercise function is assisted and upper extremity exercise function rehabilitation training has vital effect to weak crowd.Upper limbs ectoskeleton can assist weak crowd preferably, current upper limbs exoskeleton robot belongs to cascade structure, there is the problems such as rigidity is low, heavy burden ability, cause it not live auxiliary for weak crowd safely and reliably, therefore need a kind of robot that can solve problems.
Summary of the invention
Content of the present invention belongs to cascade structure to solve upper limbs exoskeleton robot, there is the problems such as rigidity is low, heavy burden ability, cause it not live auxiliary for weak crowd safely and reliably, and then a kind of Flexible Transmission upper limbs exoskeleton robot for dressing is provided.
The present invention is the technical scheme adopted that solves the problem:
A kind of Flexible Transmission upper limbs exoskeleton robot for dressing, it comprises wrist joint mechanism, elbow joint mechanism, shoulder joint mechanism and backboard, wrist joint mechanism comprises wrist joint and drives fixed wheel, human body palm fixture, wrist joint driving wheel connector, wrist joint planetary gear, wrist joint drive rod, wrist joint drive rod power input wheel, ectoskeleton forearm, ' L ' shape connector and two wrist joint steel wire ropes, elbow joint mechanism comprises elbow joint planetary gear, elbow joint planetary gear bracing frame, first elbow joint drives fixed wheel, second elbow joint drives fixed wheel, elbow joint connects upper jib, ' U ' shape framework and four elbow joint steel wire ropes, shoulder joint mechanism comprises shoulder joint planetary gear, shoulder joint drives fixed wheel, ectoskeleton support member, jack assembly, shoulder joint drives fixed wheel connecting plate, shoulder joint actuator, two ectoskeleton upper arm, two shoulder joint steel wire ropes and two ectoskeleton upper arm connecting axles,
Wrist joint drives fixed wheel and wrist joint planetary gear to be disc, wrist joint drives on fixed wheel and is processed with two shoulders, wrist joint planetary gear is processed with groove and two shoulders, wrist joint drive rod is ' L ' shape plate, human body palm fixture is fixedly mounted on one end of wrist joint driving wheel connector, the other end of wrist joint driving wheel connector is fixedly mounted on the middle part of wrist joint planetary gear by bearing pin, one end of wrist joint drive rod is rotationally connected the middle part being arranged on wrist joint planetary gear by bearing pin, the other end of wrist joint drive rod is fixedly connected with wrist joint drive rod power input wheel by fixed axis, wrist joint drive rod power input wheel is connected with ectoskeleton forearm rotation by fixed axis, wrist joint drives fixed wheel to arrange near wrist joint planetary gear, wrist joint drives fixed wheel to be connected with ectoskeleton forearm rotation by bearing pin, wrist joint drives fixed wheel and wrist joint planetary gear to be all rotationally connected with ' L ' shape connector, two wrist joint steel wire ropes are all arranged on wrist joint and drive on fixed wheel and wrist joint planetary gear, one end of each wrist joint steel wire rope is all fixedly mounted on wrist joint and drives on a shoulder of fixed wheel, the other end of each wrist joint steel wire rope is walked around wrist joint and is driven a shoulder of fixed wheel and a shoulder of wrist joint planetary gear and be fixedly mounted on wrist joint planetary gear shoulder,
Elbow joint planetary gear, first elbow joint drives fixed wheel and the second elbow joint to drive fixed wheel to be disc, elbow joint planetary gear is processed with groove and four shoulders, first elbow joint drives on fixed wheel and is processed with four shoulders, second elbow joint drives on fixed wheel and is processed with four shoulders, ectoskeleton forearm is fixedly mounted on elbow joint planetary gear bracing frame, elbow joint planetary gear bracing frame is fixedly mounted on elbow joint planetary gear, four elbow joint steel wire ropes are arranged on elbow joint planetary gear, first elbow joint drives fixed wheel and the second elbow joint to drive fixed wheel to arrange near elbow joint planetary gear, elbow joint planetary gear, first elbow joint drives fixed wheel and the second elbow joint to drive fixed wheel to be all rotationally connected by bearing pin and ' U ' shape framework, and the first elbow joint drives fixed wheel and the second elbow joint to drive fixed wheel to be rotationally connected is arranged on elbow joint and is connected on jib, elbow joint planetary gear is arranged on the first elbow joint and drives fixed wheel and the second elbow joint to drive between fixed wheel, each shoulder of elbow joint planetary gear is provided with an elbow joint steel wire rope, one end of each elbow joint steel wire rope is all fixedly mounted on the shoulder of elbow joint planetary gear, in four elbow joint steel wire ropes, the other end of two elbow joint steel wire ropes is arranged on the first elbow joint driving fixed wheel, and the other end of each elbow joint steel wire rope is walked around the shoulder of elbow joint planetary gear and the first elbow joint and is driven the shoulder on fixed wheel and be fixedly mounted on the first elbow joint and drive on the shoulder of fixed wheel, in four elbow joint steel wire ropes, the other end of two other elbow joint steel wire rope is arranged on the second elbow joint driving fixed wheel, and the other end of each elbow joint steel wire rope is walked around the shoulder of elbow joint planetary gear and the second elbow joint and is driven the shoulder on fixed wheel and be fixedly mounted on the second elbow joint and drive on the shoulder of fixed wheel,
Shoulder joint planetary gear is disc, shoulder joint drives fixed wheel and shoulder joint actuator to be annular solid, shoulder joint drives on the periphery of fixed wheel and is processed with groove and two shoulders, the periphery of shoulder joint actuator is processed with groove, shoulder joint planetary gear is processed with respectively two shoulders, each ectoskeleton upper arm is separately installed with an ectoskeleton upper arm connecting axle, two ectoskeleton upper arm are all fixedly mounted on elbow joint and connect on upper jib, each ectoskeleton upper arm connecting axle is all arranged on shoulder joint actuator, ectoskeleton upper arm connecting axle and shoulder joint actuator are rotationally connected, shoulder joint planetary gear is fixedly mounted on an ectoskeleton upper arm, shoulder joint planetary gear drives fixed wheel to arrange near shoulder joint, shoulder joint planetary gear is provided with two shoulder joint steel wire ropes, one end of each shoulder joint steel wire rope is fixedly mounted on a shoulder on shoulder joint planetary gear respectively, the other end of each shoulder joint steel wire rope is walked around the shoulder of shoulder joint planetary gear and shoulder joint respectively and is driven the shoulder of fixed wheel and be fixedly mounted on shoulder joint and drive on the shoulder of fixed wheel, shoulder joint drives fixed wheel and shoulder joint actuator to be all inlaid in ectoskeleton support member, ectoskeleton support member is arranged on shoulder joint and drives on fixed wheel connecting plate, shoulder joint drives fixed wheel connecting plate to be arranged on backboard by jack assembly.
The invention has the beneficial effects as follows:
1, Wearable upper limb exoskeleton robot of the present invention is by driving human body upper arm, and forearm and palm move and assisting patient life, and can be used for patient's rehabilitation training of upper limbs.
2, the present invention is a kind parallel institution, and each free degree is moved by two member supporting and driving, so relative to existing tandem upper limbs ectoskeleton, its rigidity is high, and bearing capacity is strong.
3, the present invention adopts wire rope gearing, and wire rope gearing noise is low, and precision is high, stable drive.
4, invention possesses articulation center guiding mechanism, and can change ectoskeleton size according to Different Individual, the scope of application is wide.
5, the present invention can be widely used in old man, disabled person lives auxiliary and rehabilitation training.
Accompanying drawing explanation
Fig. 1 is overall structure front view of the present invention, (wrist joint steel wire rope 23 is not installed in this structure, elbow joint steel wire rope 24 and shoulder joint steel wire rope 25), Fig. 2 is overall structure schematic diagram of the present invention, (wrist joint steel wire rope 23 is not installed in this structure, elbow joint steel wire rope 24 and shoulder joint steel wire rope 25), the front view of Tu3Shi wrist joint mechanism, (wrist joint steel wire rope 23 is not installed in this figure), the structural representation of Tu4Shi wrist joint mechanism, the front view of Tu5Shi elbow joint mechanism, (elbow joint steel wire rope 24 is not installed in this figure), Tu6Shi elbow joint mechanism structural representation, the structural representation of Tu7Shi shoulder joint mechanism, the front view of Tu8Shi shoulder joint mechanism, (shoulder joint steel wire rope 25 is not installed in this figure), Fig. 9 is A-A direction view in Fig. 8, Figure 10 is I place enlarged drawing in Fig. 9.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Figure 10 illustrates present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, it comprises wrist joint mechanism, elbow joint mechanism, shoulder joint mechanism and backboard 22, wrist joint mechanism comprises wrist joint and drives fixed wheel 1, human body palm fixture 2, wrist joint driving wheel connector 3, wrist joint planetary gear 4, wrist joint drive rod 5, wrist joint drive rod power input wheel 6, ectoskeleton forearm 7, ' L ' shape connector 27 and two wrist joint steel wire ropes 23, elbow joint mechanism comprises elbow joint planetary gear 8, elbow joint planetary gear bracing frame 9, first elbow joint drives fixed wheel 10, second elbow joint drives fixed wheel 11, elbow joint connects upper jib 12, ' U ' shape framework 26 and four elbow joint steel wire ropes 24, shoulder joint mechanism comprises shoulder joint planetary gear 13, shoulder joint drives fixed wheel 16, ectoskeleton support member 17, jack assembly, shoulder joint drives fixed wheel connecting plate 29, shoulder joint actuator 14, two ectoskeleton upper arm 15, two shoulder joint steel wire ropes 25 and two ectoskeleton upper arm connecting axles 28,
Wrist joint drives fixed wheel 1 and wrist joint planetary gear 4 to be disc, wrist joint drives on fixed wheel 1 and is processed with two shoulders, wrist joint planetary gear 4 is processed with groove and two shoulders, wrist joint drive rod 5 is ' L ' shape plate, human body palm fixture 2 is fixedly mounted on one end of wrist joint driving wheel connector 3, the other end of wrist joint driving wheel connector 3 is fixedly mounted on the middle part of wrist joint planetary gear 4 by bearing pin, one end of wrist joint drive rod 5 is rotationally connected the middle part being arranged on wrist joint planetary gear 4 by bearing pin, the other end of wrist joint drive rod 5 is fixedly connected with wrist joint drive rod power input wheel 6 by fixed axis, wrist joint drive rod power input wheel 6 is rotationally connected by fixed axis and ectoskeleton forearm 7, wrist joint drives fixed wheel 1 to arrange near wrist joint planetary gear 4, wrist joint drives fixed wheel 1 to be rotationally connected by bearing pin and ectoskeleton forearm 7, wrist joint drives fixed wheel 1 and wrist joint planetary gear 4 to be all rotationally connected with ' L ' shape connector 27, two wrist joint steel wire ropes 23 are all arranged on wrist joint and drive on fixed wheel 1 and wrist joint planetary gear 4, one end of each wrist joint steel wire rope 23 is all fixedly mounted on wrist joint and drives on a shoulder of fixed wheel 1, the other end of each wrist joint steel wire rope 23 is walked around wrist joint and is driven a shoulder of fixed wheel 1 and a shoulder of wrist joint planetary gear 4 and be fixedly mounted on wrist joint planetary gear 4 shoulder, and two wrist joint steel wire ropes 23 drive on fixed wheel 1 and wrist joint planetary gear 4 in reverse-winding at wrist joint,
Elbow joint planetary gear 8, first elbow joint drives fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to be disc, elbow joint planetary gear 8 is processed with groove and four shoulders, first elbow joint drives on fixed wheel 10 and is processed with four shoulders, second elbow joint drives on fixed wheel 11 and is processed with four shoulders, ectoskeleton forearm 7 is fixedly mounted on elbow joint planetary gear bracing frame 9, elbow joint planetary gear bracing frame 9 is fixedly mounted on elbow joint planetary gear 8, four elbow joint steel wire ropes 24 are arranged on elbow joint planetary gear 8, first elbow joint drives fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to arrange near elbow joint planetary gear 8, elbow joint planetary gear 8, first elbow joint drives fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to be all rotationally connected by bearing pin and ' U ' shape framework 26, and the first elbow joint drives fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to be rotationally connected is arranged on elbow joint and is connected on jib 12, elbow joint planetary gear 8 is arranged on the first elbow joint and drives fixed wheel 10 and the second elbow joint to drive between fixed wheel 11, each shoulder of elbow joint planetary gear 8 is provided with an elbow joint steel wire rope 24, one end of each elbow joint steel wire rope 24 is all fixedly mounted on the shoulder of elbow joint planetary gear 8, in four elbow joint steel wire ropes 24, the other end of two elbow joint steel wire ropes 24 is arranged on the first elbow joint driving fixed wheel 10, and the other end of each elbow joint steel wire rope 24 is walked around the shoulder of elbow joint planetary gear 8 and the first elbow joint and is driven the shoulder on fixed wheel 10 and be fixedly mounted on the first elbow joint and drive on the shoulder of fixed wheel 10, in four elbow joint steel wire ropes 24, the other end of two other elbow joint steel wire rope 24 is arranged on the second elbow joint driving fixed wheel 11, and the other end of each elbow joint steel wire rope 24 is walked around the shoulder of elbow joint planetary gear 8 and the second elbow joint and is driven the shoulder on fixed wheel 11 and be fixedly mounted on the second elbow joint and drive on the shoulder of fixed wheel 11, and two elbow joint steel wire ropes 24 drive on fixed wheel 10 and elbow joint planetary gear 8 in reverse-winding at the first elbow joint, and two other elbow joint steel wire rope 24 drives on fixed wheel 11 and elbow joint planetary gear 8 in reverse-winding at the second elbow joint,
Shoulder joint planetary gear 13 is disc, shoulder joint drives fixed wheel 16 and shoulder joint actuator 14 to be annular solid, shoulder joint drives on the periphery of fixed wheel 16 and is processed with groove and two shoulders, the periphery of shoulder joint actuator 14 is processed with groove, shoulder joint planetary gear 13 is processed with respectively two shoulders, each ectoskeleton upper arm 15 is separately installed with an ectoskeleton upper arm connecting axle 28, two ectoskeleton upper arm 15 are all fixedly mounted on elbow joint and connect on upper jib 12, each ectoskeleton upper arm connecting axle 28 is all arranged on shoulder joint actuator 14, ectoskeleton upper arm connecting axle 28 and shoulder joint actuator 14 are rotationally connected, shoulder joint planetary gear 13 is fixedly mounted on an ectoskeleton upper arm 15, shoulder joint planetary gear 13 drives fixed wheel 16 to arrange near shoulder joint, shoulder joint planetary gear 13 is provided with two shoulder joint steel wire ropes 25, one end of each shoulder joint steel wire rope 25 is fixedly mounted on a shoulder on shoulder joint planetary gear 13 respectively, the other end of each shoulder joint steel wire rope 25 is walked around the shoulder of shoulder joint planetary gear 13 and shoulder joint respectively and is driven the shoulder of fixed wheel 16 and be fixedly mounted on shoulder joint and drive on the shoulder of fixed wheel 16, shoulder joint drives fixed wheel 16 and shoulder joint actuator 14 to be all inlaid in ectoskeleton support member 17, and two shoulder joint steel wire ropes 25 drive on fixed wheel 16 and shoulder joint planetary gear 13 in reverse-winding in shoulder joint, ectoskeleton support member 17 is arranged on shoulder joint and drives on fixed wheel connecting plate 29, shoulder joint drives fixed wheel connecting plate 29 to be arranged on backboard 22 by jack assembly.
Start to slap the rotation that fixture 2 can carry out two frees degree by external motor rotating band in present embodiment, the wrist joint driving palm fixture 2 to rotate corresponding human body by external motor carries out flexion and extension and outreach adduction campaign, the first elbow joint is driven to drive fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to rotate respectively by external motor, elbow joint planetary gear 8 is driven to carry out revolution and automatically rotate, so drive elbow joint planetary gear 8 to carry out moving the flexion and extension of corresponding human elbow and the outward turning of elbow joint and inward turning motion, driving shoulder joint to drive fixed wheel 16 and shoulder joint actuator 14 to rotate respectively by external motor drives shoulder joint planetary gear 13 to carry out revolving round the sun and spinning motion, rotate the corresponding flexion and extension of human body shoulder joint and the abduction of shoulder joint and adduction by shoulder joint planetary gear 13 to move, and then reach the ectoskeletal six-freedom degree motion of upper limbs.
Detailed description of the invention two: composition graphs 1-Fig. 2 illustrates present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, described jack assembly comprises scissor jack upper mounting plate 18, scissor jack regulating part 19, scissor jack supporting rod 20 and scissor jack lower platform 21, described shoulder joint drives fixed wheel connecting plate 29 to be ' Z ' shape plate, scissor jack upper mounting plate 18 is fixedly mounted on shoulder joint and drives on the lower surface of fixed wheel connecting plate 29 top board, scissor jack lower platform 21 is arranged on the below of scissor jack upper mounting plate 18, scissor jack lower platform 21 is connected by scissor jack supporting rod 20 with scissor jack upper mounting plate 18, scissor jack regulating part 19 is arranged on scissor jack supporting rod 20, scissor jack lower platform 21 is fixedly mounted on backboard 22, other is identical with detailed description of the invention one.
In present embodiment, scissor jack regulating part 19 is for regulating the upper-lower position at upper limbs ectoskeleton shoulder joint center; Relative motion between scissor jack upper mounting plate 18 and ectoskeleton support member 17 is for regulating the right position at upper limbs ectoskeleton shoulder joint center; Relative motion between scissor jack lower platform 21 and backboard 22 is for regulating the front and back position at upper limbs ectoskeleton shoulder joint center.
Detailed description of the invention three: composition graphs 9 and Figure 10 illustrate present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, described shoulder joint drives on the upper surface of fixed wheel connecting plate 29 base plate and is processed with two grooves, described shoulder joint drives the inner ring surface of fixed wheel 16 to be processed with annular groove, the inner ring surface of shoulder joint actuator 14 is processed with annular groove, and other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 9 and Figure 10 illustrate present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, it also comprises multiple steel ball 30, annular groove and the shoulder joint of joint drive fixed wheel 16 drive that fixed wheel connecting plate 29 groove is corresponding to be arranged, annular groove and the shoulder joint of shoulder joint actuator 14 drive that another groove of fixed wheel connecting plate 29 is corresponding to be arranged, multiple steel ball 30 is arranged in two grooves on the upper surface of shoulder joint driving fixed wheel connecting plate 29 base plate respectively, other is identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1-Fig. 2 illustrates present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, described shoulder joint mechanism also comprises two and connects otic placode, two connect otic placode and are relatively fixedly mounted on respectively on the same side of shoulder joint actuator 14, and each ectoskeleton upper arm connecting axle 28 connects by being connected otic placode with shoulder joint actuator 14, bearing is provided with between each connection otic placode and ectoskeleton upper arm connecting axle 28, each connection otic placode and ectoskeleton upper arm connecting axle 28 are rotationally connected by bearing, other is identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1-Figure 10 illustrates present embodiment, a kind of Flexible Transmission upper limbs exoskeleton robot for dressing described in present embodiment, described wrist joint drives the center line of fixed wheel 1 and the central axis of wrist joint planetary gear 4 to arrange, first elbow joint drives fixed wheel 10 and the second elbow joint to drive fixed wheel 11 coaxially to arrange, and the first elbow joint drives the center line of the center line of fixed wheel 10 and elbow joint planetary gear 8 orthogonal, shoulder joint actuator 14 and shoulder joint drive fixed wheel 16 coaxially to arrange, and the central axis of the center line of shoulder joint actuator 14 and shoulder joint planetary gear 13 is arranged, other is identical with detailed description of the invention five.
Operation principle
Can by Liang Zu wrist joint mechanism during work, elbow joint mechanism and shoulder joint mechanism are symmetrical arranged to be arranged on backboard 22 and carry out work, also work independently by the present invention, back board part and human body back are fitted, outside of the present invention is provided with multiple motor, multiple external motor drives fixed wheel 1 to be communicated with respectively by conveyer belt and wrist joint, be communicated with wrist joint drive rod power input wheel 6, fixed wheel 10 is driven to be communicated with the first elbow joint, fixed wheel 11 is driven to be communicated with the second elbow joint, fixed wheel 16 is driven to be communicated with shoulder joint, and be communicated with shoulder joint actuator 14, external motor drives wrist joint drive rod power input wheel 6 rotate and then drive wrist joint driving wheel connector 3, wrist joint planetary gear 4, wrist joint drive rod 5 is simultaneously around the center rotating of wrist joint drive rod power input wheel 6.Wrist joint planetary gear 4 also rotates around its center while the center rotating of wrist joint drive rod power input wheel 6, external motor drives wrist joint to drive fixed wheel 1 to rotate through wrist joint steel wire rope 23 and drives wrist joint planetary gear 4 to rotate around its center, adjust wrist joint planetary gear 4 around the center rotating of wrist joint drive rod power input human relations 6 and the angular speed size and Orientation rotating both direction around its center.External motor drives the first elbow joint to drive fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to rotate respectively, elbow joint planetary gear 8 is driven to move by elbow joint steel wire rope 24, elbow joint planetary gear 8 drives fixed wheel 10 center to carry out rotating and around the center rotating of elbow joint planetary gear 8 around the first elbow joint, change elbow joint planetary gear 8 drive fixed wheel 10 center around the first elbow joint by changing the first elbow joint and driving fixed wheel 10 and the second elbow joint to drive the concrete angular speed direction of fixed wheel 11 and size and rotate angular speed size and the direction of both direction around elbow joint planetary gear 8 its center, external motor drives shoulder joint actuator 14 rotate thus drive shoulder joint planetary gear 13 also to rotate around its center while ectoskeleton support member 17 center rotating.External motor drives shoulder joint to drive fixed wheel 16 rotate and drive shoulder joint planetary gear 13 around shoulder joint planetary gear 13 center rotating by shoulder joint steel wire rope 25, adjustment shoulder joint planetary gear 13 is around ectoskeleton support member 17 center rotating and the angular speed size and Orientation around own rotation both direction, and then complete the ectoskeletal six-freedom degree motion of upper limbs, reach the object of work of the present invention.

Claims (5)

1. the Flexible Transmission upper limbs exoskeleton robot for dressing, is characterized in that: it comprises wrist joint mechanism, elbow joint mechanism, shoulder joint mechanism and backboard (22), wrist joint mechanism comprises wrist joint and drives fixed wheel (1), human body palm fixture (2), wrist joint driving wheel connector (3), wrist joint planetary gear (4), wrist joint drive rod (5), wrist joint drive rod power input wheel (6), ectoskeleton forearm (7), ' L ' shape connector (27) and two wrist joint steel wire ropes (23), elbow joint mechanism comprises elbow joint planetary gear (8), elbow joint planetary gear bracing frame (9), first elbow joint drives fixed wheel (10), second elbow joint drives fixed wheel (11), elbow joint connects upper jib (12), ' U ' shape framework (26) and four elbow joint steel wire ropes (24), shoulder joint mechanism comprises shoulder joint planetary gear (13), shoulder joint drives fixed wheel (16), ectoskeleton support member (17), jack assembly, shoulder joint drives fixed wheel connecting plate (29), shoulder joint actuator (14), two ectoskeleton upper arm (15), two shoulder joint steel wire ropes (25) and two ectoskeleton upper arm connecting axles (28),
Wrist joint drives fixed wheel (1) and wrist joint planetary gear (4) to be disc, wrist joint drives on fixed wheel (1) and is processed with two shoulders, wrist joint planetary gear (4) is processed with groove and two shoulders, wrist joint drive rod (5) is ' L ' shape plate, human body palm fixture (2) is fixedly mounted on one end of wrist joint driving wheel connector (3), the other end of wrist joint driving wheel connector (3) is fixedly mounted on the middle part of wrist joint planetary gear (4) by bearing pin, one end of wrist joint drive rod (5) is rotationally connected the middle part being arranged on wrist joint planetary gear (4) by bearing pin, the other end of wrist joint drive rod (5) is fixedly connected with wrist joint drive rod power input wheel (6) by fixed axis, wrist joint drive rod power input wheel (6) is rotationally connected by fixed axis and ectoskeleton forearm (7), wrist joint drives fixed wheel (1) to arrange near wrist joint planetary gear (4), wrist joint drives fixed wheel (1) to be rotationally connected by bearing pin and ectoskeleton forearm (7), wrist joint drives fixed wheel (1) and wrist joint planetary gear (4) to be all rotationally connected with ' L ' shape connector (27), two wrist joint steel wire ropes (23) are all arranged on wrist joint and drive on fixed wheel (1) and wrist joint planetary gear (4), one end of each wrist joint steel wire rope (23) is all fixedly mounted on wrist joint and drives on a shoulder of fixed wheel (1), the other end of each wrist joint steel wire rope (23) is walked around wrist joint and is driven a shoulder of fixed wheel (1) and a shoulder of wrist joint planetary gear (4) and be fixedly mounted on wrist joint planetary gear (4) shoulder
Elbow joint planetary gear (8), first elbow joint drives fixed wheel (10) and the second elbow joint to drive fixed wheel (11) to be disc, elbow joint planetary gear (8) is processed with groove and four shoulders, first elbow joint drives on fixed wheel (10) and is processed with four shoulders, second elbow joint drives on fixed wheel (11) and is processed with four shoulders, ectoskeleton forearm (7) is fixedly mounted on elbow joint planetary gear bracing frame (9), elbow joint planetary gear bracing frame (9) is fixedly mounted on elbow joint planetary gear (8), four elbow joint steel wire ropes (24) are arranged on elbow joint planetary gear (8), first elbow joint drives fixed wheel (10) and the second elbow joint to drive fixed wheel (11) to arrange near elbow joint planetary gear (8), elbow joint planetary gear (8), first elbow joint drives fixed wheel (10) and the second elbow joint to drive fixed wheel (11) to be all rotationally connected by bearing pin and ' U ' shape framework (26), and the first elbow joint drives fixed wheel (10) and the second elbow joint driving fixed wheel (11) to be rotationally connected is arranged on elbow joint and is connected on jib (12), elbow joint planetary gear (8) is arranged on the first elbow joint and drives fixed wheel (10) and the second elbow joint to drive between fixed wheel (11), each shoulder of elbow joint planetary gear (8) is provided with an elbow joint steel wire rope (24), one end of each elbow joint steel wire rope (24) is all fixedly mounted on the shoulder of elbow joint planetary gear (8), in four elbow joint steel wire ropes (24), the other end of two elbow joint steel wire ropes (24) is arranged on the first elbow joint driving fixed wheel (10), and the other end of each elbow joint steel wire rope (24) is walked around the shoulder of elbow joint planetary gear (8) and the first elbow joint and is driven the shoulder on fixed wheel (10) and be fixedly mounted on the first elbow joint and drive on the shoulder of fixed wheel (10), in four elbow joint steel wire ropes (24), the other end of two other elbow joint steel wire rope (24) is arranged on the second elbow joint driving fixed wheel (11), and the other end of each elbow joint steel wire rope (24) is walked around the shoulder of elbow joint planetary gear (8) and the second elbow joint and is driven the shoulder on fixed wheel (11) and be fixedly mounted on the second elbow joint and drive on the shoulder of fixed wheel (11)
Shoulder joint planetary gear (13) is disc, shoulder joint drives fixed wheel (16) and shoulder joint actuator (14) to be annular solid, shoulder joint drives on the periphery of fixed wheel (16) and is processed with groove and two shoulders, the periphery of shoulder joint actuator (14) is processed with groove, shoulder joint planetary gear (13) is processed with respectively two shoulders, each ectoskeleton upper arm (15) is separately installed with an ectoskeleton upper arm connecting axle (28), two ectoskeleton upper arm (15) are all fixedly mounted on elbow joint and connect on upper jib (12), each ectoskeleton upper arm connecting axle (28) is all arranged on shoulder joint actuator (14), ectoskeleton upper arm connecting axle (28) and shoulder joint actuator (14) are rotationally connected, shoulder joint planetary gear (13) is fixedly mounted on an ectoskeleton upper arm (15), shoulder joint planetary gear (13) drives fixed wheel (16) to arrange near shoulder joint, shoulder joint planetary gear (13) is provided with two shoulder joint steel wire ropes (25), one end of each shoulder joint steel wire rope (25) is fixedly mounted on a shoulder on shoulder joint planetary gear (13) respectively, the other end of each shoulder joint steel wire rope (25) is walked around the shoulder of shoulder joint planetary gear (13) and shoulder joint respectively and is driven the shoulder of fixed wheel (16) and be fixedly mounted on shoulder joint and drive on the shoulder of fixed wheel (16), shoulder joint drives fixed wheel (16) and shoulder joint actuator (14) to be all inlaid in ectoskeleton support member (17), ectoskeleton support member (17) is arranged on shoulder joint and drives on fixed wheel connecting plate (29), shoulder joint drives fixed wheel connecting plate (29) to be arranged on backboard (22) by jack assembly.
2. a kind of Flexible Transmission upper limbs exoskeleton robot for dressing according to claim 1, it is characterized in that: described jack assembly comprises scissor jack upper mounting plate (18), scissor jack regulating part (19), scissor jack supporting rod (20) and scissor jack lower platform (21), described shoulder joint drives fixed wheel connecting plate (29) to be ' Z ' shape plate, scissor jack upper mounting plate (18) is fixedly mounted on shoulder joint and drives on the lower surface of fixed wheel connecting plate (29) top board, scissor jack lower platform (21) is arranged on the below of scissor jack upper mounting plate (18), scissor jack lower platform (21) is connected by scissor jack supporting rod (20) with scissor jack upper mounting plate (18), scissor jack regulating part (19) is arranged on scissor jack supporting rod (20), scissor jack lower platform (21) is fixedly mounted on backboard (22).
3. a kind of Flexible Transmission upper limbs exoskeleton robot for dressing according to claim 1, it is characterized in that: described shoulder joint drives on the upper surface of fixed wheel connecting plate (29) base plate and is processed with two grooves, described shoulder joint drives the inner ring surface of fixed wheel (16) to be processed with annular groove, and the inner ring surface of shoulder joint actuator (14) is processed with annular groove.
4. a kind of Flexible Transmission upper limbs exoskeleton robot for dressing according to claim 1, it is characterized in that: it also comprises multiple steel ball (30), annular groove and the shoulder joint of joint drive fixed wheel (16) drive that a groove of fixed wheel connecting plate (29) is corresponding to be arranged, annular groove and the shoulder joint of shoulder joint actuator (14) drive that another groove of fixed wheel connecting plate (29) is corresponding to be arranged, and multiple steel ball (30) is arranged in two grooves that shoulder joint drives on the upper surface of fixed wheel connecting plate (29) base plate respectively.
5. a kind of Flexible Transmission upper limbs exoskeleton robot for dressing according to claim 1, it is characterized in that: described shoulder joint mechanism also comprises two and connects otic placode, two connect otic placode and are relatively fixedly mounted on respectively on the same side of shoulder joint actuator (14), and each ectoskeleton upper arm connecting axle (28) connects by being connected otic placode with shoulder joint actuator (14), be provided with bearing between each connection otic placode and ectoskeleton upper arm connecting axle (28), each connection otic placode and ectoskeleton upper arm connecting axle (28) are rotationally connected by bearing.
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