CN110385698A - A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device - Google Patents
A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device Download PDFInfo
- Publication number
- CN110385698A CN110385698A CN201910692886.3A CN201910692886A CN110385698A CN 110385698 A CN110385698 A CN 110385698A CN 201910692886 A CN201910692886 A CN 201910692886A CN 110385698 A CN110385698 A CN 110385698A
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- Prior art keywords
- inner cylinder
- fixed pulley
- bearing seat
- motor
- upper limb
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of motor-driven four-degree-of-freedom upper limb exoskeleton devices, belong to mechanical device field, including hook, wirerope, the first fixed pulley, the first inner cylinder, outer cylinder, the second fixed pulley, third fixed pulley, the second inner cylinder, adjustment pin, first bearing seat, second bearing seat, driving motor, backboard；Hook is fixedly connected with wirerope；Outer cylinder is L-type, and the first inner cylinder and the second inner cylinder are respectively placed in outer barrel, and the first inner cylinder, the second inner barrel and outer barrel are equipped with pin hole, and adjustment pin is inserted into the corresponding pin hole of the first inner barrel and outer barrel and in the corresponding pin hole of the second inner barrel and outer barrel；First bearing seat and second bearing seat are fixed on backboard, and the second inner cylinder is inserted into the bearing inner race of first bearing seat and second bearing seat；Driving motor backboard is fixedly connected；Wirerope is wound on the output shaft of driving motor after successively bypassing the first fixed pulley, third fixed pulley and the second fixed pulley.Driving element is few, and structure is simple, good with the matching of human body end.
Description
Technical field
The invention belongs to mechanical device fields, are related to a kind of motor-driven four-degree-of-freedom upper limb exoskeleton device.
Background technique
Upper limb ectoskeleton can assist wearer to realize that the carrying of object is lifted, and ability is lifted in the carrying for promoting wearer,
The physical strength of wearer is saved, structure is complicated for human upper limb, and flexibly, ectoskeleton is in order to realize good with human body end for movement
Match, usually structure is complicated, and driving element is more.
Summary of the invention
In order to solve in the related technology ectoskeleton in order to realize the matched well with human body end, usually structure is complicated, drive
Problem more than dynamic element, the present invention provides a kind of motor-driven four-degree-of-freedom upper limb exoskeleton devices.Technical solution is as follows:
Provide a kind of motor-driven four-degree-of-freedom upper limb exoskeleton device, comprising: hook, wirerope, first are slided calmly
Wheel, the first inner cylinder, outer cylinder, the second fixed pulley, third fixed pulley, the second inner cylinder, adjustment pin, first bearing seat, second bearing seat,
Driving motor, backboard；Hook is placed on wirerope, is fixedly connected with wirerope, and hook with outer load for connecting；Outer cylinder is L
Type, the first inner cylinder are placed in inside the horizontal segment of outer cylinder, and it is equal that the first inner barrel and outer barrel is equipped with the first predetermined quantity column distance
Pin hole, adjustment pin are inserted into the corresponding pin hole of the first inner barrel and outer barrel；Second inner cylinder is placed in inside the vertical section of outer cylinder, in second
Cylinder and outer cylinder are equipped with the equal pin hole of the second predetermined quantity column distance, the corresponding pin hole of the second inner barrel and outer barrel of adjustment pin insertion
It is interior；First bearing seat and second bearing seat are fixed on backboard, and first bearing seat and second bearing seat are aligned in the vertical direction,
Second inner cylinder is inserted into the bearing inner race of first bearing seat and second bearing seat；Driving motor is placed on backboard, is fixed with backboard
Connection；The outer end of the first inner cylinder is arranged in first fixed pulley, and the outer end of the second inner cylinder is arranged in the second fixed pulley, and third is fixed
The corner of outer cylinder is arranged in pulley, and wirerope is wound on after successively bypassing the first fixed pulley, third fixed pulley and the second fixed pulley
On the output shaft of driving motor.
By motor-driven four-degree-of-freedom upper limb exoskeleton device, required driving element is few, and structure is simple, with people
The matching of body end is good.
Optionally, the bearing in second bearing seat is thrust bearing or conical bearing, bears the downward effect of the second inner cylinder
Power.
Optionally, driving motor and backboard are bolted.
Optionally, driving motor rotate when drive wirerope movement, wirerope by the second fixed pulley, third fixed pulley and
First fixed pulley drives hook to rise or fall to drive outer load to rise or fall.
By driving motor drive wirerope movement, can by fixed pulley drive steel cord ends hook rise or under
It drops to drive outer load to rise or fall, realizes the movement of load.
Optionally, the relative position activity adjustment of the first inner barrel and outer barrel, is fixed by adjustment pin, for adapting to outer load
With the different distance of backboard.
By adjustment pin adjust the first inner barrel and outer barrel relative position, it is adjustable it is outer load at a distance from backboard, from
And adapt to the arm length of different people.
Optionally, the relative position activity adjustment of the second inner barrel and outer barrel, is fixed by adjustment pin, for controlling hook
Highest lifting position.
By adjustment pin adjust the second inner barrel and outer barrel relative position, the highest lifting position of adjustable hook, from
And adapt to the height of different people.
Optionally, the second inner cylinder is rotated around first bearing seat and second bearing seat, drives hook horizontal movement.
It is rotated by the second inner cylinder around first bearing seat and second bearing seat, drives hook horizontal movement, may be implemented outer
Load moves horizontally.
Optionally, two groups of four-degree-of-freedom upper limb exoskeleton devices are set on a backboard, and two hook cooperations are carried outer negative
It carries.
By the way that two groups of devices are arranged on backboard, both arms cooperation may be implemented and carry the outer function of loading.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
Invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the main view of four-degree-of-freedom upper limb exoskeleton device provided by one embodiment of the present invention；
Fig. 2 is the left view of four-degree-of-freedom upper limb exoskeleton device provided by one embodiment of the present invention.
Wherein, appended drawing reference is as follows:
1, it links up with；2, wirerope；3, the first fixed pulley；4, the first inner cylinder；5, outer cylinder；6, the second fixed pulley；7, third is fixed
Pulley；8, the second inner cylinder；9, adjustment pin；10, first bearing seat；11, second bearing seat；12, driving motor；13, backboard.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
Upper limb ectoskeleton can assist wearer to realize that the carrying of object is lifted, and ability is lifted in the carrying for promoting wearer,
The physical strength of wearer is saved, structure is complicated for human upper limb, and flexibly, ectoskeleton is in order to realize good with human body end for movement
Match, usually structure is complicated, and driving element is more.
For current upper limb ectoskeleton in order to realize the matched well with human body end, usually structure is complicated, driving element
More problems, this application provides a kind of motor-driven four-degree-of-freedom upper limb exoskeleton devices, pass through motor-driven four selfs
By degree upper limb exoskeleton device, required driving element is few, and structure is simple, good with the matching of human body end.Below with reference to
Motor-driven four-degree-of-freedom upper limb exoskeleton device provided by the present application is illustrated in Fig. 1 and Fig. 2.
In conjunction with reference Fig. 1 and Fig. 2, which includes: hook 1, wirerope
2, the first fixed pulley 3, the first inner cylinder 4, outer cylinder 5, the second fixed pulley 6, third fixed pulley 7, the second inner cylinder 8, adjustment pin 9, first
Bearing block 10, second bearing seat 11, driving motor 12, backboard 13；Hook 1 is placed on wirerope 2, is fixedly connected with wirerope 2,
Hook 1 with outer load for connecting；Outer cylinder 5 is L-type, and the first inner cylinder 4 is placed in inside the horizontal segment of outer cylinder 5, the first inner cylinder 4 and outer
Cylinder 5 is equipped with the equal pin hole of the first predetermined quantity column distance, and adjustment pin 9 is inserted into the first inner cylinder 4 and the corresponding pin hole of outer cylinder 5
It is interior, prevent the first inner cylinder 4 from deviating from；Second inner cylinder 8 is placed in inside the vertical section of outer cylinder 5, and the second inner cylinder 8 and outer cylinder 5 are equipped with the
The equal pin hole of two predetermined quantity column distances, adjustment pin 9 are inserted into the second inner cylinder 8 and the corresponding pin hole of outer cylinder 5, are prevented in second
Cylinder 8 is deviate from；First bearing seat 10 and second bearing seat 11 are fixed on backboard 13, and first bearing seat 10 and second bearing seat 11 exist
It is aligned on vertical direction, the second inner cylinder 8 is inserted into the bearing inner race of first bearing seat 10 and second bearing seat 11；Driving motor 12
It is placed on backboard 13, is fixedly connected with backboard 13；The outer end of the first inner cylinder 4, the second fixed pulley 6 is arranged in first fixed pulley 3
The outer end of second inner cylinder 8 is set, and the corner of outer cylinder 5 is arranged in third fixed pulley 7, and wirerope 2 is successively fixed around first
It is wound on the output shaft of driving motor 12 after pulley 3, third fixed pulley 7 and the second fixed pulley 6.
First fixed pulley 3, the second fixed pulley 6 and third fixed pulley 7 are arranged in cylinder, 2 one end of wirerope connection hook
1, it sequentially passes through the first inner cylinder 4, outer cylinder 5, the second inner cylinder 8 and is wound on the output shaft of driving motor 12.
Optionally, the bearing in second bearing seat 11 is thrust bearing or conical bearing, bears the downward work of the second inner cylinder 8
Firmly.
Optionally, driving motor 12 and backboard 13 are bolted.
Optionally, when motor-driven four-degree-of-freedom upper limb exoskeleton device works, driving motor 12 drives steel when rotating
Cord 2 moves, and wirerope 2 drives hook 1 to rise or fall by the second fixed pulley 6, third fixed pulley 7 and the first fixed pulley 3
To drive outer load to rise or fall.
Optionally, the relative position activity adjustment of the first inner cylinder 4 and outer cylinder 5, it is fixed by adjustment pin 9, it is outer for adapting to
The different distance of load and backboard 13.
Optionally, the relative position activity adjustment of the second inner cylinder 8 and outer cylinder 5, it is fixed by adjustment pin 9, it is hung for controlling
The highest lifting position of hook 1.
Optionally, the second inner cylinder 8 is rotated around first bearing seat 10 and second bearing seat 11, drives 1 horizontal movement of hook.
Optionally, in conjunction with reference Fig. 2, two groups of four-degree-of-freedom upper limb exoskeleton devices, two extensions are set on a backboard 13
Outer load is carried in the cooperation of hook 1.
In conclusion motor-driven four-degree-of-freedom upper limb exoskeleton device provided by the present application, by motor-driven
Four-degree-of-freedom upper limb exoskeleton device, required driving element is few, and structure is simple, good with the matching of human body end.
In addition, driving wirerope movement by driving motor, can be driven by fixed pulley on the hook of steel cord ends
It rises or declines to drive outer load to rise or fall, realize the movement of load.
In addition, adjust the relative position of first inner barrel and outer barrel by adjustment pin, adjustable outer load and backboard away from
From to adapt to the arm length of different people.
In addition, the relative position of the second inner barrel and outer barrel is adjusted by adjustment pin, raise-position in the highest of adjustable hook
It sets, to adapt to the height of different people.
In addition, rotating by the second inner cylinder around first bearing seat and second bearing seat, hook horizontal movement, Ke Yishi are driven
Now outer load moves horizontally.
In addition, both arms cooperation may be implemented and carry the outer function of loading by the way that two groups of devices are arranged on backboard.
Those skilled in the art will readily occur to of the invention its after considering specification and the invention invented here of practice
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
The common knowledge in the art that person's adaptive change follows general principle of the invention and do not invent including the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (8)
1. a kind of motor-driven four-degree-of-freedom upper limb exoskeleton device characterized by comprising hook, wirerope, first are determined
Pulley, the first inner cylinder, outer cylinder, the second fixed pulley, third fixed pulley, the second inner cylinder, adjustment pin, first bearing seat, second bearing
Seat, driving motor, backboard；
The hook is placed on the wirerope, is fixedly connected with the wirerope, and the hook with outer load for connecting；
The outer cylinder is L-type, and first inner cylinder is placed in inside the horizontal segment of the outer cylinder, first inner cylinder and the outer cylinder
It is equipped with the equal pin hole of the first predetermined quantity column distance, the adjustment pin is inserted into first inner cylinder and the outer cylinder is corresponding
In pin hole；Second inner cylinder is placed in inside the vertical section of the outer cylinder, and second inner cylinder and the outer cylinder are equipped with second
The equal pin hole of predetermined quantity column distance, the adjustment pin are inserted into second inner cylinder and the corresponding pin hole of the outer cylinder；
The first bearing seat and the second bearing seat are fixed on the backboard, the first bearing seat and second axis
It is seated against on vertical direction and is aligned, second inner cylinder is inserted into the bearing inner race of the first bearing seat and the second bearing seat
It is interior；
The driving motor is placed on the backboard, is fixedly connected with the backboard；First fixed pulley setting is described the
The outer end of second inner cylinder is arranged in the outer end of one inner cylinder, second fixed pulley, and the third fixed pulley setting exists
The corner of the outer cylinder, the wirerope successively bypasses first fixed pulley, the third fixed pulley and described second is determined
It is wound on after pulley on the output shaft of the driving motor.
2. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that described second
Bearing on bearing block is thrust bearing or conical bearing, bears the downward active force of second inner cylinder.
3. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that the driving
Motor and the backboard are bolted.
4. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that the driving
Motor drives the wirerope to move when rotating, the wirerope passes through second fixed pulley, the third fixed pulley and institute
Stating the first fixed pulley drives the hook to rise or fall to drive outer load to rise or fall.
5. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that described first
The relative position activity adjustment of inner cylinder and the outer cylinder, is fixed by the adjustment pin, for adapting to outer load and the backboard
Different distance.
6. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that described second
The relative position activity adjustment of inner cylinder and the outer cylinder, is fixed by the adjustment pin, for controlling the highest of the hook
Raise-position is set.
7. motor-driven four-degree-of-freedom upper limb exoskeleton device according to claim 1, which is characterized in that described second
Inner cylinder is rotated around the first bearing seat and the second bearing seat, drives the hook horizontal movement.
8. motor-driven four-degree-of-freedom upper limb exoskeleton device according to any one of claims 1 to 7, which is characterized in that
Outer load is carried in four-degree-of-freedom upper limb exoskeleton device described in being arranged two groups on one backboard, two hook cooperations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692886.3A CN110385698A (en) | 2019-07-30 | 2019-07-30 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692886.3A CN110385698A (en) | 2019-07-30 | 2019-07-30 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
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| Publication Number | Publication Date |
|---|---|
| CN110385698A true CN110385698A (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910692886.3A Pending CN110385698A (en) | 2019-07-30 | 2019-07-30 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
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| CN (1) | CN110385698A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203917A (en) * | 2020-02-22 | 2020-05-29 | 上海傲鲨智能科技有限公司 | Exoskeleton load detection device and method based on auxiliary sensor |
| CN113894771A (en) * | 2021-08-27 | 2022-01-07 | 北京机械设备研究所 | Active pull-belt type upper limb assistance exoskeleton |
| CN116690543A (en) * | 2023-08-07 | 2023-09-05 | 贵州航天控制技术有限公司 | Exoskeleton robot upper limb booster unit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203917A (en) * | 2020-02-22 | 2020-05-29 | 上海傲鲨智能科技有限公司 | Exoskeleton load detection device and method based on auxiliary sensor |
| CN113894771A (en) * | 2021-08-27 | 2022-01-07 | 北京机械设备研究所 | Active pull-belt type upper limb assistance exoskeleton |
| CN116690543A (en) * | 2023-08-07 | 2023-09-05 | 贵州航天控制技术有限公司 | Exoskeleton robot upper limb booster unit |
| CN116690543B (en) * | 2023-08-07 | 2023-11-14 | 贵州航天控制技术有限公司 | Exoskeleton robot upper limb booster unit |
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Application publication date: 20191029 |
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