CN107097210A - A kind of upper limbs ectoskeleton with five degree of freedom shoulder structure - Google Patents
A kind of upper limbs ectoskeleton with five degree of freedom shoulder structure Download PDFInfo
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- CN107097210A CN107097210A CN201710201284.4A CN201710201284A CN107097210A CN 107097210 A CN107097210 A CN 107097210A CN 201710201284 A CN201710201284 A CN 201710201284A CN 107097210 A CN107097210 A CN 107097210A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
A kind of upper limbs ectoskeleton with five degree of freedom shoulder structure, is related to upper limbs ectoskeleton field；Swung support, shoulder blade support frame, shoulder joint swing support, shoulder joint horizontal rotary mechanism, big arm configuration and forearm structure including back support, clavicle swing support, parallelogram clavicle luffing mechanism, shoulder joint；Swing support, shoulder blade support frame, shoulder joint swing support, shoulder joint horizontal rotary mechanism, big arm configuration and forearm structure of back support, clavicle swing support, parallelogram clavicle luffing mechanism, shoulder joint is fixedly connected sequentially；Realize that each mechanism realizes rotary motion around rotary shaft J1 J7；It is of the invention compared with traditional two degrees of freedom or Three Degree Of Freedom upper limbs shoulder structure, with more preferable skeleton move concertedness, the uniformity of multifreedom motion, human body wearing comfortableness and shoulder compound action integration.
Description
Technical field
The present invention relates to upper limbs ectoskeleton field, particularly a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure.
Background technology
China has apoplexy, the up to ten million people of hemiplegic patient, and annual neopathy paralytic is above 2,000,000 people, also have by
Year increasing trend, just has people's apoplexy for every 12 seconds, just has a people to die from apoplexy within every 21 seconds；With Chinese population aging plus
After play, the year two thousand twenty, China's elderly population are up to 300,000,000；And the trouble of physical disabilities personnel, skeletal muscle injury and Sarcopenia
Person, joint injury sportsman etc., the target group in medical rehabilitation and field of helping the disabled are very huge.Medical exoskeleton robot is ground
Development processed will bring glad tidings to various physical handicaps patients.
The upper limbs of human body is very flexible, can make various actions, and efficiency is very high, still, and some crowds are due to natural disaster
Man-made calamity, upper extremity exercise ability sustains damage, and muscle has been unable to normal process and has either operated for a long time or need to carry out rehabilitation
Training could recover normal, or body upper limbs has disabled and movement defect.For this kind of crowd, deposited in their locomitivities
In the case of a fracture, it is necessary to which a can aid in the ectoskeleton of its normal life, it is helped to live.It is old with Chinese population
The aggravation in age, population health problem has welcome new challenge, especially limbs disturbance, as apoplexy, hemiplegia are brought
Medical rehabilitation field.The quantity of dysfunction and Physical Therapist increase than increasingly, caused result necessarily medical rehabilitation
The blowout of apparatus.It will be had under these circumstances by functional training and the medical exoskeleton robot researched and developed for the purpose of functional compensation
Very big development.
Upper limbs ectoskeleton shoulder structure is most complicated, and man-machine coordination motion design difficulty is maximum, to reduce design difficulty, at present
Designed more than domestic and international upper limbs ectoskeleton shoulder structure using two degrees of freedom and Three Degree Of Freedom, but simplify the internal structure of an organization design difficulty while
But sacrifice and move adaptable action with the shoulders of human body bone free degree, it is real that associated freedom movement angle does not reach human body yet
Border needs, it is difficult to matched one by one with human body each joint motions realization, so that bodily fuctions' adaptability is low, wearing comfort is poor,
The required motor function requirement of skeleton motion can not be completed, the effect of ectoskeleton man-machine coordination is reduced.
The content of the invention
It is an object of the invention to overcome prior art it is above-mentioned it is not enough there is provided a kind of with five degree of freedom shoulder structure
Upper limbs ectoskeleton, compared with traditional two degrees of freedom or Three Degree Of Freedom upper limbs shoulder structure, with the motion of more preferable skeleton
Concertedness, the uniformity of multifreedom motion, human body wearing comfortableness and shoulder compound action integration.
The above-mentioned purpose of the present invention is achieved by following technical solution：
A kind of upper limbs ectoskeleton with five degree of freedom shoulder structure, including back support, clavicle swing support,
Parallelogram clavicle luffing mechanism, shoulder joint swing support, shoulder blade support frame, shoulder joint swing branch
Frame, shoulder joint horizontal rotary mechanism, large arm swing driving speed-down motor system, big arm configuration, forearm swing driving
Speed-down motor system and forearm structure；Wherein, back support is the platy structure placed vertically, is fixed at human spine；
Clavicle swing support is fixedly mounted on the side on back support top；The one of parallelogram clavicle luffing mechanism
End is fixedly mounted on the side of clavicle swing support；Shoulder blade support frame is fixedly mounted on the bottom on parallelogram clavicle
The other end of motivation structure；The shoulder joint support that swings is fixedly connected with shoulder blade support frame；Shoulder joint horizontal rotary mechanism water
Placing flat and it is fixedly connected with the shoulder joint support that swings；Shoulder joint swing support is placed and is fixedly mounted on shoulder vertically
One end of articulation level rotating mechanism；Shoulder joint swing support is fixedly connected with one end of big arm configuration, and before shoulder joint
The junction of swinging mounting and big arm configuration is installed with large arm swing driving speed-down motor system afterwards；Forearm structure is consolidated
Dingan County is mounted in one end of big arm configuration, and the junction of forearm structure and big arm configuration is provided with forearm swing driving deceleration
Electric system.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, described clavicle swing support with
Hinge form is fixedly mounted on the side of back support, and rotary motion is realized on the narrow side around back support.
Above and below a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, described parallelogram clavicle
Swing mechanism includes two straight panels；One end of two straight panels is separately fixed at the side of clavicle swing support；Two straight panels
The other end be respectively and fixedly installed on shoulder blade support frame, realize two straight panel keeping parallelisms；Above and below parallelogram clavicle
Swing mechanism is rotatably connected with clavicle swing support, realizes that parallelogram clavicle luffing mechanism drives shoulder blade branch
Support is rotated upwardly and downwardly along the one end for being fixed on clavicle swing support.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, described shoulder joint horizontal rotary mechanism
Including three pin joint short connecting rods, two pin joint short connecting rods, three pin joint long connecting rods and two pin joint long connecting rods；Wherein, three it is hinged
Point short connecting rod, two pin joint short connecting rods, three pin joint long connecting rods and two pin joint long connecting rods are circular arc bar assembling structure；Two are hinged
One end of point long connecting rod and the shoulder joint support that swings are fixedly connected, and the other end and three pin joints of two pin joint long connecting rods are short
One end of connecting rod is fixedly connected；The other end of three pin joint short connecting rods is fixedly connected with shoulder joint swing support；Described three
Pin joint long connecting rod is located at the bottom of two pin joint long connecting rods, and one end and the shoulder joint of three pin joint long connecting rods swing branch
Frame is fixedly connected, and the other end of three pin joint long connecting rods is fixedly connected with two pin joint short connecting rods；Two pin joint short connecting rods are located at
The bottom of three pin joint short connecting rods, and the other end of two pin joint short connecting rods is fixedly connected with shoulder joint swing support.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the three pin joints long connecting rod and two hinges
Contact long connecting rod keeping parallelism, and three pin joint long connecting rods and two pin joint long connecting rods realize and are swung branch around with shoulder joint
The fixing end horizontal rotation of frame.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the three pin joints short connecting rod and two hinges
Contact short connecting rod keeping parallelism, and three pin joint short connecting rods realize around with the horizontal rotation of the fixing ends of two pin joint long connecting rods；
Two pin joint short connecting rods are realized to be horizontally rotated around with the fixing end of three pin joint long connecting rods.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the long L1 of three pin joints short connecting rod is
70~110mm；The two long L2 of pin joint short connecting rod are 50~90mm；The three long L3 of pin joint long connecting rod are 100~140mm；Two are hinged
The long L4 of point long connecting rod is 80~120mm.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the shoulder joint swings support
Horizontal movement axis J3, three pin joint long connecting rods and two pin joint long connecting rods horizontal movement axis J7, three pin joint short connecting rods
With the horizontal movement axis J6 of two pin joint short connecting rods and the horizontal movement axis J1 of shoulder joint swing support extended line,
Intersect at the shoulder joint point of rotation J2 of human body.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the three pin joints long connecting rod and shoulder joint
The tie point for the support that swings is saved, the line for the support tie point that swung with two pin joint long connecting rods and shoulder joint, with putting down
The angle theta 2 of row quadrangle clavicle luffing mechanism horizontal plane is 60~80 °；Three pin joint short connecting rods before and after shoulder joint with putting
The tie point of dynamic support, the line with two pin joint short connecting rods and shoulder joint swing support tie point, with large arm constitution water
The angle theta 1 of plane is 60~80 °.
In a kind of above-mentioned upper limbs ectoskeleton with five degree of freedom shoulder structure, the big arm configuration is before and after shoulder joint
The rotary shaft J1 of swinging mounting swing angle θ 3 is 0~210 °；Shoulder joint swings rotation of the support around shoulder blade support frame
Rotating shaft J3 anglec of rotation θ 4 is 0~90 °；Big arm configuration around the shoulder joint point of rotation J2 of human body anglec of rotation θ 5 for 0~
120°；Parallelogram clavicle luffing mechanism around the rotary shaft J4 of clavicle swing support swing angle θ 6 for 0~
35°；Clavicle swing support is 0~20 ° around the rotary shaft J5 of back support anglec of rotation θ 7.
The present invention has the following advantages that compared with prior art：
(1) the five degree of freedom shoulder joint design that the present invention is personalized using height, five frees degree correspond to human body shoulder respectively
Shoulder blade in portion's structure swings with clavicle swing, shoulder blade with pitching above and below clavicle, large arm, large arm pitch
With large arm horizontal hunting, the ectoskeleton shoulder joint structure can highly be assisted with the human body joint motion such as clavicle, shoulder blade, large arm
Together, keep strokes, be conducive to recovery and the auxiliary of each motion of wearer's limbs；
(2) shoulder joint of the present invention swings before and after support, double parallel quadrangle shoulder joint horizontal rotary mechanism, shoulder joint
The axis of movement of swinging mounting is intersected on the shoulder joint point of rotation of human body, clavicle swing support, parallelogram clavicle
Luffing mechanism is consistent with human body clavicle joint axis of movement, realizes man-machine coordination truly, and shoulders of human body is held
During each motion of row, ectoskeleton shoulder structure can realize co-operating, improve human body wearing comfort degree, reduce mechanism kinematic
Resistance, improves the efficiency that ectoskeleton shoulder structure recovers function of human body and auxiliary human motion；
(3) double parallel quadrangle shoulder joint horizontal rotary mechanism of the present invention is using four different connecting rod machines of length
Structure, the shoulder joint that effectively staggered swings support and shoulder joint swing support motion plane, it is to avoid in motion process
Interference is produced, and is improved ectoskeleton shoulder joints large arm constitution water plane swing angle, is improved ectoskeleton man-machine coordination
Adapt to angular range；
(4) four linkages of double parallel quadrangle shoulder joint horizontal rotary mechanism of the present invention are respectively respective
Move in plane, it is non-interference, it is to avoid interference is produced in motion process, improves the big arm configuration of ectoskeleton shoulder joints
Horizontal plane swing angle, improves ectoskeleton man-machine coordination and adapts to angular range；
(5) the pin joint long connecting rod of double parallel quadrangle shoulder joint horizontal rotary mechanism three of the present invention and shoulder joint or so
The pin joint of swinging mounting and two pin joint long connecting rods and shoulder joint swing support pin joint line extended line with it is parallel
Quadrangle clavicle luffing mechanism length direction angle formation acute angle, three pin joint short connecting rods and shoulder joint swing support
Pin joint and two pin joint short connecting rods and shoulder joint swing support pin joint line extended line and large arm structure length
Angular separation forms acute angle, realizes the range of movement and shoulders of human body structure of double parallel quadrangle shoulder joint horizontal rotary mechanism
The scope of horizontal hunting is consistent, improves integrally-built movement angle scope, improves integrally-built compact, adaptation
Property and man-machine coordination.
Brief description of the drawings
Fig. 1 is the topological schematic diagram of upper limbs ectoskeleton overall structure of the present invention；
Fig. 2 is the topological schematic diagram of five degree of freedom shoulder structure of the present invention；
Fig. 3 is that upper limbs ectoskeleton overall structure human body of the present invention dresses effect diagram；
Fig. 4 is the big arm configuration swing human body wearing effect diagram of upper limbs ectoskeleton of the present invention；
Fig. 5 be upper limbs ectoskeleton big arm configuration of the present invention swing human body dress effect diagram；
Fig. 6 is the big arm configuration lateral rotation human body wearing effect diagram of upper limbs ectoskeleton of the present invention；
Fig. 7 swings up and down human body wearing effect for upper limbs ectoskeleton parallelogram clavicle luffing mechanism of the present invention and shown
It is intended to；
Fig. 8 is that upper limbs ectoskeleton parallelogram clavicle luffing mechanism swing human body of the present invention wearing effect is shown
It is intended to.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
It is as shown in Figure 1 the topological schematic diagram of upper limbs ectoskeleton overall structure, is illustrated in figure 3 upper limbs ectoskeleton overall structure
Human body dresses effect diagram, as seen from the figure, a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure, including back-supported
Frame 1, clavicle swing support 2, parallelogram clavicle luffing mechanism 3, shoulder joint swing support 4, shoulder blade
Support frame 5, shoulder joint swing support 6, shoulder joint horizontal rotary mechanism 7, large arm swing driving speed-down motor system
8th, big arm configuration 9, forearm swing driving speed-down motor system 10 and forearm structure 11；Wherein, back support 1 is vertical
The platy structure of placement, is fixed at human spine；Clavicle swing support 2 is fixedly mounted on the top of back support 1
Side；Wherein, clavicle swing support 2 is fixedly mounted on the side of back support 1 in hinge form, around back-supported
Realize rotary motion in the narrow side of frame 1.One end of parallelogram clavicle luffing mechanism 3 is fixedly mounted on clavicle swing
The side of support 2；Shoulder blade support frame 5 is fixedly mounted on the other end of parallelogram clavicle luffing mechanism 3；Shoulder joint
The support 4 that swings is fixedly connected with shoulder blade support frame 5；The horizontal positioned of shoulder joint horizontal rotary mechanism 7 and left with shoulder joint
Right swinging mounting 4 is fixedly connected；Shoulder joint swing support 6 is placed vertically and is fixedly mounted on shoulder joint horizontal rotary mechanism
7 one end；Shoulder joint swing support 6 is fixedly connected with one end of big arm configuration 9, and shoulder joint swing support 6 with
The junction of big arm configuration 9 is installed with large arm swing driving speed-down motor system 8；Forearm structure 11 is fixedly mounted on
One end of big arm configuration 9, and the junction of forearm structure 11 and big arm configuration 9 is provided with forearm swing driving reducing motor
System 10.
Wherein, parallelogram clavicle luffing mechanism 3 includes two straight panels；One end of two straight panels is separately fixed at
The side of clavicle swing support 2；The other end of two straight panels is respectively and fixedly installed on shoulder blade support frame 5, realizes two
Bar straight panel keeping parallelism；Parallelogram clavicle luffing mechanism 3 is rotatably connected with clavicle swing support 2, realizes flat
Row quadrangle clavicle luffing mechanism 3 drives shoulder blade support frame 5 along being fixed on one end of clavicle swing support 2
It is lower to rotate.
The topological schematic diagram of five degree of freedom shoulder structure is illustrated in figure 2, as seen from the figure, shoulder joint horizontal rotary mechanism 7 is wrapped
Include three pin joint short connecting rod 7-1, two pin joint short connecting rod 7-2, three pin joint long connecting rod 7-3 and two pin joint long connecting rod 7-4；Its
In, three pin joint short connecting rod 7-1, two pin joint short connecting rod 7-2, three pin joint long connecting rod 7-3 and two pin joint long connecting rod 7-4 are equal
For circular arc bar assembling structure；Two pin joint long connecting rod 7-4 one end and the shoulder joint support 4 that swings are fixedly connected, two pin joints
The long connecting rod 7-4 other end is fixedly connected with three pin joint short connecting rod 7-1 one end；The three pin joint short connecting rod 7-1 other end
It is fixedly connected with shoulder joint swing support 6；The three pin joints long connecting rod 7-3 is located under two pin joint long connecting rod 7-4
Portion, and three pin joint long connecting rod 7-3 one end and the shoulder joint support 4 that swings is fixedly connected, three pin joint long connecting rod 7-3's
The other end is fixedly connected with two pin joint short connecting rod 7-2；Two pin joint short connecting rod 7-2 are located under three pin joint short connecting rod 7-1
Portion, and the two pin joint short connecting rod 7-2 other end is fixedly connected with shoulder joint swing support 6.
Wherein, three pin joint long connecting rod 7-3 and two pin joint long connecting rod 7-4 keeping parallelisms, and three pin joint long connecting rod 7-3
The fixing end horizontal rotation around the support 4 that swung with shoulder joint is realized with two pin joint long connecting rod 7-4；The short company of three pin joints
Bar 7-1 and two pin joint short connecting rod 7-2 keeping parallelisms, and three pin joint short connecting rod 7-1 realize around with two pin joint long connecting rods
7-4 fixing end horizontal rotation；Two pin joint short connecting rod 7-2 are realized around the fixing end level with three pin joint long connecting rod 7-3
Rotation；Cooperation is integrated into double parallel quadrangle shoulder joint horizontal rotary mechanism 7, and the mechanism can effectively stagger shoulder joint or so pendulum
Dynamic support 6 and the plane of movement of shoulder joint swing support 4, it is to avoid interference is produced in motion process.
The three long L1 of pin joint short connecting rod 7-1 are 70~110mm；The two long L2 of pin joint short connecting rod 7-2 are 50~90mm；Three hinges
The long L3 of contact long connecting rod 7-3 are 100~140mm；The two long L4 of pin joint long connecting rod 7-4 are 80~120mm.
The big arm configuration swing human body wearing effect diagram of upper limbs ectoskeleton is illustrated in figure 4, is illustrated in figure 5
The big arm configuration of limb ectoskeleton swings human body wearing effect diagram, is illustrated in figure 6 the big arm configuration of upper limbs ectoskeleton horizontal
Human body wearing effect diagram is rotated, the bottom on upper limbs ectoskeleton parallelogram clavicle luffing mechanism is illustrated in figure 7
Moving body dresses effect diagram, and such as figure Fig. 8 show pendulum before and after upper limbs ectoskeleton parallelogram clavicle luffing mechanism
Moving body dresses effect diagram, has figure to understand, shoulder joint swing support 4 horizontal movement axis J3, three pin joints it is long
Connecting rod 7-3 and two pin joint long connecting rod 7-4 horizontal movement axis J7, three pin joint short connecting rod 7-1 and two pin joint short connecting rods
7-2 horizontal movement axis J6 and the horizontal movement axis J1 of shoulder joint swing support 6 extended line, intersect at human body
Shoulder joint point of rotation J2.
Wherein, three pin joint long connecting rod 7-3 and shoulder joint swing the tie point of support 4, with two pin joint long connecting rods
7-4 and shoulder joint swing the line of the tie point of support 4, the folder with the horizontal plane of parallelogram clavicle luffing mechanism 3
Angle θ 2 is 60~80 °；Three pin joint short connecting rod 7-1 and shoulder joint swing support 6 tie point, with two pin joint short connecting rods
7-2 and the tie point of shoulder joint swing support 6 line, the angle theta 1 with the big horizontal plane of arm configuration 9 are 60~80 °.
Big arm configuration 9 is 0~210 ° around the rotary shaft J1 of shoulder joint swing support 6 swing angle θ 3；Shoulder joint
The support 4 that swings is 0~90 ° around the rotary shaft J3 of shoulder blade support frame 5 anglec of rotation θ 4；Big arm configuration 9 is around human body
Shoulder joint point of rotation J2 anglec of rotation θ 5 is 0~120 °；Parallelogram clavicle luffing mechanism 3 is around clavicle swing
The rotary shaft J4 of support 2 swing angle θ 6 is 0~35 °；Rotary shaft J5 of the clavicle swing support 2 around back support 1
Anglec of rotation θ 7 be 0~20 °.Realize the range of movement and human body shoulder of double parallel quadrangle shoulder joint horizontal rotary mechanism 7
The scope that portion's structure level is swung is consistent, improves integrally-built movement angle scope, improves integrally-built compact
Type, adaptability and man-machine coordination.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure, it is characterised in that：Including back support (1), clavicle
Swing support (2), parallelogram clavicle luffing mechanism (3), shoulder joint swing support (4), shoulder blade branch
Support (5), shoulder joint swing support (6), shoulder joint horizontal rotary mechanism (7), large arm swing driving reducing motor
System (8), big arm configuration (9), forearm swing driving speed-down motor system (10) and forearm structure (11)；Wherein, back
Support frame (1) is the platy structure placed vertically, is fixed at human spine；Clavicle swing support (2) is fixedly mounted on
The side on back support (1) top；One end of parallelogram clavicle luffing mechanism (3) is fixedly mounted on before and after clavicle
The side of swinging mounting (2)；Shoulder blade support frame (5) is fixedly mounted on the another of parallelogram clavicle luffing mechanism (3)
One end；The shoulder joint support (4) that swings is fixedly connected with shoulder blade support frame (5)；Shoulder joint horizontal rotary mechanism (7) level
Place and be fixedly connected with the shoulder joint support (4) that swings；Shoulder joint swing support (6) is placed and is fixedly mounted vertically
One end in shoulder joint horizontal rotary mechanism (7)；One end of shoulder joint swing support (6) and big arm configuration (9), which is fixed, to be connected
Connect, and the junction of shoulder joint swing support (6) and big arm configuration (9) is installed with large arm swing driving deceleration
Electric system (8)；Forearm structure (11) is fixedly mounted on one end of big arm configuration (9), and forearm structure (11) and big arm configuration
(9) junction is provided with forearm swing driving speed-down motor system (10).
2. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 1, it is characterised in that：It is described
Clavicle swing support (2) side of back support (1) is fixedly mounted in hinge form, around back support
(1) rotary motion is realized in narrow side.
3. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 1, it is characterised in that：It is described
Parallelogram clavicle luffing mechanism (3) include two straight panels；One end of two straight panels is separately fixed at before and after clavicle
The side of swinging mounting (2)；The other end of two straight panels is respectively and fixedly installed on shoulder blade support frame (5), realizes two directly
Plate keeping parallelism；Parallelogram clavicle luffing mechanism (3) is rotatably connected with clavicle swing support (2), realizes flat
Row quadrangle clavicle luffing mechanism (3) drives shoulder blade support frame (5) along being fixed on clavicle swing support (2)
One end is rotated upwardly and downwardly.
4. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 1, it is characterised in that：It is described
Shoulder joint horizontal rotary mechanism (7) to include three pin joint short connecting rods (7-1), two pin joint short connecting rods (7-2), three pin joints long
Connecting rod (7-3) and two pin joint long connecting rods (7-4)；Wherein, three pin joint short connecting rods (7-1), two pin joint short connecting rods (7-2),
Three pin joint long connecting rods (7-3) and two pin joint long connecting rods (7-4) are circular arc bar assembling structure；Two pin joint long connecting rods (7-4)
One end and the shoulder joint support (4) that swings be fixedly connected, the other end and three pin joints of two pin joint long connecting rods (7-4) are short
One end of connecting rod (7-1) is fixedly connected；The other end of three pin joint short connecting rods (7-1) is solid with shoulder joint swing support (6)
Fixed connection；The three pin joints long connecting rod (7-3) is located at the bottom of two pin joint long connecting rods (7-4), and three pin joint long connecting rods
The one end of (7-3) and the shoulder joint support (4) that swings are fixedly connected, the other end of three pin joint long connecting rods (7-3) and two hinges
Contact short connecting rod (7-2) is fixedly connected；Two pin joint short connecting rods (7-2) are located at the bottom of three pin joint short connecting rods (7-1), and two
The other end of pin joint short connecting rod (7-2) is fixedly connected with shoulder joint swing support (6).
5. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 4, it is characterised in that：It is described
Three pin joint long connecting rods (7-3) and two pin joint long connecting rod (7-4) keeping parallelisms, and three pin joint long connecting rods (7-3) and two hinges
Contact long connecting rod (7-4) realizes the fixing end horizontal rotation around the support (4) that swung with shoulder joint.
6. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 5, it is characterised in that：It is described
Three pin joint short connecting rods (7-1) and two pin joint short connecting rod (7-2) keeping parallelisms, and three pin joint short connecting rods (7-1) realize around
The fixing end horizontal rotation with two pin joint long connecting rods (7-4)；Two pin joint short connecting rods (7-2) realize around with three pin joints
The fixing end horizontal rotation of long connecting rod (7-3).
7. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 6, it is characterised in that：It is described
Three pin joint short connecting rod (7-1) long L1 are 70~110mm；Two pin joint short connecting rod (7-2) long L2 are 50~90mm；Three pin joints
Long connecting rod (7-3) long L3 is 100~140mm；Two pin joint long connecting rod (7-4) long L4 are 80~120mm.
8. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 7, it is characterised in that：It is described
Shoulder joint swings horizontal movement axis J3, three pin joint long connecting rods (7-3) and the two pin joint long connecting rod (7- of support (4)
4) horizontal movement axis J7, the horizontal movement axis J6 of three pin joint short connecting rods (7-1) and two pin joint short connecting rods (7-2) and
The horizontal movement axis J1 of shoulder joint swing support (6) extended line, intersects at the shoulder joint point of rotation J2 of human body.
9. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 8, it is characterised in that：It is described
Three pin joint long connecting rods (7-3) and shoulder joint swing the tie points of support (4), with two pin joint long connecting rods (7-4) and shoulder
Joint swings the line of support (4) tie point, the angle theta 2 with parallelogram clavicle luffing mechanism (3) horizontal plane
For 60~80 °；The tie point of three pin joint short connecting rods (7-1) and shoulder joint swing support (6), with two pin joint short connecting rods
The line of (7-2) and shoulder joint swing support (6) tie point, with the angle theta 1 of big arm configuration (9) horizontal plane for 60~
80°。
10. a kind of upper limbs ectoskeleton with five degree of freedom shoulder structure according to claim 8, it is characterised in that：Institute
It is 0~210 ° that big arm configuration (9), which is stated, around the rotary shaft J1 of shoulder joint swing support (6) swing angle θ 3；Shoulder joint is left
Rotary shaft J3 of the right swinging mounting (4) around shoulder blade support frame (5) anglec of rotation θ 4 is 0~90 °；Big arm configuration (9) is around people
The shoulder joint point of rotation J2 of body anglec of rotation θ 5 is 0~120 °；Parallelogram clavicle luffing mechanism (3) is before clavicle
The rotary shaft J4 of swinging mounting (2) swing angle θ 6 is 0~35 ° afterwards；Clavicle swing support (2) is around back support
(1) rotary shaft J5 anglec of rotation θ 7 is 0~20 °.
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| CN201710201284.4A CN107097210B (en) | 2017-03-30 | 2017-03-30 | A kind of upper limb ectoskeleton with five degree of freedom shoulder structure |
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| CN201710201284.4A CN107097210B (en) | 2017-03-30 | 2017-03-30 | A kind of upper limb ectoskeleton with five degree of freedom shoulder structure |
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| CN107097210B CN107097210B (en) | 2019-06-18 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527336A (en) * | 2018-06-22 | 2018-09-14 | 北京建筑大学 | Synchronous ectoskeleton mechanical arm |
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| JP2021500242A (en) * | 2017-10-24 | 2021-01-07 | サフラン・エレクトロニクス・アンド・デファンス | Exoskeleton structure adapted to the shoulder |
| JP7036916B2 (en) | 2017-10-24 | 2022-03-15 | サフラン・エレクトロニクス・アンド・デファンス | Exoskeleton structure adapted to the shoulder |
| CN109925162A (en) * | 2017-12-18 | 2019-06-25 | 中国科学院沈阳自动化研究所 | A kind of shoulder girdle bionical power-assisted flexible exoskeleton mechanism |
| CN108656100B (en) * | 2018-05-22 | 2019-05-03 | 嘉兴学院 | Human emulated robot based on cylinder |
| CN108656100A (en) * | 2018-05-22 | 2018-10-16 | 嘉兴学院 | Human emulated robot based on cylinder |
| CN108527336A (en) * | 2018-06-22 | 2018-09-14 | 北京建筑大学 | Synchronous ectoskeleton mechanical arm |
| CN108527336B (en) * | 2018-06-22 | 2023-09-22 | 北京建筑大学 | Synchronous exoskeleton mechanical arm |
| CN111791216A (en) * | 2019-04-04 | 2020-10-20 | 现代自动车株式会社 | Combined structure of wearable equipment |
| CN110181485A (en) * | 2019-06-25 | 2019-08-30 | 知因(台州)机器人科技有限公司 | Upper half of human body ectoskeleton |
| CN111956453A (en) * | 2020-08-31 | 2020-11-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible power assisting exoskeleton |
| CN112022628A (en) * | 2020-09-25 | 2020-12-04 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
| CN112022628B (en) * | 2020-09-25 | 2022-06-14 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
| WO2022240377A3 (en) * | 2021-05-11 | 2023-07-13 | Tb Teknoloji Sanayi Ve Ticaret Anonim Sirketi | Carrier body structure used in exoskeleton |
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