CN110842892A - Hydraulic drive four-link upper limb assistance exoskeleton robot - Google Patents
Hydraulic drive four-link upper limb assistance exoskeleton robot Download PDFInfo
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- CN110842892A CN110842892A CN201911036696.2A CN201911036696A CN110842892A CN 110842892 A CN110842892 A CN 110842892A CN 201911036696 A CN201911036696 A CN 201911036696A CN 110842892 A CN110842892 A CN 110842892A
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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
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Abstract
The application relates to an upper limbs helping hand ectoskeleton robot of hydraulic drive four connecting rods belongs to smart machine technical field, and this ectoskeleton robot includes: the back exoskeleton 1, the shoulder joint exoskeleton 2, the elbow joint exoskeleton 3 and the wrist joint exoskeleton 4; the shoulder joint exoskeleton 2 is connected with the back exoskeleton 1, the elbow joint exoskeleton 3 is connected with the shoulder joint exoskeleton 2, and the wrist joint exoskeleton 4 is connected with the elbow joint exoskeleton 3; wherein the shoulder joint exoskeleton 2 and the elbow joint exoskeleton 3 are four-bar linkages; the problem of heavy among the prior art is solved, the effect that subtracts heavy has been reached.
Description
Technical Field
The application relates to a hydraulic drive four-bar linkage upper limb assistance exoskeleton robot, and belongs to the technical field of intelligent devices.
Background
The upper limb assistance exoskeleton is a wearable man-machine integrated intelligent assistance device and is widely applied to the fields of military, industry and human body rehabilitation training. At present, the driving structure of a domestic and foreign power-assisted exoskeleton robot system mainly adopts three types of electric, hydraulic and pneumatic. The electric driving mode can be direct driving and rope driving, and the electric direct driving system is simple in design, high in precision, large and unattractive in structure and poor in structural balance; the electric rope drives the electric rope to move flexibly, but the power assisting effect is poor; the hydraulically-driven power-assisted exoskeleton robot is strong in load bearing capacity and high in rigidity, but the system is heavy and poor in compliance; the exoskeleton robot device driven by air pressure is light and has strong compliance capacity, but the system structure has low rigidity and low motion stability.
Disclosure of Invention
The application provides a hydraulic drive four-bar linkage's upper limbs helping hand ectoskeleton robot, can solve the problem that hydraulic drive's upper limbs helping hand ectoskeleton robot weight is heavy among the current scheme. The application provides the following technical scheme:
in a first aspect, there is provided a hydraulically driven four-bar upper extremity assist exoskeleton robot, the robot comprising: a back exoskeleton, a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton; the shoulder joint exoskeleton is connected with the back exoskeleton, the elbow joint exoskeleton is connected with the shoulder joint exoskeleton, and the wrist joint exoskeleton is connected with the elbow joint exoskeleton; wherein the shoulder joint exoskeleton and the elbow joint exoskeleton are four-bar linkages.
Optionally, the back exoskeleton comprises: the back connecting rod is fastened on the back plate through a screw;
the back plate is of an arc structure which is attached to the back curve of a human body; the cross section of the back connecting rod is a right trapezoid, and a plane connected with the back plate has a certain inclination.
Optionally, the shoulder exoskeleton comprises: the shoulder connecting rod shaft I, the shoulder connecting rod shaft II, the hydraulic cylinder shaft I, the hydraulic cylinder shaft II, the hydraulic cylinder I, the shoulder connecting rod III, the shoulder connecting rod shaft III, the shoulder connecting rod IV and the shoulder connecting rod shaft IV;
the shoulder adjusting block is connected to the back connecting rod through a shoulder shaft; the first shoulder connecting rod is sleeved in the shoulder adjusting block through a screw; the shoulder connecting rod II is connected to the shoulder connecting rod I through the shoulder connecting rod shaft I and rotates relative to the shoulder connecting rod shaft I; the shoulder connecting rod III is connected to the shoulder connecting rod II through a shoulder connecting rod shaft II; one end of a cylinder rod of the hydraulic cylinder I is connected to the shoulder connecting rod III through a hydraulic cylinder shaft I; one end of the cylinder barrel of the hydraulic cylinder I is connected to the shoulder connecting rod II through a hydraulic cylinder shaft II; the shoulder connecting rod four-way is connected to the shoulder connecting rod three through the shoulder connecting rod shaft three and connected to the shoulder connecting rod one through the shoulder connecting rod shaft four.
Optionally, the first shoulder connecting rod shaft, the second shoulder connecting rod shaft, the third shoulder connecting rod shaft, the fourth shoulder connecting rod and the fourth shoulder connecting rod shaft integrally form a four-bar linkage.
Optionally, the first shoulder connecting rod is of an opposite connecting rod structure and has a bending angle.
Optionally, the shoulder connecting rod two is of a double-lug structure and is provided with a groove, and the shoulder connecting rod three and the shoulder connecting rod four move in the groove.
Optionally, the elbow joint exoskeleton comprises: the elbow connecting rod I, the hydraulic cylinder shaft III, the hydraulic cylinder II, the hydraulic cylinder shaft IV, the elbow connecting rod II, the elbow connecting rod III, the elbow connecting rod IV and the elbow connecting rod IV;
the elbow connecting rod I is fastened on the shoulder connecting rod II through a screw; the elbow connecting rod II is connected to the elbow connecting rod I through the elbow connecting rod shaft I; one end of a cylinder barrel of the hydraulic cylinder II is connected to the elbow connecting rod I through a hydraulic cylinder shaft III; one end of a cylinder rod of the hydraulic cylinder II is connected to the elbow connecting rod II through a hydraulic cylinder shaft IV; the elbow connecting rod III is connected to the elbow connecting rod II through an elbow connecting rod shaft II; the elbow connecting rod four-way is connected to the elbow connecting rod three through an elbow connecting rod shaft three, connected to the elbow connecting rod one through an elbow connecting rod shaft four and fixed relative to the elbow connecting rod shaft four.
Optionally, the first elbow connecting rod shaft, the second elbow connecting rod shaft, the third elbow connecting rod shaft, the fourth elbow connecting rod and the fourth elbow connecting rod shaft form a four-bar linkage.
Optionally, the first elbow connecting rod is of a double-lug structure and is provided with a groove, and the second elbow connecting rod, the third elbow connecting rod and the fourth elbow connecting rod move in the groove.
Optionally, the wrist exoskeleton comprises a forearm, a sensor, a grip seat and a grip;
the forearm is fastened on the elbow connecting rod IV through a screw; the sensor is fastened on the forearm through a screw; the grip base is connected with the sensor through a screw; the handle is connected with the handle seat through threads.
Optionally, the end of the forearm is threaded for connection to a hook by an eye screw.
The beneficial effect of this application lies in:
by designing an upper limb assistance exoskeleton robot, the robot comprises a back exoskeleton, a shoulder joint exoskeleton, an elbow joint exoskeleton and a wrist joint exoskeleton; the shoulder joint exoskeleton is connected with the back exoskeleton, the elbow joint exoskeleton is connected with the shoulder joint exoskeleton, and the wrist joint exoskeleton is connected with the elbow joint exoskeleton; wherein the shoulder joint exoskeleton and the elbow joint exoskeleton are four-bar linkages; the problem of hydraulic drive's upper limbs helping hand ectoskeleton robot heavy in the current scheme is solved, reached and subtract heavy effect.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a hydraulically driven four-bar linkage upper extremity assist exoskeleton robot of the present invention;
FIG. 2 is a schematic view of a back structure according to the present invention;
FIG. 3 is a schematic illustration of the construction of the shoulder exoskeleton of the present invention;
FIG. 4 is a schematic representation of the elbow exoskeleton of the present invention;
fig. 5 is a schematic structural view of the wrist exoskeleton of the present invention.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Referring to fig. 1 to 5, schematic diagrams of an upper limb assistance exoskeleton robot with hydraulically driven four links according to an embodiment of the present application are shown, and as shown in fig. 1 to 5, the exoskeleton robot includes:
the back exoskeleton 1, the shoulder joint exoskeleton 2, the elbow joint exoskeleton 3 and the wrist joint exoskeleton 4; the shoulder joint exoskeleton 2 is connected with the back exoskeleton 1, the elbow joint exoskeleton 3 is connected with the shoulder joint exoskeleton 2, and the wrist joint exoskeleton 4 is connected with the elbow joint exoskeleton 3; wherein the shoulder joint exoskeleton 2 and the elbow joint exoskeleton 3 are four-bar mechanisms.
Wherein the back exoskeleton 1 comprises: the back plate comprises a back plate 1-1 and a back connecting rod 1-2, wherein the back connecting rod 1-2 is fastened on the back plate 1-1 through a screw;
the back plate 1-1 is an arc line structure which is attached to the back curve of a human body, and weight reduction grooves are dug; the cross section of the back connecting rod 1-2 is a right trapezoid, and a plane connected with the back plate 1-1 has a certain inclination. By setting the inclination, the complete attachment of the connecting surface is ensured.
Optionally, the shoulder exoskeleton 2 comprises: 2-1 parts of shoulder adjusting blocks, 2-2 parts of shoulder shafts, 2-3 parts of shoulder connecting rods, 2-4 parts of shoulder connecting rod shafts, 2-5 parts of shoulder connecting rods, 2-6 parts of shoulder connecting rod shafts, 2-7 parts of hydraulic cylinder shafts, 2-8 parts of hydraulic cylinder shafts, 2-9 parts of hydraulic cylinders, 2-10 parts of shoulder connecting rods, 2-11 parts of shoulder connecting rod shafts, 2-12 parts of shoulder connecting rods and 2-13 parts of shoulder connecting rod shafts;
the shoulder adjusting block 2-1 is connected with the back connecting rod 1-2 through a shoulder shaft 2-2; the shoulder connecting rod I2-3 is sleeved in the shoulder adjusting block 2-1 through a screw; the shoulder connecting rod II 2-5 is connected to the shoulder connecting rod I2-3 through the shoulder connecting rod shaft I2-4 and rotates relative to the shoulder connecting rod shaft I2-4; the shoulder connecting rod III 2-10 is connected to the shoulder connecting rod II through a shoulder connecting rod shaft II 2-6; one end of a cylinder rod of the hydraulic cylinder I2-9 is connected to the shoulder connecting rod III 2-10 through a hydraulic cylinder shaft I2-7; one end of a cylinder barrel of the hydraulic cylinder I2-9 is connected to the shoulder connecting rod II 2-5 through a hydraulic cylinder shaft II 2-8; the shoulder link four 2-12 is connected to the shoulder link three 2-10 by the shoulder link shaft three 2-11 and to the shoulder link one 2-3 by the shoulder link shaft four 2-13. After the shoulder connecting rod I2-3 is sleeved into the shoulder adjusting block 2-1 through a screw, the distance of the upper limb power-assisted exoskeleton robot on the coronal plane can be adjusted through adjusting the position of the screw, namely the shoulder connecting rod I is adapted to the thicknesses of different human backs.
The first shoulder connecting rod 2-3, the first shoulder connecting rod shaft 2-4, the second shoulder connecting rod 2-5, the second shoulder connecting rod shaft 2-6, the third shoulder connecting rod 2-10, the third shoulder connecting rod shaft 2-11, the fourth shoulder connecting rod 2-12 and the fourth shoulder connecting rod shaft 2-13 integrally form a four-bar mechanism, and the movement required by completing the task can be realized by using the angle amplification effect of the four-bar mechanism and selecting the hydraulic cylinder one 2-9 with smaller size.
The shoulder connecting rods I2-3 are of an opposite connecting rod structure and have bending angles.
The shoulder connecting rod II 2-5 is of a double-lug structure and is provided with a groove, and the shoulder connecting rod III 2-10 and the shoulder connecting rod IV 2-12 move in the groove, so that the compactness of the structure is ensured.
The elbow joint exoskeleton 3 comprises: 3-1 parts of a first elbow connecting rod, 3-2 parts of a first elbow connecting rod shaft, 3-3 parts of a third hydraulic cylinder shaft, 3-4 parts of a second hydraulic cylinder, 3-5 parts of a fourth hydraulic cylinder shaft, 3-6 parts of a second elbow connecting rod, 3-7 parts of a second elbow connecting rod shaft, 3-8 parts of a third elbow connecting rod, 3-9 parts of a third elbow connecting rod shaft, 3-10 parts of a fourth elbow connecting rod and 3-11 parts of a fourth elbow connecting rod shaft;
the elbow connecting rod I3-1 is fastened on the shoulder connecting rod II 2-5 through screws; the elbow connecting rod II 3-6 is connected to the elbow connecting rod I3-1 through the elbow connecting rod shaft I3-2; one end of a cylinder barrel of the hydraulic cylinder II 3-4 is connected to the elbow connecting rod I3-1 through a hydraulic cylinder shaft III 3-3; one end of a cylinder rod of the hydraulic cylinder II 3-4 is connected to the elbow connecting rod II 3-6 through a hydraulic cylinder shaft IV 3-5; the elbow connecting rod III 3-8 is connected to the elbow connecting rod II 3-6 through an elbow connecting rod shaft II 3-7; elbow link four 3-10 is connected to elbow link three 3-8 by elbow link axis three 3-9, to elbow link one 3-1 by elbow link axis four 3-11, and is fixed relative to elbow link axis four 3-11. The elbow connecting rod I3-1 is fastened on the shoulder connecting rod II 2-5 through screws, and the distance of the upper limb power-assisted exoskeleton robot on the horizontal plane can be adjusted through adjusting the positions of the screws, so that the upper limb power-assisted exoskeleton robot is suitable for the lengths of upper arms of different human bodies.
The first elbow connecting rod 3-1, the first elbow connecting rod shaft 3-2, the second elbow connecting rod 3-6, the second elbow connecting rod shaft 3-7, the third elbow connecting rod 3-8, the third elbow connecting rod shaft 3-9, the fourth elbow connecting rod 3-10 and the fourth elbow connecting rod shaft 3-11 form a four-bar mechanism, and the second hydraulic cylinder 3-4 with smaller size can be selected for completing the movement required by the task by utilizing the angle amplification effect of the four-bar mechanism.
The first elbow connecting rod 3-1 is of a double-lug structure and is provided with a groove, and the second elbow connecting rod 3-6, the third elbow connecting rod 3-8 and the fourth elbow connecting rod 3-10 move in the groove.
The wrist joint exoskeleton 4 comprises a front arm 4-1, a sensor 4-2, a grip seat 4-3 and a grip 4-4; the front arm 4-1 is fastened on the elbow connecting rod four 3-10 through a screw; the sensor 4-2 is fastened on the front arm 4-1 through a screw; the grip holder 4-3 is connected with the sensor 4-2 through a screw; the handle 4-4 is connected with the handle seat 4-3 through threads. The end of the front arm 4-1 is provided with a thread for connecting with a hook through a lifting bolt. The forearm 4-1 is fastened on the elbow connecting rod four 3-10 through a screw, and the distance of the upper limb assistance exoskeleton robot on the horizontal plane can be adjusted through adjusting the position of the screw, so that the forearm can adapt to the lengths of forearms of different human bodies. The sensor 4-2 is a sensor with the function of measuring force or moment; one end of the handle 4-4 is provided with external threads which are connected with the threaded holes of the handle seat 4-3.
The upper limb assistance exoskeleton robot with the hydraulically driven four-link has three degrees of freedom, namely, the flexion and extension of the shoulder joint exoskeleton 2, the inward and outward turning and the flexion and extension of the elbow joint exoskeleton 3 are realized through the matching between each link and the corresponding shaft. Considering that the human wrist joint is weak, the upper limb assistance exoskeleton robot does not limit the degree of freedom of the human wrist joint.
The above embodiment is exemplified by only one of the shoulder joint exoskeleton 2, the elbow joint exoskeleton 3 and the wrist joint exoskeleton 4, and in actual implementation, two of the shoulder joint exoskeleton 2, the elbow joint exoskeleton 3 and the wrist joint exoskeleton 4 are provided because the user group includes two shoulders, two elbow joints and two wrist joints.
The upper limb assisting exoskeleton robot with the hydraulically driven four-connecting rod combines the four-connecting rod with hydraulic drive, changes direct motion into rotation, and can select a hydraulic cylinder with smaller size in the same angle motion range to indirectly achieve the purpose of weight reduction; the back thickness, the length of the upper arm and the forearm are adjustable; the upper limb assisting exoskeleton robot only has interaction with a human body at the handle, and the binding feeling of a traditional binding belt to the human body cannot be generated when large articles are carried; mechanical limit is considered in the design of the four-bar linkage, and extra mechanical limit design is not needed.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A hydraulically driven four-bar upper extremity assist exoskeleton robot, the exoskeleton robot comprising: a back exoskeleton, a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton; the shoulder joint exoskeleton is connected with the back exoskeleton, the elbow joint exoskeleton is connected with the shoulder joint exoskeleton, and the wrist joint exoskeleton is connected with the elbow joint exoskeleton; wherein the shoulder joint exoskeleton and the elbow joint exoskeleton are four-bar linkages.
2. The exoskeleton robot of claim 1, wherein said back exoskeleton comprises: the back connecting rod is fastened on the back plate through a screw;
the back plate is of an arc structure which is attached to the back curve of a human body; the cross section of the back connecting rod is a right trapezoid, and a plane connected with the back plate has a certain inclination.
3. The exoskeleton robot of claim 1, wherein said shoulder joint exoskeleton comprises: the shoulder connecting rod shaft I, the shoulder connecting rod shaft II, the hydraulic cylinder shaft I, the hydraulic cylinder shaft II, the hydraulic cylinder I, the shoulder connecting rod III, the shoulder connecting rod shaft III, the shoulder connecting rod IV and the shoulder connecting rod shaft IV;
the shoulder adjusting block is connected to the back connecting rod through a shoulder shaft; the first shoulder connecting rod is sleeved in the shoulder adjusting block through a screw; the shoulder connecting rod II is connected to the shoulder connecting rod I through the shoulder connecting rod shaft I and rotates relative to the shoulder connecting rod shaft I; the shoulder connecting rod III is connected to the shoulder connecting rod II through a shoulder connecting rod shaft II; one end of a cylinder rod of the hydraulic cylinder I is connected to the shoulder connecting rod III through a hydraulic cylinder shaft I; one end of the cylinder barrel of the hydraulic cylinder I is connected to the shoulder connecting rod II through a hydraulic cylinder shaft II; the shoulder connecting rod four-way is connected to the shoulder connecting rod three through the shoulder connecting rod shaft three and connected to the shoulder connecting rod one through the shoulder connecting rod shaft four.
4. The exoskeleton robot of claim 3, wherein the first shoulder link, the first shoulder link shaft, the second shoulder link shaft, the third shoulder link shaft, the fourth shoulder link and the fourth shoulder link shaft collectively form a four-bar linkage.
5. An exoskeleton robot as claimed in claim 3 wherein the first shoulder link is of opposite link configuration and has a bend angle.
6. The exoskeleton robot of claim 3, wherein the second shoulder link is a binaural structure with a groove, and the third shoulder link and the fourth shoulder link move within the groove.
7. The exoskeleton robot of claim 1, wherein said elbow joint exoskeleton comprises: the elbow connecting rod I, the hydraulic cylinder shaft III, the hydraulic cylinder II, the hydraulic cylinder shaft IV, the elbow connecting rod II, the elbow connecting rod III, the elbow connecting rod IV and the elbow connecting rod IV;
the elbow connecting rod I is fastened on the shoulder connecting rod II through a screw; the elbow connecting rod II is connected to the elbow connecting rod I through the elbow connecting rod shaft I; one end of a cylinder barrel of the hydraulic cylinder II is connected to the elbow connecting rod I through a hydraulic cylinder shaft III; one end of a cylinder rod of the hydraulic cylinder II is connected to the elbow connecting rod II through a hydraulic cylinder shaft IV; the elbow connecting rod III is connected to the elbow connecting rod II through an elbow connecting rod shaft II; the elbow connecting rod four-way is connected to the elbow connecting rod three through an elbow connecting rod shaft three, connected to the elbow connecting rod one through an elbow connecting rod shaft four and fixed relative to the elbow connecting rod shaft four.
8. The exoskeleton robot of claim 7, wherein the first elbow link, the first elbow link shaft, the second elbow link shaft, the third elbow link shaft, the fourth elbow link and the fourth elbow link shaft form a four-bar linkage.
9. The exoskeleton robot as recited in claim 7, wherein said first elbow link is a two-ear structure having a recess, and said second elbow link, said third elbow link and said fourth elbow link move within said recess.
10. An exoskeleton robot as claimed in any one of claims 1 to 9 wherein the wrist exoskeleton comprises forearms, sensors, grip holders, grips;
the forearm is fastened on the elbow connecting rod IV through a screw; the sensor is fastened on the forearm through a screw; the grip base is connected with the sensor through a screw; the handle is connected with the handle seat through threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036696.2A CN110842892A (en) | 2019-10-29 | 2019-10-29 | Hydraulic drive four-link upper limb assistance exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036696.2A CN110842892A (en) | 2019-10-29 | 2019-10-29 | Hydraulic drive four-link upper limb assistance exoskeleton robot |
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| CN110842892A true CN110842892A (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911036696.2A Pending CN110842892A (en) | 2019-10-29 | 2019-10-29 | Hydraulic drive four-link upper limb assistance exoskeleton robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114872014A (en) * | 2022-04-07 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Voice-controlled joint robot and voice-controlled joint robot system |
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