CN110281222B - Joint movement device of exoskeleton robot - Google Patents
Joint movement device of exoskeleton robot Download PDFInfo
- Publication number
- CN110281222B CN110281222B CN201910695997.XA CN201910695997A CN110281222B CN 110281222 B CN110281222 B CN 110281222B CN 201910695997 A CN201910695997 A CN 201910695997A CN 110281222 B CN110281222 B CN 110281222B
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- mechanical arm
- arc
- speed reducing
- rotating
- limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
The invention discloses a joint movement device of an exoskeleton robot, which comprises a main mechanical arm, an auxiliary mechanical arm, a speed reducing mechanism, a driving motor, a protective outer cover, a driving shaft, a bearing, a limiting mechanism, a driving mechanism and a second connecting ring, wherein the auxiliary mechanical arm is arranged at one end of the main mechanical arm, the speed reducing mechanism is fixedly arranged at one side of the main mechanical arm and one end close to the auxiliary mechanical arm, the driving motor is fixedly arranged at one side of the speed reducing mechanism far away from the main mechanical arm, the protective outer cover is arranged at one side of the speed reducing mechanism far away from the main mechanical arm in a threaded manner, the driving motor is arranged in the protective outer cover, the driving motor is arranged in the protective outer cover, a plurality of small heat dissipation holes are arranged on the protective outer cover in a penetrating way, the invention relates to a joint movement device of an exoskeleton robot, which is characterized in that a driving shaft is fixedly connected to the output end of a speed reducing mechanism, and the joint movement device has the characteristics of multidirectional rotation of joints and limiting protection.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to a joint movement device of an exoskeleton robot.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator, and the traditional exoskeleton robot has the following problems in joint motion: 1. the joint has single rotation direction, small joint motion amplitude and poor mechanical activity; 2. the joint limiting protection mechanism is lacked, the motor is driven and limited only by the motor, the motor is easy to be lost, the service life of the motor is reduced, and therefore the joint movement device of the exoskeleton robot needs to be designed.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a joint movement device for an exoskeleton robot, which solves the problems of the related art.
In order to solve the above problems, the present invention provides a technical solution:
a joint movement device of an exoskeleton robot comprises a main mechanical arm, an auxiliary mechanical arm, a speed reducing mechanism, a driving motor, a protective outer cover, a driving shaft, a bearing, a limiting mechanism, a driving mechanism and a second connecting ring, wherein the auxiliary mechanical arm is arranged at one end of the main mechanical arm, the speed reducing mechanism is fixedly arranged at one end, close to the auxiliary mechanical arm, of one side of the main mechanical arm, the driving motor is fixedly arranged at one side, far away from the main mechanical arm, of the speed reducing mechanism, the protective outer cover is arranged at one side, far away from the main mechanical arm, of the speed reducing mechanism in a threaded manner, the driving motor is arranged in the protective outer cover, a plurality of small heat dissipation holes are formed in the protective outer cover in a penetrating manner, the driving shaft is fixedly connected with the output end of the speed reducing mechanism, the bearing is fixedly arranged at one end, far away from the speed reducing mechanism, of the driving shaft penetrates through the main mechanical arm and is rotatably arranged with the bearing, one side of the driving shaft is provided with a limiting mechanism, one end, away from the auxiliary mechanical arm, of the main mechanical arm is provided with a driving mechanism, and a second connecting ring is fixedly mounted on one side, away from the main mechanical arm, of the driving mechanism.
Preferably, a groove is formed in one end, close to the auxiliary mechanical arm, of the main mechanical arm, first hollow holes are formed in two opposite side edges, close to one end of the driving mechanism, of the main mechanical arm in a penetrating mode, a first rotating groove is formed in one end, close to the driving mechanism, of the main mechanical arm, second rotating grooves are formed in the inner ring groove wall and the outer ring groove wall of the first rotating groove, four limiting pieces are fixedly installed in the first rotating groove, and the four limiting pieces are consistent in specification and distributed in a rectangular array mode.
Preferably, one end, far away from the main mechanical arm, of the auxiliary mechanical arm is provided with a first connecting ring, two opposite side edges of the auxiliary mechanical arm penetrate through and are provided with second hollow holes, a fixed block is fixedly mounted at one end, close to the main mechanical arm, of the auxiliary mechanical arm, the fixed block is arranged in a groove and is in a cylindrical arrangement, the fixed block is fixedly sleeved on the driving shaft, a connecting rod is fixedly mounted on an outer arc wall, far away from the auxiliary mechanical arm, of the fixed block, and an arc limiting block is fixedly mounted at one end, far away from the fixed block, of the connecting rod.
Preferably, the speed reducing mechanism comprises a speed reducing shell, the speed reducing shell is fixedly arranged on the side wall of one side of the main mechanical arm, a first connecting gear is rotatably arranged on the inner circular wall of the speed reducing shell, the central position of one side, far away from the driving motor, of the first connecting gear is vertically and fixedly connected with the driving shaft, the central position of one side, far away from the driving motor, of the speed reducing shell is provided with a shaft hole, the shaft hole is matched with the driving shaft and is correspondingly arranged in position, the central position of the inner cavity of the speed reducing shell is provided with a second connecting gear, the central position of one side, close to the driving motor, of the second connecting gear is fixedly connected with the output end of the driving motor through a connecting rod, four third connecting gears are arranged in the speed reducing shell, the four third connecting gears are consistent in specification and are in cross distribution relative to the second connecting gear, and are all in meshed connection with the first connecting gear and the second connecting gear, and four connecting shafts are fixedly connected to the centers of the third connecting gears close to the driving motor in a perpendicular mode, and the third connecting gears are rotatably installed with the speed reduction shell through rotating shafts.
Preferably, the speed reduction limiting mechanism comprises a limiting arc plate, the limiting arc plate is fixedly installed on the groove wall of the groove close to one end of the driving mechanism, a first arc-shaped groove is formed in the central position of the inner arc wall of the limiting arc plate close to the fixed block, the first arc-shaped groove and the arc limiting block are adaptive, second arc-shaped grooves are formed in the two opposite groove walls of the first arc-shaped groove, two ends of the arc limiting block are located inside the two second arc-shaped grooves respectively, and the arc limiting block is connected with the limiting arc plate in a rotating mode through the first arc-shaped groove and the two second arc-shaped grooves.
Preferably, the maximum rotation angle of the arc-shaped limiting block is 90 degrees.
Preferably, the driving mechanism comprises a protective shell and a servo motor, the protective shell is fixedly sleeved on the servo motor, the output end of the servo motor is fixedly connected with a driving shaft, one end of the driving shaft far away from the servo motor is fixedly connected with one end of the main mechanical arm close to the servo motor, one side fixed mounting that servo motor is close to host machine arm has spacing cover, the annular edge department fixed mounting that spacing cover is close to host machine arm has two first rotor plates, two first rotor plate all designs with first rotor groove looks adaptation, two the equal fixedly connected with second rotor plate in the relative side of first rotor plate, four the second rotor plate all rotates groove looks adaptation and the corresponding design in position with two seconds, two first rotor plate all rotates the groove and rotates the installation with first rotor groove through two second rotor plates and two seconds.
Preferably, the maximum rotation angle of the two first rotation pieces is 120 degrees.
The invention has the beneficial effects that: the invention relates to a joint movement device of an exoskeleton robot, which has the characteristics of multidirectional rotation of joints and limit protection, and has the following two beneficial effects compared with the traditional joint movement device of the exoskeleton robot in specific use:
firstly, a driving shaft is driven to rotate by a servo motor of a driving mechanism, so that the whole main mechanical arm and the auxiliary mechanical arm are driven to rotate, the joint can move in multiple directions, and the mechanical activity performance of the joint is improved;
secondly, a limiting mechanism is installed in a groove of the main mechanical arm, the fixed block, namely the auxiliary mechanical arm, is subjected to limiting protection through limiting movement of an arc limiting block in a second arc-shaped groove, and a first rotating groove, a second rotating groove and a limiting piece are formed in one end, close to the driving mechanism, of the main mechanical arm, so that the rotating interval of the first rotating piece and the second rotating piece is limited.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a first rotary slot mounting structure of the present invention;
FIG. 3 is a schematic view of a first rotor plate mounting structure according to the present invention;
FIG. 4 is a schematic structural diagram of the speed reducing mechanism of the present invention;
FIG. 5 is a schematic view of a first connecting gear mounting structure of the present invention;
FIG. 6 is a schematic view of the mounting structure of the limiting mechanism of the present invention;
fig. 7 is a schematic structural view of the limiting mechanism of the present invention.
In the figure: 1. a main mechanical arm; 2. an auxiliary mechanical arm; 3. a speed reduction mechanism; 4. a drive motor; 5. a protective outer cover; 6. a drive shaft; 7. a bearing; 8. a limiting mechanism; 9. a drive mechanism; 10. a second connection ring; 11. a groove; 12. a first hollowed-out hole; 13. a first rotating groove; 14. a second rotating groove; 15. a limiting sheet; 21. a first connecting ring; 22. a second hollowed-out hole; 23. a fixed block; 24. a connecting rod; 25. an arc-shaped limiting block; 31. a reduction housing; 32. a first connecting gear; 33. a second connecting gear; 34. a connecting shaft; 35. a third connecting gear; 36. a rotating shaft; 81. a first arc-shaped slot; 82. a second arc-shaped slot; 83. a limiting arc plate; 91. a protective housing; 92. a servo motor; 93. a drive shaft; 94. a limiting cover; 95. a first rotating piece; 96. a second rotating piece.
The specific implementation mode is as follows:
as shown in fig. 1 to 7, the following technical solutions are adopted in the present embodiment:
the embodiment is as follows:
a joint movement device of an exoskeleton robot comprises a main mechanical arm 1, a secondary mechanical arm 2, a speed reducing mechanism 3, a driving motor 4, a protective outer cover 5, a driving shaft 6, a bearing 7, a limiting mechanism 8, a driving mechanism 9 and a second connecting ring 10, wherein the secondary mechanical arm 2 is arranged at one end of the main mechanical arm 1, the speed reducing mechanism 3 is fixedly installed at one end, close to the secondary mechanical arm 2, of one side of the main mechanical arm 1, the driving motor 4 is fixedly installed at one side, far away from the main mechanical arm 1, of the speed reducing mechanism 3, the protective outer cover 5 is installed at one side, far away from the main mechanical arm 1, of the speed reducing mechanism 3 in a threaded mode, the driving motor 4 is arranged in the protective outer cover 5, a plurality of small heat dissipation holes are formed in the protective outer cover 5 in a penetrating mode, the driving shaft 6 is fixedly connected with the output end of the speed reducing mechanism 3, the bearing 7 is fixedly installed at one end, close to the secondary mechanical arm 2, opposite side, close to the speed reducing mechanism 3, of the main mechanical arm 1, the one end that reducing mechanism 3 was kept away from to driving shaft 6 runs through main arm 1 and the installation of bearing 7 rotation, driving shaft 6 one side is provided with stop gear 8, the one end that vice arm 2 was kept away from to main arm 1 is equipped with actuating mechanism 9, one side fixed mounting that actuating mechanism 9 kept away from main arm 1 has second go-between 10.
The mechanical arm comprises a main mechanical arm 1, an auxiliary mechanical arm 2, a driving mechanism 9, a first hollow hole 12, a first rotating groove 13, four limiting pieces 15 and a second rotating groove 14, wherein the main mechanical arm 1 is provided with a groove 11 at one end close to the auxiliary mechanical arm 2, two opposite side edges of one end of the main mechanical arm 1 close to the driving mechanism 9 are provided with the first hollow hole in a penetrating manner, the one end of the main mechanical arm 1 close to the driving mechanism 9 is provided with the first rotating groove 13, the inner ring groove wall and the outer ring groove wall of the first rotating groove 13 are provided with the second rotating groove 14, the four limiting pieces 15 are fixedly installed in the first rotating groove 13, and the four limiting pieces 15 are in the same specification and are distributed in a rectangular array manner.
Wherein, the one end that vice arm 2 kept away from main arm 1 is equipped with first connecting ring 21, the second fretwork hole 22 has been seted up in the run through to vice arm 2 double-phase opposite side, the one end fixed mounting that vice arm 2 is close to main arm 1 has fixed block 23, fixed block 23 sets up in recess 11, fixed block 23 is cylindric setting, fixed suit is on driving shaft 6 of fixed block 23, the outer arc wall fixed mounting that vice arm 2 was kept away from to fixed block 23 has connecting rod 24, the one end fixed mounting that fixed block 23 was kept away from to connecting rod 24 has arc stopper 25.
Wherein, the speed reducing mechanism 3 comprises a speed reducing housing 31, the speed reducing housing 31 is fixedly installed on a side wall of the main mechanical arm 1, a first connecting gear 32 is installed on an inner annular wall of the speed reducing housing 31 in a rotating manner, a driving shaft 6 is vertically and fixedly connected to a central position of one side of the first connecting gear 32 far away from the driving motor 4, a shaft hole is formed in a central position of one side of the speed reducing housing 31 far away from the driving motor 4, the shaft hole is matched with the driving shaft 6 and is correspondingly arranged in position, a second connecting gear 33 is arranged at a central position of an inner cavity of the speed reducing housing 31, a central position of one side of the second connecting gear 33 close to the driving motor 4 is fixedly connected with an output end of the driving motor 4 through a connecting rod 34, four third connecting gears 35 are arranged in the speed reducing housing 31, the four third connecting gears 35 are consistent in specification and are distributed in a cross shape with respect to the second connecting gear 33, four third connecting gear 35 all is connected with first connecting gear 32 and the meshing of second connecting gear 33, four equal perpendicular fixedly connected with connecting axle 36 in third connecting gear 35 is close to one side central point of driving motor 4 and puts, four third connecting gear 35 all rotates the installation through axis of rotation 36 and speed reduction shell 31.
Wherein, speed reduction stop gear 8 includes spacing arc 83, spacing arc 83 fixed mounting is on the cell wall that recess 11 is close to actuating mechanism 9 one end, spacing arc 83 is close to the inner arc wall central point of fixed block 23 and puts and has seted up first arc wall 81, first arc wall 81 and the design of arc stopper 25 looks adaptation, second arc wall 82 has all been seted up to the cell wall to double-phase of first arc wall 81, arc stopper 25 both ends are located inside two second arc walls 82 respectively, arc stopper 25 rotates through first arc wall 81 and two second arc walls 82 and is connected with spacing arc 83.
Wherein, the maximum rotation angle of the arc-shaped limiting block 25 is 90 degrees.
Wherein, the driving mechanism 9 comprises a protective shell 91 and a servo motor 92, the protective shell 91 is fixedly sleeved on the servo motor 92, the output end of the servo motor 92 is fixedly connected with a driving shaft 93, one end of the driving shaft 93 far away from the servo motor 92 is fixedly connected with one end of the main mechanical arm 1 close to the servo motor 92, one side of the servo motor 92 close to the main mechanical arm 1 is fixedly provided with a limiting cover 94, two first rotating pieces 95 are fixedly arranged at the position of the limiting cover 94 close to the annular edge of the main mechanical arm 1, the two first rotating pieces 95 are both designed to be matched with the first rotating grooves 13, two opposite sides of the two first rotating pieces 95 are both fixedly connected with second rotating pieces 96, the four second rotating pieces 96 are both designed to be matched with the two second rotating grooves 14 and have corresponding positions, and the two first rotating pieces 95 are both rotatably arranged with the first rotating grooves 13 through the two second rotating pieces 96 and the two second rotating grooves 14.
The maximum rotation angle of the two first rotation pieces 95 is 120 degrees.
The using state of the invention is as follows: firstly, the driving motor 4 is started, the second connecting gear 33 is driven to rotate through the connecting shaft 34, and then the first connecting gear 32 is driven to rotate through the four third connecting gears 35, because the first connecting gear 32 is fixedly connected with the driving shaft 6, the driving shaft 6 is also driven to rotate, and then the fixed block 23 is driven to rotate through the driving shaft 6, the fixed block 23 is limited in the second arc-shaped groove 82 due to the arc-shaped limiting block 25, so that the maximum rotating angle of the fixed block 23, namely the auxiliary mechanical arm 2 is 90 degrees, the phenomenon that the driving motor 4 is heavily loaded and damaged due to the overlarge longitudinal rotating angle is avoided, the driving shaft 93 is driven to rotate by starting the servo motor 92, the whole main mechanical arm 1 and the whole auxiliary mechanical arm 2 are driven to rotate, and the limiting cover 94 is also driven to rotate, because the first rotating sheet 95 is fixedly installed at the end part of the limiting cover 94, the first rotating sheet 95 and the second rotating sheet 96 are forced to rotate in the first rotating groove 13 and the second rotating groove 14, however, due to the blocking of the limiting piece 15, the maximum rotation angle of the first rotating piece 95 and the second rotating piece 96 is 120 degrees, so that the joint rotation at a horizontal angle is met, the internal circuit is protected, and the internal circuit is prevented from being mutually wound and broken due to multiple rewinding forces.
While there have been shown and described what are at present considered to be the basic and essential features and advantages of the invention, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (1)
1. The joint movement device of the exoskeleton robot is characterized by comprising a main mechanical arm (1), an auxiliary mechanical arm (2), a speed reducing mechanism (3), a driving motor (4), a protective outer cover (5), a driving shaft (6), a bearing (7), a limiting mechanism (8), a driving mechanism (9) and a second connecting ring (10), wherein the auxiliary mechanical arm (2) is arranged at one end of the main mechanical arm (1), the speed reducing mechanism (3) is fixedly arranged at one side of the main mechanical arm (1) and at one end close to the auxiliary mechanical arm (2), the driving motor (4) is fixedly arranged at one side of the speed reducing mechanism (3) far away from the main mechanical arm (1), the protective outer cover (5) is arranged at one side of the speed reducing mechanism (3) far away from the main mechanical arm (1) through threads, the driving motor (4) is arranged in the protective outer cover (5), a plurality of small heat dissipation holes are formed in the protective outer cover (5) in a penetrating manner, the output end of the speed reducing mechanism (3) is fixedly connected with a driving shaft (6), a bearing (7) is fixedly mounted at one end, close to the auxiliary mechanical arm (2), of the main mechanical arm (1) opposite to the other side of the speed reducing mechanism (3), one end, far away from the speed reducing mechanism (3), of the driving shaft (6) penetrates through the main mechanical arm (1) and is rotatably mounted with the bearing (7), a limiting mechanism (8) is arranged at one side of the driving shaft (6), a driving mechanism (9) is arranged at one end, far away from the auxiliary mechanical arm (2), of the main mechanical arm (1), and a second connecting ring (10) is fixedly mounted at one side, far away from the main mechanical arm (1), of the driving mechanism (9);
a groove (11) is formed in one end, close to the auxiliary mechanical arm (2), of the main mechanical arm (1), first hollowed-out holes (12) are formed in two opposite side edges of one end, close to the driving mechanism (9), of the main mechanical arm (1) in a penetrating mode, a first rotating groove (13) is formed in one end, close to the driving mechanism (9), of the main mechanical arm (1), second rotating grooves (14) are formed in the inner ring groove wall and the outer ring groove wall of the first rotating groove (13), four limiting pieces (15) are fixedly installed in the first rotating groove (13), and the four limiting pieces (15) are consistent in specification and distributed in a rectangular array;
a first connecting ring (21) is arranged at one end, away from the main mechanical arm (1), of the auxiliary mechanical arm (2), second hollowed-out holes (22) are formed in two opposite side edges of the auxiliary mechanical arm (2) in a penetrating mode, a fixing block (23) is fixedly installed at one end, close to the main mechanical arm (1), of the auxiliary mechanical arm (2), the fixing block (23) is arranged in the groove (11), the fixing block (23) is arranged in a cylindrical mode, the fixing block (23) is fixedly sleeved on the driving shaft (6), a connecting rod (24) is fixedly installed on the outer arc wall, away from the auxiliary mechanical arm (2), of the fixing block (23), and an arc limiting block (25) is fixedly installed at one end, away from the fixing block (23), of the connecting rod (24);
the speed reducing mechanism (3) comprises a speed reducing shell (31), the speed reducing shell (31) is fixedly installed on one side wall of the main mechanical arm (1), a first connecting gear (32) is installed in the speed reducing shell (31) in a rotating mode, a driving shaft (6) is vertically and fixedly connected with one side central position, away from the driving motor (4), of the first connecting gear (32), a shaft hole is formed in one side central position, away from the driving motor (4), of the speed reducing shell (31), the shaft hole is matched with the driving shaft (6) and is correspondingly arranged in position, a second connecting gear (33) is arranged in the central position of an inner cavity of the speed reducing shell (31), the central position, close to the driving motor (4), of one side of the second connecting gear (33) is fixedly connected with the output end of the driving motor (4) through a connecting rod (34), and four third connecting gears (35) are arranged in the speed reducing shell (31), the specifications of the four third connecting gears (35) are consistent, the four third connecting gears are mutually distributed in a cross shape relative to the second connecting gear (33), the four third connecting gears (35) are all meshed with the first connecting gear (32) and the second connecting gear (33), the center positions of one sides, close to the driving motor (4), of the four third connecting gears (35) are vertically and fixedly connected with rotating shafts (36), and the four third connecting gears (35) are all rotatably installed with the speed reducing shell (31) through the rotating shafts (36);
the speed reduction limiting mechanism (8) comprises a limiting arc-shaped plate (83), the limiting arc-shaped plate (83) is fixedly mounted on the wall of the groove (11) close to one end of the driving mechanism (9), a first arc-shaped groove (81) is formed in the central position of the inner arc-shaped wall of the limiting arc-shaped plate (83) close to the fixed block (23), the first arc-shaped groove (81) and the arc-shaped limiting block (25) are in adaptive design, second arc-shaped grooves (82) are formed in two opposite wall of the first arc-shaped groove (81), two ends of the arc-shaped limiting block (25) are respectively located in the two second arc-shaped grooves (82), and the arc-shaped limiting block (25) is rotatably connected with the limiting arc-shaped plate (83) through the first arc-shaped groove (81) and the two second arc-shaped grooves (82);
the maximum rotation angle of the arc-shaped limiting block (25) is 90 degrees;
the driving mechanism (9) comprises a protective shell (91) and a servo motor (92), the protective shell (91) is fixedly sleeved on the servo motor (92), the output end of the servo motor (92) is fixedly connected with a driving shaft (93), one end, far away from the servo motor (92), of the driving shaft (93) is fixedly connected with one end, close to the servo motor (92), of the main mechanical arm (1), a limiting cover (94) is fixedly installed on one side, close to the main mechanical arm (1), of the servo motor (92), two first rotating pieces (95) are fixedly installed at the position, close to the annular edge of the main mechanical arm (1), of the limiting cover (94), the two first rotating pieces (95) are both in adaptive design with the first rotating grooves (13), two opposite side edges of the first rotating pieces (95) are both fixedly connected with second rotating pieces (96), and the four second rotating pieces (96) are both in adaptive design with the two second rotating grooves (14) and have corresponding positions, the two first rotating sheets (95) are rotatably arranged with the two second rotating grooves (14) and the first rotating groove (13) through the two second rotating sheets (96);
the maximum rotation angle of the two first rotating pieces (95) is 120 degrees.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695997.XA CN110281222B (en) | 2019-07-30 | 2019-07-30 | Joint movement device of exoskeleton robot |
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| CN201910695997.XA CN110281222B (en) | 2019-07-30 | 2019-07-30 | Joint movement device of exoskeleton robot |
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| CN110281222B true CN110281222B (en) | 2022-08-19 |
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| CN201910695997.XA Active CN110281222B (en) | 2019-07-30 | 2019-07-30 | Joint movement device of exoskeleton robot |
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| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
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| GB1374120A (en) * | 1970-12-24 | 1974-11-13 | Seiko Instr & Electronics | Transfer and positioning machine |
| KR100715857B1 (en) * | 2005-06-24 | 2007-05-11 | 삼성전자주식회사 | Heat Roller for Fixing Apparatus |
| TWI516335B (en) * | 2013-11-05 | 2016-01-11 | 財團法人工業技術研究院 | Carrying module |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN107928984A (en) * | 2017-12-06 | 2018-04-20 | 广州绿竹环保科技有限公司 | A kind of rehabilitation machines |
| CN109464263B (en) * | 2018-11-22 | 2020-12-08 | 上海电气集团股份有限公司 | Rehabilitation robot |
| CN109806117A (en) * | 2019-04-04 | 2019-05-28 | 深圳铭锐医疗自动化有限公司 | A kind of robot arm configuration and robot |
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| DE3702502A1 (en) * | 1986-01-30 | 1987-08-06 | Inst Tekh Kib I Robotika | MANIPULATOR MODULE |
| CN106393073A (en) * | 2016-11-18 | 2017-02-15 | 武汉大学 | Portable type flexible-elbow-joint exoskeleton robot |
| CN107174476A (en) * | 2017-04-18 | 2017-09-19 | 燕山大学 | A kind of pedipulator of lower limb rehabilitation robot |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
| CN207953849U (en) * | 2018-03-02 | 2018-10-12 | 哈工大机器人（合肥）国际创新研究院 | A kind of joint angle displacement control device |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
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| CN110281222A (en) | 2019-09-27 |
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