CN113400283B - Upper limb assistance exoskeleton robot - Google Patents
Upper limb assistance exoskeleton robot Download PDFInfo
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- CN113400283B CN113400283B CN202110770129.0A CN202110770129A CN113400283B CN 113400283 B CN113400283 B CN 113400283B CN 202110770129 A CN202110770129 A CN 202110770129A CN 113400283 B CN113400283 B CN 113400283B
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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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- 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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses an upper limb assistance exoskeleton robot which comprises telescopic simulation muscles, a hydraulic power mechanism, a chest support frame, shoulder support frames and a large arm connecting sleeve, wherein the upper limb assistance exoskeleton robot comprises a main body and a main body; the telescopic simulation muscle comprises a first hose and a plurality of hydraulic cylinders, a first piston rod, a second piston and a second piston rod are arranged in each hydraulic cylinder, the first piston rods and the second piston rods of adjacent hydraulic cylinders are connected, a chest supporting frame is fixed on the chest of a user, a shoulder supporting frame is fixed on the shoulder of the user, a large arm connecting sleeve is fixed on a large arm of the user, and the hydraulic cylinders at two ends of the telescopic simulation muscle are respectively connected with the shoulder supporting frame and the large arm connecting sleeve; the invention utilizes a plurality of hydraulic cylinders to form the telescopic simulation muscles, has small structure and light weight, can assist the big arm to realize various actions such as arm lifting, drooping, front swinging, back swinging and the like by attaching the telescopic simulation muscles to different positions of the big arm, and helps people needing to strengthen the strength of upper limbs to improve the life quality.
Description
Technical Field
The invention relates to the field of human body simulation equipment, in particular to an upper limb assistance exoskeleton robot.
Background
The human body assistance device is a device capable of providing assistance for the actions of four limbs of a human body, can be used for improving the limb strength of soldiers in the military field, can also be used for helping patients to perform rehabilitation training in the medical field, and can also be used for providing assistance for the daily actions of patients with insufficient limb strength or old people. Various human body assistance devices in the prior art are mainly simulated exoskeletons which are provided with hard frames and have the defects of large volume, inconvenience in carrying and single action type.
Disclosure of Invention
The invention aims to solve the technical problem that an upper limb assisting exoskeleton robot which is small in size, light in weight and convenient to wear is lacked in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an upper limb assistance exoskeleton robot comprises a telescopic simulation muscle, a hydraulic power mechanism, a chest support frame, a shoulder support frame and a large arm connecting sleeve;
the telescopic simulation muscle comprises a first hose and a plurality of hydraulic cylinders, a first piston rod, a second piston and a second piston rod are arranged in each hydraulic cylinder, two ends of each hydraulic cylinder are sealed, one end of each first piston rod penetrates through each hydraulic cylinder and each second piston and is connected with the corresponding first piston, the corresponding second piston rod penetrates through each hydraulic cylinder and each first piston and is connected with the corresponding second piston, a hydraulic cavity is formed between each first piston and each second piston, and an air cavity is formed outside each two pistons; the hydraulic cylinders are arranged in a straight line shape, first piston rods and second piston rods of adjacent hydraulic cylinders are connected, hydraulic cavities of all the hydraulic cylinders are communicated with one end of a first hose, and the other end of the first hose is connected with a hydraulic power mechanism;
the chest support frame is fixed on the chest of a user, the shoulder support frame is fixed on the shoulder of the user, and the hydraulic power mechanism is arranged on the chest support frame; because of the structural characteristics of shoulders of a human body, the simple shoulder support frame is not easy to fix, and a connecting belt can be generally configured to connect the shoulder support frame with the chest support frame;
the large arm connecting sleeve is fixed on a large arm of a user, and hydraulic cylinders at two ends of the telescopic simulation muscle are respectively connected with the shoulder supporting frame and the large arm connecting sleeve;
when the hydraulic power mechanism fills oil into the hydraulic cavities of the hydraulic cylinders, the first piston and the second piston are separated from each other and respectively compress the air cavities on the two sides, so that the distance between two adjacent hydraulic cylinders is increased, and the extension of the whole telescopic simulation muscle is further realized; correspondingly, when the hydraulic power mechanism is decompressed, the first piston and the second piston are close to each other again under the action of compressed air in the air cavity, so that the distance between two adjacent hydraulic cylinders is reduced, and the contraction of the whole telescopic simulation muscle is realized;
the telescopic simulation muscles are arranged at proper positions of the big arm, so that various actions of the big arm can be realized, for example, two telescopic simulation muscles are respectively arranged on the outer surface, the inner surface, the front surface and the rear surface of the big arm, and hydraulic cylinders at two ends of the telescopic simulation muscles arranged on the inner surface of the big arm are respectively connected with the chest support frame and the big arm connecting sleeve; in the installation mode, the stretching simulation muscle matching of the outer surface and the inner surface of the big arm can realize the lifting action and the natural droop of the big arm, and the stretching simulation muscle matching of the front surface and the rear surface of the big arm can realize the front swing action and the rear swing action of the big arm.
Furthermore, the first piston rod and the second piston rod of the adjacent hydraulic cylinders are connected through the universal joint, the universal joint enables the two adjacent hydraulic cylinders to deflect by a certain angle, and the whole telescopic simulation muscle can stretch and bend to a certain degree, so that the telescopic simulation muscle is more flexible.
Furthermore, the telescopic simulation muscle also comprises a telescopic plate made of elastic materials, all hydraulic cylinders are fixed on the telescopic plate, and the telescopic plate can be stretched without influencing the normal stretching of the telescopic simulation muscle; on the other hand, the expansion plate has certain strength, so that all hydraulic cylinders can be positioned in the same plane, and uncontrollable torsion and bending of expansion simulation muscles are avoided.
The main function of the telescopic simulation muscle is to realize the action of the big arm, and in order to provide power assistance for the small arm, the invention also comprises a bending simulation muscle and a small arm connecting sleeve, wherein the bending simulation muscle comprises a second hose, an elastic bent plate and an outer expansion sleeve; a hollow first expansion cavity is arranged in the outer expansion sleeve, the outer expansion sleeve is arc-shaped, the outer surface of the outer expansion sleeve is wavy, and the inner surface of the outer expansion sleeve is sealed by an elastic bent plate; one end of the second hose is communicated with the first expansion cavity, and the other end of the second hose is connected with a hydraulic power mechanism; the small arm connecting sleeve is fixed on a small arm of a user, and two ends of the outer expansion sleeve are respectively connected with the large arm connecting sleeve and the small arm connecting sleeve;
when the hydraulic power mechanism fills oil into the first expansion cavity of the outer expansion sleeve, the wavy outer surface of the outer expansion sleeve is subjected to the action of hydraulic oil to relax, and the elastic bent plate serving as the inner surface cannot extend, so that the bending degree of the whole outer expansion sleeve and the elastic bent plate is increased, and the bending motion of the bending simulation muscle is realized.
Furthermore, be provided with first splice bar in the first inflation intracavity, first splice bar is triangle-shaped and along the even interval distribution of arc length direction of elasticity bent plate, and first splice bar can strengthen the intensity of outer inflation cover middle zone for when the internal pressure increase of outer inflation cover, it is corrugated surface mainly to expand, avoids outer inflation cover to take place anomalous deformation.
Furthermore, the bending simulation muscle further comprises an inner expansion sleeve, a hollow second expansion cavity is arranged in the inner expansion sleeve, the inner expansion sleeve is arc-shaped, and the outer surface of the inner expansion sleeve is sealed by an elastic bent plate; a second connecting rib vertical to the elastic bent plate is arranged in the second expansion cavity; the second hose is communicated with the second expansion cavity;
when the hydraulic power mechanism fills oil into the second expansion cavity of the inner expansion sleeve, the inner surface of the inner expansion sleeve slightly expands, so that the inner surface of the inner expansion sleeve pulls the outer surface (namely the elastic bending plate) of the inner expansion sleeve from two ends, and the bending simulation of the bending of muscles is realized.
Furthermore, the upper limb assistance exoskeleton robot further comprises an elastic belt, the elastic belt is positioned at the elbow joint of a user, and two ends of the elastic belt are respectively connected with the large arm connecting sleeve and the small arm connecting sleeve; after the hydraulic power mechanism releases the pressure, the elastic band can help the arm of the user to reset.
Further, the upper limb assistance exoskeleton robot further comprises a controller, a detection patch and a central control screen;
the hydraulic power mechanism comprises a power hydraulic cylinder, a power piston and an electric push rod, the power piston is positioned in the power hydraulic cylinder, and the electric push rod is connected with the power piston;
the detection patch is pasted on the upper arm and the lower arm of a user, the central control screen is installed on the chest support frame, the controller is connected with the detection patch and the central control screen, the controller controls the electric push rod, a control program is installed in the controller, the detection patch is a pressure sensor, the detection patch transmits pressure data to the controller at a set frequency, and the detection patch can detect the pressure of different muscles of the arm of the user;
when the pressure data measured by the detection patch is larger than or equal to a first set value, the controller controls the positive stroke of the corresponding electric push rod; when the pressure data measured by the detection patches are greater than or equal to a second set value and smaller than a first set value, the controller controls the corresponding electric push rods to keep in place; when the pressure data measured by the detection patch is smaller than a second set value, the controller controls the reverse stroke of the corresponding electric push rod;
when a user needs to lift an arm, bend the arm and the like, the corresponding muscle on the arm of the user exerts force to generate pressure on the detection patch (the pressure is larger at the moment and is larger than or equal to a first set value), the controller starts the corresponding electric push rod after detecting a larger pressure signal through the detection patch, and the electric push rod drives the corresponding telescopic simulation muscle or bending simulation muscle to provide assistance for the user's action; when the user lifts and bends the arm to a target position, the corresponding muscle on the arm of the user only needs to maintain the current posture of the arm, the pressure generated by the corresponding muscle on the arm of the user to the detection patch is small (more than or equal to a second set value and less than a first set value), the controller judges that the arm of the user moves to the target position after detecting a small pressure signal through the detection patch, and the controller controls the corresponding electric push rod to keep the original position; when the user needs to give up the action of lifting or bending the arm, the corresponding muscles on the arm of the user are completely relaxed, the pressure generated by the muscles to the detection patch is small or zero (smaller than a second set value), the controller judges that the user hopes that the arm is in a natural sagging state after detecting the small or zero pressure signal through the detection patch, at the moment, the controller controls the reverse stroke of the corresponding electric push rod, and the hydraulic power mechanism does not output hydraulic power.
Has the advantages that: (1) the upper limb assistance exoskeleton robot disclosed by the invention utilizes the plurality of hydraulic cylinders to form the telescopic simulation muscles, not only has a small structure and light weight, but also can assist the large arm to realize various actions such as arm lifting, drooping, front swinging, back swinging and the like by attaching the telescopic simulation muscles to different positions of the large arm, thereby helping people needing to strengthen the strength of upper limbs to improve the life quality. (2) The upper limb assistance exoskeleton robot is provided with the universal joint between the adjacent hydraulic cylinders, so that the whole telescopic simulation muscle can perform telescopic action and can also bend to a certain degree, and the telescopic simulation muscle is more flexible. (3) The upper limb assistance exoskeleton robot provided by the invention utilizes the elastic bending plate and the outer expansion sleeve to form bending simulation muscles, so that the assistance of crank arm actions is further realized, and the assistance effect of the whole upper limb assistance exoskeleton robot is stronger. (4) The upper limb assistance exoskeleton robot is characterized in that the first connecting rib is arranged in the outer expansion sleeve, the second connecting rib is arranged in the inner expansion sleeve, and the deformation areas of the two expansion sleeves are directionally controlled by utilizing the two connecting ribs, so that irregular distortion of bending simulation muscles is avoided. (5) The upper limb assistance exoskeleton robot disclosed by the invention intelligently controls the stretching simulation muscle and the bending simulation muscle by adopting the controller and the detection patch, so that a user does not need to additionally control the upper limb assistance exoskeleton robot, and the upper limb assistance exoskeleton robot is more convenient to use. (6) The length of the telescopic muscle can be freely disassembled and adjusted, the telescopic muscle is modularized, the number of hydraulic cylinders can be increased or decreased according to the size of the used assistance, and the length of the muscle can be adjusted according to the length of limbs of different people. (7) The hydraulic power mechanism is arranged in the middle of a human body, the weight of the hydraulic power mechanism is arranged in the center of the human body, the stability is improved, and meanwhile, the weight of limbs is reduced, so that the structure of the limbs is compact and simple, and the limbs can move conveniently.
Drawings
Fig. 1 is an application state diagram of the upper limb assistance exoskeleton robot in embodiment 1.
Fig. 2 is a state diagram (another view angle) of the application of the upper limb assistance exoskeleton robot in the embodiment 1.
Fig. 3 is a perspective view of a stretching simulated muscle in example 1.
Fig. 4 is a perspective view (another view) of the stretching simulated muscle in example 1.
Fig. 5 is a sectional view of a stretching simulated muscle in example 1.
Fig. 6 is an enlarged view a of fig. 5.
Fig. 7 is a perspective view of a bending simulation muscle in example 1.
Fig. 8 is a sectional view of a bending simulation muscle in example 1.
Wherein: 100. stretching the simulated muscle; 110. a first hose; 120. a hydraulic cylinder; 121. a first piston; 122. a first piston rod; 123. a second piston; 124. a second piston rod; 125. a hydraulic chamber; 126. an air chamber; 130. a universal joint; 140. a retractable plate; 200. a hydraulic power mechanism; 210. a power hydraulic cylinder; 220. an electric push rod; 300. a chest support; 400. a shoulder support; 410. a connecting belt; 500. a large arm connecting sleeve; 600. bending the simulated muscle; 610. a second hose; 620. an elastic bending plate; 630. an outer expansion sleeve; 631. a first expansion chamber; 632. a first connecting rib; 640. an inner expansion sleeve; 641. a second expansion chamber; 642. a second connecting rib; 650. a liquid guide bin; 700. a small arm connecting sleeve; 800. an elastic band; 900. detecting the patch; 1000. and (4) a central control screen.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
Example 1
As shown in fig. 1 and fig. 2, the upper limb assistance exoskeleton robot of the present embodiment includes a telescopic simulation muscle 100, a hydraulic power mechanism 200, a chest support frame 300, a shoulder support frame 400, a big arm connection sleeve 500, a bending simulation muscle 600, a small arm connection sleeve 700, an elastic band 800, a detection patch 900 and a central control screen 1000;
the chest support frame 300 is fixed on the chest of a user, the shoulder support frame 400 is fixed on the shoulder of the user, and the shoulder support frame 400 is connected with the chest support frame 300 through a connecting band 410; the big arm connecting sleeve 500 is sleeved on the big arm of the user, the small arm connecting sleeve 700 is sleeved on the small arm of the user, and both the big arm connecting sleeve 500 and the small arm connecting sleeve 700 are close to the elbow joint; the elastic band 800 is positioned at the elbow joint of the user and two ends of the elastic band 800 are respectively connected with the big arm connecting sleeve 500 and the small arm connecting sleeve 700;
the hydraulic power mechanism 200 comprises a power hydraulic cylinder 210, a power piston and an electric push rod 220, wherein the power hydraulic cylinder 210 and the electric push rod 220 are both fixed on the chest support frame 300, the power piston is positioned in the power hydraulic cylinder 210, and the electric push rod 220 is connected with the power piston; the detection patch 900 is pasted on the upper arm and the lower arm of a user, the central control screen 1000 is installed on the chest support frame 300, the controller is connected with the detection patch 900 and the central control screen 1000, and the controller controls the electric push rod 220;
as shown in fig. 3 to 6, the telescopic simulated muscle 100 includes a first hose 110, a plurality of hydraulic cylinders 120, a universal joint 130 and a telescopic plate 140, a first piston 121, a first piston rod 122, a second piston 123 and a second piston rod 124 are arranged in the hydraulic cylinder 120, both ends of the hydraulic cylinder 120 are closed, one end of the first piston rod 122 passes through the hydraulic cylinder 120 and the second piston 123 and is connected with the first piston 121, the second piston rod 124 passes through the hydraulic cylinder 120 and the first piston 121 and is connected with the second piston 123, a hydraulic pressure cavity 125 is formed between the first piston 121 and the second piston 123, and an air cavity 126 is formed outside of both pistons; the plurality of hydraulic cylinders 120 are arranged in a straight line shape or an arc shape, and the first piston rods 122 and the second piston rods 124 of the adjacent hydraulic cylinders 120 are connected through universal joints 130; the expansion plate 140 is made of elastic material, all the hydraulic cylinders 120 are fixed on the expansion plate 140, the hydraulic cavities 125 of all the hydraulic cylinders 120 are communicated with one end of the first hose 110, and the other end of the first hose 110 is connected with the power hydraulic cylinder 210;
as shown in fig. 7 and 8, the bending simulation muscle 600 includes a second hose 610, an elastic bending plate 620, an outer expansion sleeve 630, an inner expansion sleeve 640, and a fluid guide chamber 650; a hollow first expansion cavity 631 is arranged in the outer expansion sleeve 630, the outer expansion sleeve 630 is arc-shaped, the outer surface of the outer expansion sleeve 630 is wave-shaped, the inner surface of the outer expansion sleeve 630 is sealed by an elastic bent plate 620, and two ends of the outer expansion sleeve 630 are respectively connected with a large arm connecting sleeve 500 and a small arm connecting sleeve 700; first connecting ribs 632 are arranged in the first expansion cavity 631, and the first connecting ribs 632 are triangular and evenly distributed at intervals along the arc length direction of the elastic bending plate 620;
a hollow second expansion cavity 641 is arranged in the inner expansion sleeve 640, the inner expansion sleeve 640 is arc-shaped, and the outer surface of the inner expansion sleeve 640 is sealed by an elastic bent plate 620; a second connecting rib 642 perpendicular to the elastic bending plate 620 is arranged in the second expansion cavity 641; one end of the second hose 610 communicates with the first expansion chamber 631 and the second expansion chamber 641 through the fluid guide chamber 650, and the other end of the second hose 610 communicates with the power cylinder 210.
In this embodiment, two telescopic simulated muscles 100 are respectively installed on the outer surface, the inner surface, the front surface and the rear surface of the user's big arm, the hydraulic cylinders 120 at the two ends of the telescopic simulated muscles 100 installed on the inner surface of the big arm are respectively connected with the chest support frame 300 and the big arm connecting sleeve 500, and the hydraulic cylinders 120 at the two ends of the other telescopic simulated muscles 100 are respectively connected with the shoulder support frame 400 and the big arm connecting sleeve 500; the present embodiment arranges one bending simulation muscle 600 at each of the inner and outer sides of the elbow of the user;
the present embodiment is configured with six hydraulic power mechanisms 200, and the six hydraulic power mechanisms 200 respectively provide hydraulic power to the extension and contraction simulated muscle 100 on the outer surface of the big arm, the extension and contraction simulated muscle 100 on the inner surface of the big arm, the extension and contraction simulated muscle 100 on the front surface of the big arm, the extension and contraction simulated muscle 100 on the rear surface of the big arm, the bending simulated muscle 600 on the outer side of the elbow, and the bending simulated muscle 600 on the inner side of the elbow.
As shown in fig. 5 and 6, the stretching principle of the stretching simulated muscle 100 in the present embodiment is: when the hydraulic power mechanism 200 fills oil into the hydraulic cavity 125 of the hydraulic cylinder 120, the first piston 121 and the second piston 123 are separated from each other and respectively compress the air cavities 126 at two sides, so that the distance between two adjacent hydraulic cylinders 120 is increased, and the extension of the whole telescopic simulated muscle 100 is further realized; accordingly, when the hydraulic power mechanism 200 is depressurized, the first piston 121 and the second piston 123 are moved closer to each other again by the compressed air in the air chamber 126, so that the distance between two adjacent hydraulic cylinders 120 is reduced, thereby achieving the contraction of the entire telescopic simulated muscle 100;
as shown in fig. 8, the bending principle of the bending simulation muscle 600 in the present embodiment is: when the hydraulic power mechanism 200 charges oil into the first expansion cavity 631 of the outer expansion sleeve 630, the wavy outer surface of the outer expansion sleeve 630 is relaxed under the action of hydraulic oil, and the elastic bending plate 620 serving as the inner surface cannot extend, so that the bending degree of the whole outer expansion sleeve 630 and the elastic bending plate 620 is increased, and the bending action of the bending simulation muscle 600 is realized; similarly, the oil is filled in the first expansion cavity 631 of the hydraulic power mechanism 200, and simultaneously, the oil is filled in the second expansion cavity 641 of the inner expansion sleeve 640, so that the inner surface of the inner expansion sleeve 640 slightly expands, and the inner surface of the inner expansion sleeve 640 pulls the inner elastic bending plate 620 from the two ends, thereby realizing the bending motion of the bending simulation muscle 600.
In this embodiment, the stretching of the stretching simulated muscle 100 can provide assistance for the user to lift the upper arm, swing the upper arm forward, swing the upper arm backward, etc., the bending simulated muscle 600 can provide assistance for the user to take the lower arm, and the elastic band 800 provides assistance for the user to straighten the lower arm again.
The control of the flexible simulated muscle 100 and the bending simulated muscle 600 of the embodiment mainly depends on a controller, a control program is installed in the controller, the detection patch 900 is a pressure sensor, the detection patch 900 transmits pressure data to the controller at a set frequency, and the detection patch 900 can detect the pressure of different muscles of the arm of a user;
when the pressure data measured by the detection patch 900 is greater than or equal to the first set value, the controller controls the corresponding positive stroke of the electric push rod 220; when the pressure data measured by the detection patch 900 is greater than or equal to the second set value and smaller than the first set value, the controller controls the corresponding electric push rod 220 to keep the original position; when the pressure data measured by the detection patch 900 is smaller than a second set value, the controller controls the reverse stroke of the corresponding electric push rod 220;
when a user needs to perform arm lifting, arm bending and other actions, the corresponding muscle on the arm of the user exerts force to generate pressure on the detection patch 900 (the pressure at this time is greater than or equal to a first set value), the controller starts the corresponding electric push rod 220 after detecting the greater pressure signal through the detection patch 900, and the electric push rod 220 drives the corresponding telescopic simulation muscle 100 or bending simulation muscle 600 to provide assistance for the actions of the user; when the user lifts and bends the arm to the target position, the corresponding muscle on the arm of the user only needs to maintain the current posture of the arm, at this time, the pressure generated by the corresponding muscle on the arm of the user to the detection patch 900 is small (greater than or equal to a second set value and smaller than a first set value), the controller judges that the arm of the user has moved to the target position after detecting the small pressure signal through the detection patch 900, and at this time, the controller controls the corresponding electric push rod 220 to keep the original position; when the user needs to give up the action of lifting or bending the arm, the corresponding muscle on the arm of the user is completely relaxed, the pressure generated by the muscle on the detection patch 900 is small or zero (smaller than a second set value), the controller judges that the user wants the arm to be in a natural sagging state after detecting the small or zero pressure signal through the detection patch 900, at this time, the controller controls the corresponding electric push rod 220 to perform reverse stroke, and the hydraulic power mechanism 200 does not output hydraulic power.
Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.
Claims (9)
1. An upper limbs helping hand ectoskeleton robot which characterized in that: comprises a telescopic simulated muscle (100), a hydraulic power mechanism (200), a chest support frame (300), a shoulder support frame (400) and a large arm connecting sleeve (500);
the telescopic simulation muscle (100) comprises a first hose (110) and a plurality of hydraulic cylinders (120), wherein a first piston (121), a first piston rod (122), a second piston (123) and a second piston rod (124) are arranged in each hydraulic cylinder (120), two ends of each hydraulic cylinder (120) are closed, one end of each first piston rod (122) penetrates through the corresponding hydraulic cylinder (120) and the corresponding second piston (123) and is connected with the corresponding first piston (121), one end of each second piston rod (124) penetrates through the corresponding hydraulic cylinder (120) and the corresponding first piston (121) and is connected with the corresponding second piston (123), and a hydraulic cavity (125) is formed between the corresponding first piston (121) and the corresponding second piston (123); the hydraulic cylinders (120) are arranged in a straight line shape, first piston rods (122) and second piston rods (124) of adjacent hydraulic cylinders (120) are connected, hydraulic cavities (125) of all the hydraulic cylinders (120) are communicated with one end of a first hose (110), and the other end of the first hose (110) is connected with a hydraulic power mechanism (200);
the chest support frame (300) is fixed on the chest of a user, the shoulder support frame (400) is fixed on the shoulder of the user, and the hydraulic power mechanism (200) is arranged on the chest support frame (300);
the large arm connecting sleeve (500) is fixed on a large arm of a user, and the hydraulic cylinders (120) at two ends of the telescopic simulation muscle (100) are respectively connected with the shoulder supporting frame (400) and the large arm connecting sleeve (500);
the first piston rod (122) and the second piston rod (124) of the adjacent hydraulic cylinders (120) are connected through a universal joint (130).
2. The upper extremity assisting exoskeleton robot of claim 1, wherein: the telescopic simulated muscle (100) further comprises a telescopic plate (140) made of elastic materials, and all the hydraulic cylinders (120) are fixed on the telescopic plate (140).
3. The upper extremity assisting exoskeleton robot of claim 2, wherein: the number of the telescopic simulation muscles (100) is eight, two telescopic simulation muscles (100) are respectively arranged on the outer surface, the inner surface, the front surface and the rear surface of the big arm, and hydraulic cylinders (120) arranged at two ends of the telescopic simulation muscles (100) on the inner surface of the big arm are respectively connected with a chest support frame (300) and a big arm connecting sleeve (500).
4. The upper extremity assisting exoskeleton robot of claim 3, wherein: the bending simulation muscle training device further comprises a bending simulation muscle (600) and a forearm connecting sleeve (700), wherein the bending simulation muscle (600) comprises a second hose (610), an elastic bending plate (620) and an outer expansion sleeve (630); a hollow first expansion cavity (631) is arranged in the outer expansion sleeve (630), the outer expansion sleeve (630) is arc-shaped, the outer surface of the outer expansion sleeve (630) is wavy, and the inner surface of the outer expansion sleeve (630) is sealed by an elastic bent plate (620);
one end of the second hose (610) is communicated with the first expansion cavity (631), and the other end of the second hose is connected with the hydraulic power mechanism (200);
the small arm connecting sleeve (700) is fixed on a small arm of a user, and two ends of the outer expansion sleeve (630) are respectively connected with the large arm connecting sleeve (500) and the small arm connecting sleeve (700).
5. The upper extremity assisting exoskeleton robot of claim 4, wherein: a first connecting rib (632) is arranged in the first expansion cavity (631).
6. The upper extremity assisting exoskeleton robot of claim 5, wherein: the bending simulation muscle (600) further comprises an inner expansion sleeve (640), a hollow second expansion cavity (641) is formed in the inner part of the inner expansion sleeve (640), the inner expansion sleeve (640) is arc-shaped, and the outer surface of the inner expansion sleeve (640) is sealed by an elastic bent plate (620); a second connecting rib (642) vertical to the elastic bending plate (620) is arranged in the second expansion cavity (641); the second hose (610) communicates with a second expansion chamber (641).
7. The upper extremity assisting exoskeleton robot of claim 6, wherein: the wrist joint elastic band is characterized by further comprising an elastic band (800), wherein the elastic band (800) is located at the elbow joint of a user, and two ends of the elastic band (800) are respectively connected with the upper arm connecting sleeve (500) and the lower arm connecting sleeve (700).
8. The upper extremity assisting exoskeleton robot of claim 7, wherein: the device also comprises a controller, a detection patch (900) and a central control screen (1000);
the hydraulic power mechanism (200) comprises a power hydraulic cylinder (210), a power piston and an electric push rod (220), the power piston is positioned in the power hydraulic cylinder (210), and the electric push rod (220) is connected with the power piston;
the detection patch (900) is pasted on the upper arm and the lower arm of a user, the central control screen (1000) is installed on the chest support frame (300), the controller is connected with the detection patch (900) and the central control screen (1000), and the controller controls the electric push rod (220).
9. The upper extremity assisting exoskeleton robot of claim 8, wherein: the controller is internally provided with a control program, the detection patch (900) is a pressure sensor, the detection patch (900) transmits pressure data to the controller at a set frequency, and the detection patch (900) can detect the pressure of different muscles of the arm of a user;
when the pressure data measured by the detection patch (900) is larger than or equal to a first set value, the controller controls the positive stroke of the corresponding electric push rod (220);
when the pressure data measured by the detection patch (900) is greater than or equal to a second set value and smaller than a first set value, the controller controls the corresponding electric push rod (220) to keep in place;
when the pressure data measured by the detection patch (900) is less than a second set value, the controller controls the reverse stroke of the corresponding electric push rod (220).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110770129.0A CN113400283B (en) | 2021-07-07 | 2021-07-07 | Upper limb assistance exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110770129.0A CN113400283B (en) | 2021-07-07 | 2021-07-07 | Upper limb assistance exoskeleton robot |
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| CN113400283A CN113400283A (en) | 2021-09-17 |
| CN113400283B true CN113400283B (en) | 2022-05-17 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106426146A (en) * | 2016-12-08 | 2017-02-22 | 燕山大学 | Double-acting pneumatic artificial muscle |
| CN106456435A (en) * | 2014-06-12 | 2017-02-22 | 新加坡国立大学 | Actuator device, method and system for limb rehabilitation |
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| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
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| TWI584801B (en) * | 2016-04-15 | 2017-06-01 | 龍華科技大學 | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training |
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| US9506481B1 (en) * | 2013-01-31 | 2016-11-29 | Daniel Theobald | High force hydraulic actuator |
| CN106456435A (en) * | 2014-06-12 | 2017-02-22 | 新加坡国立大学 | Actuator device, method and system for limb rehabilitation |
| CN106426146A (en) * | 2016-12-08 | 2017-02-22 | 燕山大学 | Double-acting pneumatic artificial muscle |
| CN108453705A (en) * | 2018-03-27 | 2018-08-28 | 嘉兴学院 | A kind of human emulated robot system based on cylinder |
| CN210650686U (en) * | 2019-06-04 | 2020-06-02 | 广东省智能制造研究所 | Flexible backbone of quadruped robot based on pneumatic muscle |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
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