CN114643571B - Full-freedom-degree upper limb exoskeleton device - Google Patents
Full-freedom-degree upper limb exoskeleton device Download PDFInfo
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- CN114643571B CN114643571B CN202210245949.2A CN202210245949A CN114643571B CN 114643571 B CN114643571 B CN 114643571B CN 202210245949 A CN202210245949 A CN 202210245949A CN 114643571 B CN114643571 B CN 114643571B
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- fixedly connected
- joint
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a full-freedom upper limb exoskeleton device which comprises a supporting mechanism, an upper arm mechanism, a forearm mechanism and the like. The supporting mechanism comprises a main upright post, a shoulder neck main board, a waist back board, a U-shaped board and an inclined upright post; the main upright post is arranged on the back surface of the U-shaped plate, and the lower end of the inclined upright post is rotationally connected with the middle part of the U-shaped plate. The upper arm mechanism comprises a shoulder connecting plate, a shoulder movable piece, a shoulder support, a shoulder joint driving unit and a cam; the shoulder connecting plate and the shoulder neck main plate, and the cam and the shoulder support are both in rotary connection. The shoulder support side is provided with a cam contact surface, the cam is attached to the cam contact surface, the shoulder joint driving unit is arranged at the bottom side of the cam, and the elbow joint driving unit is rotationally connected with the shoulder joint driving unit. The exoskeleton robot disclosed by the invention is driven by the motor to assist the bending and stretching actions of the elbow joint and the shoulder joint, and the shoulder connecting plate is lifted by the cooperation of the cam and the cam contact surface, so that the exoskeleton robot moves along with the skeleton of a human body, and the comfort level of a wearer is improved.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a full-freedom upper limb exoskeletons device.
Background
A wearable exoskeleton, or powered exoskeleton, is a mechanical device that is constructed of rigid or flexible materials and is worn by a person, and that provides additional energy to enhance the person's ability to carry heavy objects. The mechanical exoskeleton has various purposes, and is mainly used for helping heavy workers to relieve the burden of the heavy workers, such as logistics and building industry; can also be used for rehabilitation training of handicapped persons or used as artificial limb to help autonomous life of paraplegic patients. The powered exoskeleton can also be used for military use to enhance physical performance and protection of soldiers.
The existing exoskeleton mainly has the problems of heavy weight, inflexibility and insufficient degree of freedom. After the wearer wears the exoskeleton robot, the mechanical structure of the exoskeleton robot blocks the movement of the wearer, limiting the range of motion of the wearer.
Therefore, the full-freedom-degree upper limb exoskeleton device is provided, so that the device does not obstruct the movement of a wearer, particularly can follow the movement of shoulder joints of the wearer, accords with the lifting of the rotation center of the shoulder when arms of the human body are moved, ensures the comfort of the wearer while providing assistance, and improves the freedom degree of movement of the device and the comfort of the human body of the user.
Disclosure of Invention
The invention aims to provide a full-freedom upper limb exoskeleton device for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a full-freedom upper limb exoskeleton device comprises a supporting mechanism, an upper arm mechanism and a forearm mechanism.
The supporting mechanism comprises a main upright post, a shoulder neck main board, a waist back board, a U-shaped board and an inclined upright post. The U-shaped plate is arranged on the back surface of the waist back plate, the upper end of the main upright post is fixedly arranged in the middle of the shoulder neck main plate, the lower end of the main upright post is fixedly arranged on the back surface of the U-shaped plate, two inclined upright posts are arranged left and right, and the lower ends of the two inclined upright posts are in rotary connection with the U-shaped plate.
The upper arm mechanism includes a shoulder connecting plate, a shoulder movable piece, a shoulder support, a shoulder joint driving unit, and a cam. The shoulder connecting plate, the shoulder movable piece, the shoulder support and the cam are symmetrically arranged on two sides of the main upright post and the shoulder neck main board; one side of the shoulder connecting plate is rotationally connected with the shoulder neck main board, meanwhile, the bottom of the shoulder connecting plate is rotationally connected with the inclined upright post, and the other side of the shoulder connecting plate is rotationally connected with a shoulder movable piece; the shoulder movable piece is rotationally connected with the shoulder rest, the cam is rotationally connected with the shoulder rest, the side part of the shoulder rest is provided with a cam contact surface, the edge of the cam is attached to the cam contact surface, and the shoulder joint driving unit is arranged at the bottom side of the cam.
The forearm mechanism comprises an elbow joint driving unit, the elbow joint driving unit is rotationally connected with the upper arm length adjusting unit, and one side of the elbow joint driving unit is fixedly connected with a supporting plate.
In one embodiment of the invention, an auxiliary rotating assembly is arranged on the outer side of the cam, the bottom side of the auxiliary rotating assembly is connected with the shoulder joint driving unit, and one side of the supporting plate is rotatably connected with the shoulder joint driving unit.
In one embodiment of the invention, one side of the shoulder rest is fixedly connected with a sliding seat, a sliding plate is connected on the sliding seat in a sliding way, one side of the sliding plate is fixedly connected with a connecting seat, the connecting seat and the cam are integrally arranged, and the shoulder joint driving unit is fixedly connected on the connecting seat.
In one embodiment of the invention, the cam interface with the cam on the side of the shoulder support, the slide plate, etc. form a sliding pair that lifts the entire arm (upper and forearm) to follow the skeletal motion of the shoulder joint of the wearer while the shoulder drive motor drives the exoskeleton arm to flex/extend. However, the lifting mechanism is not limited to the sliding pair, and other ways such as cam-to-cam rolling, toothed cam-to-toothed cam, gear-to-gear, gear-to-rack, etc. are included. In one embodiment of the invention, the shoulder joint driving unit comprises a shoulder connecting part, the shoulder connecting part is rotationally connected with the connecting seat, a telescopic rod is arranged at the lower end of the shoulder connecting part, and the lower end of the telescopic rod is fixedly connected with a forearm connecting part.
In one embodiment of the invention, the shoulder joint driving unit comprises a first speed reducer, wherein the first speed reducer is fixedly connected to the connecting seat, and the input end of the first speed reducer is fixedly connected with a shoulder joint synchronous pulley;
the shoulder connecting part is fixedly connected with a shoulder joint driving motor, the output end of the shoulder joint driving motor is fixedly connected with a shoulder joint synchronous pulley, and the shoulder joint synchronous pulley is in transmission connection with the shoulder joint synchronous pulley through a synchronous belt.
In one embodiment of the invention, the elbow joint driving unit comprises an elbow joint driving motor, and the output end of the elbow joint driving motor is connected with an elbow joint synchronous belt pulley;
the forearm connecting part is fixedly connected with an elbow joint speed reducer, the output end of the elbow joint speed reducer is fixedly connected with an elbow joint synchronous belt pulley, and the elbow joint synchronous belt pulley is in transmission connection with the elbow joint synchronous belt pulley.
In one embodiment of the invention, the support plate is an L-shaped plate, the support plate is fixedly connected with a buffer layer, and the side walls of the shoulder neck main plate and the waist back plate are also provided with the buffer layer.
In one embodiment of the invention, the inclined upright posts are arranged as upright posts with radians, the two inclined upright posts are arranged in a V shape, and the two inclined upright posts are symmetrically arranged relative to the main upright post.
In summary, the beneficial effects of the invention are as follows due to the adoption of the technology:
according to the invention, the main upright post and the inclined upright post are arranged to support the whole device and fit with the back of a wearer; the waist back plate is arranged and can be used for placing a waistband, and the shoulder neck main plate is arranged and is used for being rotationally connected with the shoulder connecting plate, so that the shoulder can move up and down; the shoulder connecting plate is rotationally connected with the shoulder movable piece, so that the space for the shoulder to move up and down can be further increased, and the shoulder movable piece is rotationally connected with the shoulder support, so that the shoulder can move back and forth, and the shoulder can move in full freedom;
through the arrangement of the cam and the cam contact surface and the cooperation of the inclined upright post and the shoulder movable piece, when the shoulder joint of a wearer moves (including buckling/stretching and adduction/abduction), the cam and the cam contact surface mutually generate force action to lift the whole shoulder connecting plate so as to follow the lifting movement of the shoulder joint of the wearer, thereby improving the freedom degree of the movement of the device and the comfort degree of the human body.
The shoulder joint and the upper arm can be driven to rotate by the shoulder joint driving unit, and the forearm mechanism can be driven to rotate by the elbow joint driving unit, so that the physical strength of a user is saved; the length of the telescopic rod can be manually adjusted through the arrangement of the telescopic rod, so that the telescopic rod is suitable for users with different arm lengths;
because the first speed reducer is arranged between the shoulder joint synchronous pulley and the mounting frame, the shoulder connecting part rotates relative to the mounting frame.
The invention uses the motor drive to assist the bending and stretching actions of the elbow joint and the shoulder joint, and uses the joint linkage to realize the movement in other directions, thereby not only not obstructing the movement of a wearer, but also following the movement of the shoulder joint of a person, and ensuring the comfort of the wearer.
Drawings
FIG. 1 is a schematic rear view of the present invention;
FIG. 2 is a schematic diagram of an oblique view of the present invention;
FIG. 3 is a schematic view of the left arm lift structure of the present invention in a perspective view;
FIG. 4 is a schematic illustration of a side view left arm lift structure of the present invention;
FIG. 5 is a schematic view of a two-arm drop section of the present invention;
FIG. 6 is a schematic view of a cam of the present invention (upper arm drooping condition);
FIG. 7 is a schematic view of the cam of the present invention (upper arm raised state);
FIG. 8 is a schematic view (front view) of the left arm abduction lifting state of the present invention;
fig. 9 is a schematic view (perspective view) of the left arm abduction lifting state of the present invention.
In the figure: 1, a supporting mechanism; 11, a main upright; 12, a main board of the neck and shoulder; 13, a lumbar rear plate; 14, U-shaped plates; 15, inclined upright posts; 2, an upper arm mechanism; 21, a shoulder connection plate; 22, a shoulder movable piece; 23, shoulder support; 231, cam contact surfaces; a shoulder joint driving unit; 25, an upper arm length adjusting unit; 3, a forearm mechanism; 31, an elbow joint driving unit; 32, a support plate; 261, a slide; 262, a sliding plate; 27, connecting a seat; 28, a cam; 251, shoulder connection; 252, telescoping rod; 253, forearm connection; 241, a first decelerator; 242, shoulder joint synchronous pulleys; 243, shoulder joint drive motor; 244, shoulder joint synchronous pulleys; 311, elbow joint drive motor; 312, an elbow joint synchronous pulley; 313, elbow joint reducer; 314, an elbow joint timing pulley.
Detailed Description
For the purpose of making the technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be described fully below with reference to the accompanying drawings in the embodiments of the present invention. Of course, the described embodiments are some embodiments, but not all embodiments, of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, rather than indicating or implying that the apparatus or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally formed, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art based on the specification.
Example 1
Referring to fig. 1-6, the present invention provides a full-freedom upper limb exoskeleton device, which comprises a support mechanism 1, an upper arm mechanism 2 and a forearm mechanism 3. The upper arm mechanism 2 is installed on both sides of the supporting mechanism 1, and the forearm mechanism 3 is connected to the bottom side of the upper arm mechanism 2. The support mechanism 1 is used for supporting the whole device, the upper arm mechanism 2 is used for assisting the shoulder and moving along with the shoulder, and the forearm mechanism 3 is used for assisting the elbow joint and moving along with the forearm.
The supporting mechanism 1 comprises a main upright 11, a main shoulder and neck plate 12, a back waist plate 13, a U-shaped plate 14 and an inclined upright 15. The U-shaped plate 14 is arranged on the back surface of the waist back plate 13, the upper end of the main upright post 11 is fixedly arranged in the middle of the shoulder neck main plate 12, and the lower end of the main upright post 11 is fixedly arranged on the back surface of the U-shaped plate 14; the left and right sides of the inclined upright posts 15 are provided with two, the inclined upright posts 15 are provided with upright posts with radian and are used for conforming to the radian of the back of a human body, the two inclined upright posts 15 are arranged in a V shape, the two inclined upright posts 15 are symmetrically arranged relative to the main upright post 11, and the lower ends of the two inclined upright posts 15 are rotationally connected inside the U-shaped plate 14 through pin shafts.
The upper arm mechanism 2 includes a shoulder link plate 21, a shoulder movable plate 22, a shoulder stay 23, a shoulder joint drive unit 24, and a cam 28. The shoulder connecting plate 21, the shoulder movable plate 22, the shoulder support 23 and the cam 28 are symmetrically arranged on two sides of the shoulder neck main plate 12; one side of the shoulder connecting plate 21 is rotationally connected with the shoulder neck main plate 12, meanwhile, the bottom of the shoulder connecting plate 21 is rotationally connected with the inclined upright post 15, and the other side of the shoulder connecting plate 21 is rotationally connected with a shoulder movable plate 22; one side of the shoulder movable piece 22 is rotatably connected with the shoulder rest 23, the cam 28 is rotatably connected with the shoulder rest 23, a cam contact surface 231 is arranged on the side part of the shoulder rest 23, the contour of the cam 28 is attached to the cam contact surface 231, and the shoulder joint driving unit 25 is arranged on the bottom side of the cam 28.
The forearm mechanism 3 includes an elbow joint driving unit 31, the elbow joint driving unit 31 is rotatably connected with the upper arm length adjusting unit 25, and a support plate 32 is fixedly connected to one side of the elbow joint driving unit 31.
In particular use, with reference to figures 1, 4 and 5, the main upright 11 and the oblique upright 15 are used to support the whole device, fitting against the back of the user; the waist back plate 13 is arranged and can be used for placing a waistband, the shoulder neck main plate 12 is arranged, and the shoulder neck main plate 12 is rotationally connected with the shoulder connecting plate 21, so that the shoulder can move up and down; the shoulder connecting plate 21 is rotationally connected with the shoulder movable plate 22, so that the space for the shoulder to move up and down can be further increased, and the shoulder movable plate 22 is rotationally connected with the shoulder support 23, so that the shoulder can move back and forth, and the shoulder can move in full freedom;
the shoulder joint driving unit 24 drives the shoulder joint, and the elbow joint driving unit 31 drives the elbow joint and the forearm, thereby saving the physical strength of the wearer and enhancing the ability of the wearer.
Further, the outer side of the cam 28 is provided with a shoulder joint driving unit 24, the bottom side of the shoulder joint driving unit 24 is connected with an upper arm length adjusting unit 25, and one side of the supporting plate 32 is rotatably connected with the upper arm length adjusting unit 25, so that the elbow joint of a human body can move conveniently.
Referring to fig. 4, 6 and 7, a slide seat 261 is fixedly connected to one side of the shoulder support 23, a sliding plate 262 is slidably connected to the slide seat 261, and a connecting seat 27 is fixedly connected to one side of the sliding plate 262, so that shoulder joint movement is facilitated. The connecting seat 27 and the cam 28 are integrally arranged, and the shoulder joint driving unit 24 is fixedly connected to the connecting seat 27.
See fig. 2 and 3. The upper arm length adjusting unit 25 includes a shoulder connecting portion 251, the shoulder connecting portion 251 is rotatably connected with the connecting seat 27, a telescopic rod 252 is provided at the lower end of the shoulder connecting portion 251, a forearm connecting portion 253 is fixedly connected to the lower end of the telescopic rod 252, and the upper arm length of a user can be matched by adjusting the length of the telescopic rod 252, so that the applicability and flexibility are improved.
The shoulder joint driving unit 24 includes a first reducer 241, the first reducer 241 is fixedly connected to the connection base 27, and an input end of the first reducer 241 is fixedly connected to a shoulder joint synchronous pulley 242.
See fig. 2 and 3. The shoulder connection part 251 is fixedly connected with a shoulder joint driving motor 243, the output end of the shoulder joint driving motor 243 is fixedly connected with a shoulder joint synchronous pulley 244, and the shoulder joint synchronous pulley 244 is in transmission connection with the shoulder joint synchronous pulley 242 through a synchronous belt. The elbow joint driving unit 31 comprises an elbow joint driving motor 311, and the output end of the elbow joint driving motor 311 is fixedly connected with an elbow joint synchronous pulley 312; the elbow joint reducer 313 is fixedly connected to the forearm connecting portion 253, the elbow joint synchronous pulley 314 is fixedly connected to the output end of the elbow joint reducer 313, and the elbow joint synchronous pulley 314 and the elbow joint synchronous pulley 312 are connected to drive the elbow joint and the forearm mechanism 3 through synchronous belts.
In specific use, the shoulder joint driving motor 243 can drive the shoulder joint synchronous pulley 244 and the shoulder joint synchronous pulley 242 to rotate synchronously, and the first decelerator 241 is arranged between the shoulder joint synchronous pulley 242 and the connecting seat 27, so that the shoulder joint 251 rotates relative to the connecting seat 27, thereby driving the shoulder joint and the upper arm to move.
The backup pad 32 is L shaped plate, fixedly connected with buffer layer on the backup pad 32, and shoulder neck mainboard 12 and back board 13 lateral wall also are provided with the buffer layer, and the buffer layer can set up to rubber layer or sponge layer, is convenient for improve the soft touch of contact, increases the comfort level.
In the process of lifting the arm, the shoulder joint driving motor 243 drives the shoulder connecting part 251 to rotate relative to the connecting seat 27, so that the cam 28 rotates, the profile of the cam 28 is matched with the cam contact surface 231, and the shoulder connecting plate 21 is lifted; meanwhile, as the shoulder connection part 251 is connected with the sliding seat 261 through the sliding plate 262, the shoulder connection part 251 moves upwards along the direction of the sliding seat 261, so that the shoulder connection part 251 is lifted to enable the shoulder joint of the exoskeleton robot to follow the movement of the human body joint, and the freedom degree of arm movement and the comfort degree of human body use are increased.
Working principle: when the exoskeleton robot is worn by a wearer in use, the main upright post 11 and the inclined upright post 15 are attached to the back, and when the wearer lifts the arm, the sensor (myoelectricity or force/moment sensor) detects the movement of the wearer, and the computer identifies and judges the movement intention of the wearer through an algorithm and sends movement instructions to the motor. The shoulder joint driving motor 243 drives the shoulder joint part 251 to rotate relative to the connecting seat 27 so as to drive the cam 28 to rotate, and the cam 28 is matched with the cam contact surface 231 to lift the shoulder joint plate 21; meanwhile, since the shoulder link 251 is connected with the slider 261 by the slide plate 262, the shoulder link 251 is moved upward in the direction of the slider 261, so that the shoulder link 251 is raised; when the wearer performs the abduction action, the inclined upright 15 rotates inwards towards the main upright 11, so that the shoulder connecting plate 21 rotates, and the height of the shoulder movable plate (22) is further raised (as shown in fig. 8 and 9); when the wearer performs adduction, the exoskeleton moves in opposition to the above-described movement. Therefore, the exoskeleton can follow the motion track of the rotation center of the shoulder joint of the human body in the motion process, the exoskeleton does not deviate when moving along with the human body, is more fit with the human body, the comfort level is increased, the motion range is not limited, and the freedom degree of arm movement and the comfort level of use of the human body are increased; when the user performs buckling/stretching actions, the shoulder joint driving motor 243 drives the shoulder joint driving unit 24 to drive the shoulder joint, the upper arm mechanism 2, and the forearm mechanism 3 to rotate; at the same time, the elbow joint driving motor 311 drives the forearm mechanism 3 to drive the elbow joint driving unit 31, thereby saving the physical effort of the user.
It should be noted that: the model specifications of the shoulder joint driving motor 243, the elbow joint driving motor 311, the first reducer 241 and the elbow joint reducer 313 need to be determined by selecting the model according to the actual specifications of the device, etc., and the specific model selection calculation method adopts the prior art, so the detailed description is omitted.
The detection of movements by the exoskeleton wearer, the recognition and determination of movement intent, and the control principles and modes of the shoulder joint drive motor 243 and elbow joint drive motor 311 are not within the scope of the present invention and will not be described in detail herein.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. A full degree of freedom upper extremity exoskeleton device comprising:
the support mechanism (1), the support mechanism (1) includes main stand (11), shoulder neck mainboard (12), waist back board (13), U template (14) and inclined column (15), U template (14) are installed the back of waist back board (13), main stand (11) upper end fixed mounting in shoulder neck mainboard (12) middle part, main stand (11) lower extreme fixed mounting in the back of U template (14), be provided with two about inclined column (15), two inclined column (15) lower extreme all with U template (14) rotate to be connected;
the upper arm mechanism (2), the upper arm mechanism (2) comprises a shoulder connecting plate (21), a shoulder movable plate (22), a shoulder support (23), a shoulder joint driving unit (24) and a cam (28), wherein the shoulder connecting plate (21), the shoulder movable plate (22), the shoulder support (23) and the cam (28) are symmetrically arranged on two sides of the main upright post (11) and the shoulder neck main plate (12); the shoulder and neck main board (12) is rotationally connected with the shoulder connecting board (21); the shoulder movable piece (22) is rotationally connected with the shoulder support (23), the cam (28) is rotationally connected with the shoulder support (23), a cam contact surface (231) is arranged on the side part of the shoulder support (23), the edge of the cam (28) is attached to the cam contact surface (231), a shoulder joint driving unit (24) is arranged on the outer side of the cam (28), the bottom side of the shoulder joint driving unit (24) is connected with the upper arm length adjusting unit (25), one side of the supporting plate (32) is rotationally connected with the upper arm length adjusting unit (25), one side of the shoulder support (23) is fixedly connected with a sliding seat (261), a sliding plate (262) is connected onto the sliding seat (261), one side of the sliding plate (262) is fixedly connected with a connecting seat (27), the connecting seat (27) is integrally arranged with the cam (28), the shoulder joint driving unit (24) is fixedly connected onto the connecting seat (27), the cam (28) is in contact with the side part of the shoulder support (23), and the sliding seat (261) and the sliding seat (262) drives the whole shoulder joint to move along with the shoulder joint, and the shoulder joint of a user, and the shoulder joint of the user can move, and the skeleton (231) is stretched simultaneously;
forearm mechanism (3), forearm mechanism (3) include elbow joint drive unit (31), elbow joint drive unit (31) with upper arm length adjustment unit (25) transmission connection, one side fixedly connected with backup pad (32) of elbow joint drive unit (31).
2. A full freedom upper extremity exoskeleton device as claimed in claim 1, wherein: the shoulder joint driving unit (24) comprises a shoulder connecting portion (251), the shoulder connecting portion (251) is rotationally connected with the connecting seat (27), a telescopic rod (252) is arranged at the lower end of the shoulder connecting portion (251), and a forearm connecting portion (253) is fixedly connected with the lower end of the telescopic rod (252).
3. A full freedom upper extremity exoskeleton device as claimed in claim 2 wherein: the shoulder joint driving unit (24) comprises a first speed reducer (241), the first speed reducer (241) is fixedly connected to the connecting seat (27), and the input end of the first speed reducer (241) is fixedly connected with a first shoulder joint synchronous pulley (242);
the shoulder connecting part (251) is fixedly connected with a shoulder joint driving motor (243), the output end of the shoulder joint driving motor (243) is fixedly connected with a second shoulder joint synchronous pulley (244), and the second shoulder joint synchronous pulley (244) is in transmission connection with the first shoulder joint synchronous pulley (242) through a synchronous belt.
4. A full degree of freedom upper extremity exoskeleton device as claimed in claim 3, wherein: the elbow joint driving unit (31) comprises an elbow joint driving motor (311), and the output end of the elbow joint driving motor (311) is fixedly connected with a first elbow joint synchronous belt pulley (312);
the forearm connecting part (253) is fixedly connected with an elbow joint speed reducer (313), the output end of the elbow joint speed reducer (313) is fixedly connected with a second elbow joint synchronous pulley (314), and the second elbow joint synchronous pulley (314) is in transmission connection with the first elbow joint synchronous pulley (312).
5. A full freedom upper extremity exoskeleton device as claimed in claim 1, wherein: the support plate (32) is an L-shaped plate, a buffer layer is fixedly connected to the support plate (32), and the shoulder neck main plate (12) and the side wall of the waist back plate (13) are also provided with the buffer layer.
6. A full freedom upper extremity exoskeleton device as claimed in claim 1, wherein: the inclined upright posts (15) are arranged to be upright posts with radians, two inclined upright posts (15) are arranged in a V shape, and the two inclined upright posts (15) are symmetrically arranged relative to the main upright post (11).
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| CN202210245949.2A CN114643571B (en) | 2022-03-14 | 2022-03-14 | Full-freedom-degree upper limb exoskeleton device |
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| CN202210245949.2A CN114643571B (en) | 2022-03-14 | 2022-03-14 | Full-freedom-degree upper limb exoskeleton device |
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| CN114643571B true CN114643571B (en) | 2023-07-21 |
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| WO2017175691A1 (en) * | 2016-04-07 | 2017-10-12 | 株式会社イノフィス | Upper-body support device |
| WO2021240018A1 (en) * | 2020-05-29 | 2021-12-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Arm support mechanism |
| CN111956453A (en) * | 2020-08-31 | 2020-11-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible power assisting exoskeleton |
| CN212825381U (en) * | 2020-08-31 | 2021-03-30 | 重庆理工大学 | Upper limb exoskeleton for upper limb lifting operation |
| CN112842830A (en) * | 2020-12-30 | 2021-05-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Exoskeleton knee joint driving structure and method based on flexible cam system |
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