CN110014420A - One kind being applied to upper limb load-bearing assistant ectoskeleton equipment - Google Patents
One kind being applied to upper limb load-bearing assistant ectoskeleton equipment Download PDFInfo
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- CN110014420A CN110014420A CN201910401720.1A CN201910401720A CN110014420A CN 110014420 A CN110014420 A CN 110014420A CN 201910401720 A CN201910401720 A CN 201910401720A CN 110014420 A CN110014420 A CN 110014420A
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- arm
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- module
- forearm
- upper limb
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind to be applied to upper limb load-bearing assistant ectoskeleton equipment, ectoskeleton including covering in human body back tightens module, cover at left and right sides of the human body on arm and provide power drive function upper limb module and the automatic young fruit packing machine body portable for human body, the ectoskeleton tighten module include positioned at upper end tighten set and positioned at lower end tighten the installation of set back for providing the power module of power supply and whole device control function, wherein tying up and being tightly placed in the back of human body is y-type structure, it is H-type structure in the chest of human body, and bottom end is the imitative organization of human body of fitting human body configuration flexible, the power module is fixed in the annular structure in center back.It should be applied to upper limb load-bearing assistant ectoskeleton equipment, and by Electric control, provide power-assisted to the upper limb of human body, be applied to young fruit packing machine so as to more convenient.
Description
Technical field
The invention belongs to power assistive device technical fields, and in particular to one kind is applied to upper limb load-bearing assistant ectoskeleton equipment.
Background technique
With the development and the improvement of people's living standards of agricultural, more and more people start to raise fruit trees, and plant fruit
Tree is to aid in the good channel that peasant builds up the family fortunes.In the management of planting fruit trees, need to carry out at bagging the young fruit on fruit tree
Reason, it is various due to young fruit to protect the growth of young fruit, and during fruit tree bag cover, and mostly on head, it needs ceaselessly
Arm is lifted and is put down, overworking for upper limb is easily caused, influences the efficiency of bagging, in addition it is serious when cause the damage of upper limb
It is bad.
And existing fruit tree bag cover generally selects young fruit packing machine to carry out bagging processing, and using in young fruit packing machine
Cheng Zhong mostly uses greatly power assisting device, and to help upper limb to be relieved fatigue, reduction is exerted oneself, and existing upper limb assistance device, greatly
It is mostly exported by air pressure or hydraulic power, power-assisted effect is poor, and power-assisted is unobvious, and installation is using also inconvenient.
Summary of the invention
The purpose of the present invention is to provide one kind to be applied to upper limb load-bearing assistant ectoskeleton equipment, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the invention provides the following technical scheme: a kind of upper limb load-bearing assistant's ectoskeleton that is applied to is set
Standby, the ectoskeleton including covering in human body back tightens module, covers at left and right sides of the human body on arm and provides power drive function
Upper limb module and the automatic young fruit packing machine body portable for human body, the ectoskeleton tighten module include be located at upper end
Tighten set and positioned at lower end tighten the installation of set back for providing the power supply of power supply and whole device control function
Module, wherein tie up be tightly placed in human body back be y-type structure, human body chest be H-type structure, and bottom end be fitting flexible
The imitative organization of human body of human body configuration, the power module are fixed in the annular structure in center back, and ectoskeleton tightens
The both ends of module pass through right connecting rod arm respectively and connect two groups of upper limb modules with left connecting rod arm, the inner part of upper limb module described in two groups
Power-assisted module and upper limb ectoskeleton left side power-assisted module on the right of upper limb ectoskeleton for providing power-assisted, the upper limb are not installed
Power-assisted module is identical with upper limb ectoskeleton left side power-assisted modular structure size on the right of ectoskeleton, includes being arranged in upper limb module
DC speed-reducing and force snesor, the right connecting rod arm is identical with left connecting rod arm configuration size, and include link arm block,
The big armed lever of link arm, link arm large arm forearm movable block, the small armed lever of link arm, link arm forearm block and link arm fixation rod；
The upper limb module include to connecting rod, power assistant arm large arm, power assistant arm forearm, forearm bandage and large arm bandage, it is described
One end of power assistant arm large arm is fixedly connected with power assistant arm forearm, is fixedly connected by universal locking nub with to connecting rod above the other end, institute
It states and link arm and power assistant arm link block is flexibly connected by pin shaft to the side on connecting rod top, the symmetrical other side is living by pin shaft
It is dynamic to connect link arm block, it is connected with the different large arm bandage of two packet sizes below power assistant arm large arm, the power assistant arm forearm
Lower section is bonded with the different forearm bandage of three packet sizes.
Preferably, the power module includes power module shell, power module inner casing, power module fixed plate and power module, institute
The one side for stating power module shell offers the power supply conduit for placing power module, and the power module shell below the power supply conduit
On control module is installed, the power module is stuck in power supply conduit, power module backwards to the side of power module shell be equipped with power supply
Block fixed plate, and the power module fixed plate is located between power module shell and power module inner casing, the power module inner casing is backwards
The one side of power module has a screw hole, and screw hole internal screw thread adaptation be equipped with across power module inner casing, power module fixed plate and with
The fixed screw that power module shell is fixedly connected.
Preferably, power module upper shell face two sides are fixedly welded with right piece of connection and left piece of connection respectively, described
It is identical as left block size structure is connected to connect right piece, and connects the interior insertion of through-hole and the link arm forearm block of right piece and left piece of connection
The link arm fixation rod of flexible connection.
Preferably, the bottom end of the power supply shell that the outside of the power module is also arranged with, the power supply shell is fixedly connected with power supply
Bottom plate, the upper end of power supply shell are provided with power supply handle.
Preferably, the vertical cross section of the link arm block and link arm forearm block is triangular structure, the link arm
The vertical cross section of large arm forearm movable block is quadrilateral structure, the big armed lever top of link arm described in two groups and link arm large arm forearm
The both ends of movable block are flexibly connected, bottom end two groups of corners of triangle with link arm block and link arm and power assistant arm link block respectively
It being flexibly connected, one end of the small armed lever of link arm described in two groups is flexibly connected with the other both ends of link arm large arm forearm movable block,
Other end angle is flexibly connected with two corners of two groups of link arm forearm blocks, and another corner of link arm forearm block is flexibly connected and connects
Lever arm fixation rod.
Preferably, the power assistant arm large arm includes large arm upper casing, large arm lower casing and big arm restraining board, the large arm upper casing with
Sealed connection is screwed between large arm lower casing, the large arm fixed plate is connected between large arm upper casing and large arm lower casing,
And the both ends of big arm restraining board are provided with the jack with the clamping of large arm bandage, pacify between the upper end and large arm upper casing of big arm restraining board
Equipped with DC speed-reducing, and big arm restraining board bottom has also been screwed large arm forearm towards one end of power assistant arm forearm and has connected
One end of extension bar.
Preferably, the power assistant arm forearm includes forearm upper casing, forearm lower casing and small arm restraining board, the forearm upper casing with
It is screwed sealing between forearm lower casing, and force sensor is installed above forearm lower casing, the outer top-cross of the force snesor
The force snesor fixed block of L-shaped plate structure of the wrong two corners setting for clamping force sensor, forearm lower casing court
The other end of large arm forearm connecting rod is fixedly connected with also by screw to one end of power assistant arm large arm.
Preferably, the small arm restraining board is connected on the bottom end of forearm lower casing by screw, and the two of small arm restraining board
Side is provided with the jack connected and fixed with forearm bandage.
Technical effect and advantage of the invention: upper limb load-bearing assistant ectoskeleton equipment should be applied to, by the way that ectoskeleton is arranged
Module and upper limb module are tightened, is sequentially connected between the two by right connecting rod arm and left connection wall, and ectoskeleton tightens under module
Side, which is equipped with, provides the power module of power supply and whole device control function, and setting is provided with power drive function in upper limb module
Power-assisted module and upper limb ectoskeleton left side power-assisted module on the right of the upper limb ectoskeleton of energy, and the inside of the two is provided with deceleration electricity
Machine and force snesor realize electronic so as to control the operating of each power plant module through control module by the induction of sensor
Control, achievees the effect that power-assisted, and the effect of power-assisted is more preferable, more practical, while the cooperation of sensor, keeps power-assisted more convenient,
The angle of power-assisted is more quickly accurate；In addition whole socket uses, easier for installation, in addition on the power module in power module
It is provided with handle, taking-up can be facilitated by handle, to carry out the replacement of electricity, is made without stopping working charge
With.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is back overall structure diagram of the invention；
Fig. 3 is equipment back figure of the invention；
Fig. 4 is upper limb modular structure schematic diagram of the invention；
Fig. 5 is power assistant arm large arm and power assistant arm forearm structure schematic diagram of the invention；
Fig. 6 is power assistant arm large arm and power assistant arm forearm explosive view of the invention；
Fig. 7 is left connecting rod arm configuration schematic diagram of the invention；
Fig. 8 is power module structure schematic diagram of the invention；
Fig. 9 is power module structural schematic diagram of the invention；
Figure 10 is the enlarged drawing of structure at A in Fig. 1 of the invention.
In figure: power-assisted modules, 3 ectoskeletons tighten module, on 4 on the right of 1 automatic young fruit packing machine body, 2 upper limb ectoskeletons
Limb ectoskeleton left side power-assisted module, 5 upper limb modules, 6 power modules, 7 right connecting rod arms, 8 left connecting rod arms, 9 link arms and power assistant arm
Link block, 10 pairs of connecting rods, 11 power assistant arm large arm, 12 power assistant arm forearms, 13 forearm bandages, 14 large arm bandages, 15 universal locking nubs, 16
Large arm upper casing, 17 large arm lower casings, 18 big arm restraining boards, 19 forearm upper casings, 20 forearm lower casings, 21 small arm restraining boards, 22 power sensing
Device, 23 force snesor fixed blocks, 24 large arm forearm connecting rods, 25 decelerating motors, 26 link arm blocks, the big armed lever of 27 link arms, 28
Link arm large arm forearm movable block, the small armed lever of 29 link arms, 30 link arm forearm blocks, 31 link arm fixation rods, outside 32 power modules
Shell, 33 right piece of connections, 34 left piece of connections, 35 power supply conduits, 36 power modules, 37 power module fixed plates, 38 power module inner casings, 39 are consolidated
Determine screw, 40 control modules, 41 power supply handles, 42 power supply shells, 43 power supply bottom plates.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides one kind as shown in Figs. 1-3 to be applied to upper limb load-bearing assistant ectoskeleton equipment, including covers in people
The ectoskeleton at body back tightens module 3, covers at left and right sides of the human body on arm and provides 5 and of upper limb module of power drive function
The automatic young fruit packing machine body 1 portable for human body, it includes tightening set and position positioned at upper end that the ectoskeleton, which tightens module 3,
In lower end tighten the installation of set back for providing the power module 6 of power supply and whole device control function, wherein
Tying up and being tightly placed in the back of human body is y-type structure, is H-type structure in the chest of human body, and bottom end is fitting human body configuration flexible
Imitative organization of human body, the power module 6 is fixed in the annular structure in center back (practical to tie up tying up in waist
Band module, for tightening fixed use with human body waist), the both ends that ectoskeleton tightens module 3 pass through right connecting rod arm 7 and Zuo Lian respectively
Lever arm 8 connects two groups of upper limb modules 5, and the inside of upper limb module 5 described in two groups is separately installed with outside the upper limb for providing power-assisted
Power-assisted module 2 and upper limb ectoskeleton left side power-assisted module 4 on the right of bone, described upper limb ectoskeleton the right power-assisted module 2 and upper limb
The ectoskeleton left side 4 structure sizes of power-assisted module are identical, include that the DC speed-reducing 25 being arranged in upper limb module 5 and power pass
Sensor 22, the right connecting rod arm 7 is identical with 8 structure size of left connecting rod arm, and includes link arm block 26, the big armed lever of link arm
27, the small armed lever 29 of link arm large arm forearm movable block 28, link arm, link arm forearm block 30 and link arm fixation rod 31；
The upper limb module 5 includes to connecting rod 10, power assistant arm large arm 11, power assistant arm forearm 12, forearm bandage 13 and large arm
Bandage 14, one end of the power assistant arm large arm 11 are fixedly connected with power assistant arm forearm 12, above the other end by universal locking nub 15 and
Connecting rod 10 is fixedly connected, the side to 10 top of connecting rod is flexibly connected link arm and power assistant arm link block 9 by pin shaft,
The symmetrical other side is flexibly connected link arm block 26 by pin shaft, and it is different that the lower section of power assistant arm large arm 11 is connected with two packet sizes
Large arm bandage 14, the lower section of the power assistant arm forearm 12 are bonded with the different forearm bandage 13 of three packet sizes.
Specifically, the power module 6 includes power module shell 32, power module inner casing 38, power module fixed plate 37 and electricity
Source block 36, the one side of the power module shell 32 offer the power supply conduit 35 for placing power module 36, and the power supply conduit
Control module 40 is installed on the power module shell 32 of 35 lower sections, the preferred STM32 single-chip microcontroller of control module 40, and with power module 36
It is electrically connected by built-in conducting wire, the power module 36 is stuck in power supply conduit 35, and power module 36 is backwards to power module shell 32
Side be equipped with power module fixed plate 37, and the power module fixed plate 37 be located at power module shell 32 and power module inner casing 38 it
Between, the power module inner casing 38 has screw hole backwards to the one side of power module 36, and screw hole internal screw thread adaptation is equipped with across electricity
It is whole to complete power module 36 for source block inner casing 38, power module fixed plate 37 and the fixed screw 39 being fixedly connected with power module shell 32
The fixation and installation of body.
Specifically, described 32 both sides of the upper end of power module shell is fixedly welded with right piece 33 of connection and left piece of connection respectively
34, right piece 33 of the connection is identical as left piece of 34 size structures of connection, and connects the through-hole interpolation of right piece 33 and left piece 34 of connection
Enter the link arm fixation rod 31 being flexibly connected with link arm forearm block 30, is embodied as two groups of upper limb modules 5 and support function is provided, keep away
Exempt from the landing of upper limb module 5 and reduces exerting oneself for human body.
Specifically, the power supply shell 42 that the outside of the power module 36 is also arranged with, the bottom end of the power supply shell 42 is fixed to be connected
Power supply bottom plate 43 is connect, the upper end of power supply shell 42 is provided with power supply handle 41, facilitates the taking-up and placement of power module 36, makes to pick
When be conveniently replaced pre- stand-by power source.
Specifically, the vertical cross section of the link arm block 26 and link arm forearm block 30 is triangular structure, the company
The vertical cross section of lever arm large arm forearm movable block 28 is quadrilateral structure, big 27 top of armed lever of link arm described in two groups and link arm
The both ends of large arm forearm movable block 28 are flexibly connected, bottom end respectively with link arm block 26 and link arm and power assistant arm link block 9
Two groups of corners of triangle are flexibly connected, one end and the link arm large arm forearm movable block 28 of the small armed lever 29 of link arm described in two groups
In addition both ends are flexibly connected, and other end angle is flexibly connected with two corners of two groups of link arm forearm blocks 30, and link arm forearm block
30 another corner is flexibly connected link arm fixation rod 31, to also facilitate and connect therewith while by integrally providing enabling capabilities
The movement of the upper limb module 5 connect.
Specifically, the power assistant arm large arm 11 includes large arm upper casing 16, large arm lower casing 17 and big arm restraining board 18, it is described big
Sealed connection is screwed between arm upper casing 16 and large arm lower casing 17, the big arm restraining board 18 is connected to large arm upper casing 16
Between large arm lower casing 17, and the both ends of big arm restraining board 18 are provided with the jack being clamped with large arm bandage 14, big arm restraining board
DC speed-reducing 25 is installed between 18 upper end and large arm upper casing 16, decelerating motor 25 and power module 36 are electrically connected, and
Big 18 bottom of arm restraining board is also screwed one end of large arm forearm connecting rod 24 towards one end of power assistant arm forearm 12.
Specifically, the power assistant arm forearm 12 includes forearm upper casing 19, forearm lower casing 20 and small arm restraining board 21, it is described small
It is screwed sealing between arm upper casing 19 and forearm lower casing 20, and force sensor 22, institute are installed above forearm lower casing 20
The force snesor for stating L-shaped plate structure of the staggered two corners setting in 22 outside of force snesor for clamping force sensor 22 is solid
Determine block 23, the forearm lower casing 20 is fixedly connected with large arm forearm connecting rod 24 also by screw towards one end of power assistant arm large arm 11
The other end, force snesor 22 can be a kind of military angular displacement sensor of R-20 type RVDT aerospace.
Specifically, the small arm restraining board 21 is connected on the bottom end of forearm lower casing 20 by screw, and small arm restraining board
21 two sides are provided with the jack connected and fixed with forearm bandage 13, can pass through between large arm bandage 14 and forearm bandage 13
The bonding of velcro or sewing up for needlework are fixed on the both ends of corresponding fixed plate.
Specifically, upper limb load-bearing assistant ectoskeleton equipment should be applied to, ectoskeleton is tightened 3 sets of module first and is carried on the back in human body
In portion, then it will successively be cased with upper limb module 5 in large arm and forearm, makes arm across large arm bandage 14 and forearm bandage 13, and by
Ectoskeleton is tightened module 3 and realizes fixation with upper limb module 5 by right linking arm 7 and left linking arm 8, and holds automatic young fruit packing machine
Body 1, when starting to carry out bagging processing to the young fruit on fruit tree, power-assisted on the right of the upper limb ectoskeleton in upper limb module 5 at this time
Force snesor 22 in module 2 and upper limb ectoskeleton left side power-assisted module 4 detects large arm movable joint angle signal and forearm
Movable joint angle signal, and it is sent to control module 40, after control module 40 receives signal, control internal decelerating motor
25 operating, large arm and forearm to human body provide power-assisted.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. one kind is applied to upper limb load-bearing assistant ectoskeleton equipment, the ectoskeleton including covering in human body back tightens module (3), set
At left and right sides of the human body on arm and provide power drive function upper limb module (5) and the automatic young fruit set portable for human body
Bag machine body (1), it is characterised in that: it includes tightening set and positioned at lower end positioned at upper end that the ectoskeleton, which tightens module (3),
Tighten the installation of set back for providing the power module (6) of power supply and whole device control function, wherein tightening set
It is y-type structure at the back of human body, is H-type structure in the chest of human body, and bottom end is the apery of fitting human body configuration flexible
Body structure, the power module (6) are fixed in the annular structure in center back, and ectoskeleton tightens the two of module (3)
End connects two groups of upper limb modules (5) by right connecting rod arm (7) and left connecting rod arm (8) respectively, and upper limb module (5) is interior described in two groups
Portion is separately installed with power-assisted module (2) and upper limb ectoskeleton left side power-assisted module on the right of the upper limb ectoskeleton for providing power-assisted
(4), power-assisted module (2) is identical with upper limb ectoskeleton left side power-assisted module (4) structure size on the right of the upper limb ectoskeleton, wraps
Include the DC speed-reducing (25) and force snesor (22) being arranged in upper limb module (5), the right connecting rod arm (7) and left connecting rod
Arm (8) structure size is identical, and includes link arm block (26), the big armed lever of link arm (27), link arm large arm forearm movable block
(28), the small armed lever of link arm (29), link arm forearm block (30) and link arm fixation rod (31)；
The upper limb module (5) includes to connecting rod (10), power assistant arm large arm (11), power assistant arm forearm (12), forearm bandage (13)
It is fixedly connected power assistant arm forearm (12) with one end of large arm bandage (14), the power assistant arm large arm (11), passes through above the other end
Universal locking nub (15) is fixedly connected with to connecting rod (10), and the side to connecting rod (10) top is flexibly connected connecting rod by pin shaft
Arm and power assistant arm link block (9), the symmetrical other side are flexibly connected link arm block (26) by pin shaft, power assistant arm large arm (11)
Lower section is connected with the different large arm bandage (14) of two packet sizes, is bonded with three packet sizes not below the power assistant arm forearm (12)
Same forearm bandage (13).
2. according to claim 1 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the power supply
Module (6) includes power module shell (32), power module inner casing (38), power module fixed plate (37) and power module (36), the electricity
The one side of source block shell (32) offers the power supply conduit (35) for placing power module (36), and below the power supply conduit (35)
Power module shell (32) on be equipped with control module (40), the power module (36) is stuck in power supply conduit (35), power module
(36) side backwards to power module shell (32) is equipped with power module fixed plate (37), and the power module fixed plate (37) is located at electricity
Between source block shell (32) and power module inner casing (38), one side of the power module inner casing (38) backwards to power module (36) has spiral shell
Wire hole, and screw hole internal screw thread adaptation be equipped with across power module inner casing (38), power module fixed plate (37) and with power module shell
(32) fixed screw (39) being fixedly connected.
3. according to claim 2 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the power supply
Block shell (32) both sides of the upper end is fixedly welded with left piece (34) of connection right piece (33) and connection, right piece (33) of the connection respectively
It is identical as left piece of (34) size structure of connection, and the interior insertion of through-hole for connecting right piece (33) and connection left piece (34) is small with link arm
The link arm fixation rod (31) that arm block (30) is flexibly connected.
4. according to claim 2 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the power supply
The bottom end of the power supply shell (42) that the outside of block (36) is also arranged with, the power supply shell (42) is fixedly connected with power supply bottom plate (43),
The upper end of power supply shell (42) is provided with power supply handle (41).
5. according to claim 1 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the connecting rod
The vertical cross section of arm block (26) and link arm forearm block (30) is triangular structure, the link arm large arm forearm movable block
(28) vertical cross section is quadrilateral structure, the big armed lever of link arm described in two groups (27) top and link arm large arm forearm movable block
(28) both ends are flexibly connected, the bottom end triangle two with link arm block (26) and link arm and power assistant arm link block (9) respectively
Group corner is flexibly connected, and one end of the small armed lever of link arm described in two groups (29) and link arm large arm forearm movable block (28) are in addition
Both ends are flexibly connected, and other end angle is flexibly connected with two corners of two groups of link arm forearm blocks (30), and link arm forearm block
(30) another corner is flexibly connected link arm fixation rod (31).
6. according to claim 1 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the power-assisted
Arm large arm (11) includes large arm upper casing (16), large arm lower casing (17) and big arm restraining board (18), the large arm upper casing (16) and big
Sealed connection is screwed between arm lower casing (17), the big arm restraining board (18) is connected to large arm upper casing (16) and large arm
Between lower casing (17), and the both ends of big arm restraining board (18) are provided with the jack with large arm bandage (14) clamping, big arm restraining board
(18) it is equipped with DC speed-reducing (25) between upper end and large arm upper casing (16), and big arm restraining board (18) bottom is towards power-assisted
One end of arm forearm (12) is also screwed one end of large arm forearm connecting rod (24).
7. according to claim 1 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the power-assisted
Arm forearm (12) includes forearm upper casing (19), forearm lower casing (20) and small arm restraining board (21), the forearm upper casing (19) with it is small
It is screwed sealing between arm lower casing (20), and force sensor (22) are installed above forearm lower casing (20), the power passes
The force snesor of L-shaped plate structure of the staggered two corners setting for clamping force sensor (22) is fixed on the outside of sensor (22)
Block (23), the forearm lower casing (20) are fixedly connected with the connection of large arm forearm also by screw towards one end of power assistant arm large arm (11)
The other end of bar (24).
8. according to claim 7 a kind of applied to upper limb load-bearing assistant ectoskeleton equipment, it is characterised in that: the forearm
Fixed plate (21) is connected on the bottom end of forearm lower casing (20) by screw, and the two sides of small arm restraining board (21) be provided with
The jack that forearm bandage (13) connects and fixes.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401720.1A CN110014420A (en) | 2019-05-14 | 2019-05-14 | One kind being applied to upper limb load-bearing assistant ectoskeleton equipment |
| CN202020547279.6U CN212825372U (en) | 2019-05-14 | 2020-04-14 | Be applied to upper limbs bearing helping hand ectoskeleton equipment |
| CN202010292510.6A CN111452024A (en) | 2019-05-14 | 2020-04-14 | Be applied to upper limbs bearing helping hand ectoskeleton equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401720.1A CN110014420A (en) | 2019-05-14 | 2019-05-14 | One kind being applied to upper limb load-bearing assistant ectoskeleton equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110014420A true CN110014420A (en) | 2019-07-16 |
Family
ID=67193789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910401720.1A Withdrawn CN110014420A (en) | 2019-05-14 | 2019-05-14 | One kind being applied to upper limb load-bearing assistant ectoskeleton equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110014420A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605706A (en) * | 2019-10-16 | 2019-12-24 | 杨凯 | Exoskeleton type auxiliary force-increasing mechanical arm |
-
2019
- 2019-05-14 CN CN201910401720.1A patent/CN110014420A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605706A (en) * | 2019-10-16 | 2019-12-24 | 杨凯 | Exoskeleton type auxiliary force-increasing mechanical arm |
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Application publication date: 20190716 |