CN115091436A - Wearable upper limb exoskeleton driven by rigid-flexible coupling lasso - Google Patents
Wearable upper limb exoskeleton driven by rigid-flexible coupling lasso Download PDFInfo
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- CN115091436A CN115091436A CN202210840591.8A CN202210840591A CN115091436A CN 115091436 A CN115091436 A CN 115091436A CN 202210840591 A CN202210840591 A CN 202210840591A CN 115091436 A CN115091436 A CN 115091436A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 18
- 230000008878 coupling Effects 0.000 title claims abstract description 12
- 238000010168 coupling process Methods 0.000 title claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 12
- 241000282414 Homo sapiens Species 0.000 claims abstract description 22
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 78
- 239000004917 carbon fiber Substances 0.000 claims description 78
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 78
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 17
- 229910052799 carbon Inorganic materials 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 8
- 239000004677 Nylon Substances 0.000 claims description 7
- 229920001778 nylon Polymers 0.000 claims description 7
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000009776 industrial production Methods 0.000 abstract 1
- 230000006978 adaptation Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wearable bionic upper limb exoskeleton device driven by a rigid-flexible coupling lasso, which comprises an appendage structure, a waist-back structure and a motor rope driving structure. The appendage structure is attached to the arm of the human body to provide a boosting effect, the waist and back adjusting structure is used for providing support for the upper torso, and the motor rope driving structure bypasses the shoulder to remotely drive the appendage structure. The motor rope driving structure is fixed on the waist-back structure, and the driving rope is sent out from the motor end and bypasses the shoulder to be connected with the tail end of the appendage structure. The waist and back structure main body is connected with the upper trunk of the human body through the braces, and the lower end is connected with the hip of the human body through the waistband. The exoskeleton structure is light and convenient to carry, the STM32 main control chip is adopted to drive the speed reduction motor, so that the appendage structure is driven to achieve the assistance effect, and assistance can be provided for the movement of the upper limbs of the human body in the occasions of industrial production, assistance for the disabled and the like.
Description
Technical Field
The invention can be used in the fields of military affairs, rescue, medical treatment and the like, and particularly relates to a wearable upper limb exoskeleton driven by a rigid-flexible coupling lasso.
Background
Although more and more scenes have been using automated production and operation methods with the development of technology, there are many places where manual work is required. For example, pipeline workers on a production line, firefighters rescuing on complex terrains and the like are difficult to use automatic equipment in the scenes, the strength and physical strength of people are limited, fatigue is easy to occur after long-term operation, and physical damage is caused to workers.
The exoskeleton is an artificial system combining interdisciplinary technologies such as bionics, mechanics, computers, control and the like, and provides physical assistance or enhances strength to enhance the physiological capacity of human beings. Worldwide interest in exoskeleton technology is rapidly growing and exoskeletons have been used in a wide range of applications, including military, industrial worker and healthcare applications, to assist the wearer, primarily from both assistance and rehabilitation.
Although the related research of the exoskeleton is more and more mature, the problems of complex structure, no adaptation to human body movement, large and high-cost equipment, difficult unification of active systems and portability and the like still exist. Therefore, it is necessary to develop an exoskeleton device capable of comprehensively solving the above problems, and the exoskeleton device is simple and portable, and has active power assistance and human body adaptation, so as to improve the applicability and efficiency of the upper limb exoskeleton.
Disclosure of Invention
The invention aims to overcome the defects of the existing exoskeleton product, provides an exoskeleton capable of effectively realizing active power assistance and having a simple structure, adopts STM32 master control development, is driven by a lasso in a long distance, can reduce the volume and the quality of the structure, can achieve the aim of long-distance transmission, realizes the power assistance effect when the upper arm is lifted, can enhance the strength of the upper limbs of a human body during operation, saves labor for the human body, and can improve the production work efficiency.
The purpose of the invention is realized by the following technical scheme: the appendage structure is attached to the arm of the human body to provide a boosting effect, the waist and back adjusting structure is used for providing support for the upper torso, and the motor rope driving structure bypasses the shoulder to remotely drive the appendage structure. The motor rope driving structure is fixed on the waist-back structure, and the driving rope is sent out from the motor end and bypasses the shoulder to be connected with the tail end of the appendage structure. The waist and back structure main body is connected with the upper trunk of the human body through the braces, and the lower end is connected with the hip of the human body through the waistband.
Furthermore, the appendage structure comprises a rigid ring, a flexible ring, a coronal axis flexion-extension revolute pair, a redundant degree of freedom revolute pair, a sagittal axis contraction-extension revolute pair and a right-angle connecting piece. The rigid ring is provided with a buckle design, is fixed on the appendage carbon fiber tube according to the sequence of the rigid ring, the flexible ring and the rigid ring, is connected with the coronal axis flexion-extension rotary pair and is connected with the sagittal axis contraction-extension rotary pair. The three redundant degree of freedom revolute pairs and the right-angle connecting piece are connected through redundant structure carbon fiber pipes, the tail ends of the redundant degree of freedom revolute pairs and the right-angle connecting pieces are fixed on the back carbon fiber plate through bolts, and the other ends of the redundant degree of freedom revolute pairs are connected with the sagittal axis folding and unfolding revolute pairs.
Furthermore, the waist-back structure comprises a strap, a back carbon fiber plate, an upper carbon tube base, an upper carbon fiber tube, a lower carbon tube base and a waistband. The back carbon fiber plate is fixed on the strap, and the upper carbon tube base is fixed on the back carbon fiber plate through a bolt. The inner diameter of the upper carbon fiber pipe is the same as the outer diameter of the lower carbon fiber pipe, the upper carbon fiber pipe and the lower carbon fiber pipe are sleeved with each other, through holes are arranged at intervals, and the upper carbon fiber pipe and the lower carbon fiber pipe are connected through bolts to adjust the relative height. The lower carbon tube base is fixed on the waistband in a bolt clamping mode. The back carbon fiber plate and the upper carbon tube base are connected through a sliding groove and a bolt, so that the upper position and the lower position can be adjusted.
Further, the motor rope driving structure comprises a supporting pulley structure, a rope, a motor fixing base, a winch and a driving motor. The winch is fixed on the output shaft of the driving motor, one end of the rope is fixed, and the other end of the rope is fixed on the rigid ring by passing through the two supporting pulley structures. The motor fixing base and the back carbon fiber plate are connected through a sliding groove and a bolt, so that the upper position and the lower position can be adjusted.
Furthermore, the crown shaft flexion-extension rotary pair is composed of a flexion-extension rotary pair fixing seat, a flexion-extension deep groove ball bearing, a flexion-extension carbon fiber tube, a flexion-extension bearing upper fixing seat, an appendage carbon fiber tube and a flexion-extension bearing lower fixing seat. The bearing groove of the flexion-extension rotary pair fixing seat fixes the position of the flexion-extension deep groove ball bearing and supports against the outer ring of the flexion-extension deep groove ball bearing, the flexion-extension bearing is fixed above and the flexion-extension bearing is fixed below and supports against the inner ring of the bearing and the flexion-extension carbon fiber pipe, and the flexion-extension deep groove ball bearing and the flexion-extension carbon fiber pipe are connected and clamped through bolts and nuts.
Furthermore, the redundant degree of freedom rotary pair consists of a redundant rotary pair base, a redundant rotary pair shell, a redundant deep groove ball bearing, a redundant shaft shoulder, a thrust ball bearing shaft and a thrust ball bearing. The redundant revolute pair shell and the redundant shaft shoulder respectively abut against an outer ring and an inner ring of the bearing, the redundant shaft shoulder is bonded with the carbon fiber pipe, and the redundant revolute pair base and the redundant revolute pair shell are connected through bolts to be integrally fixed. The thrust ball bearing shaft and the redundant rotating pair base are connected and fixed with the thrust ball bearing through bolts.
Furthermore, the sagittal axis folding and unfolding rotating pair consists of a bending and stretching rotating pair fixing seat, a folding and unfolding deep groove ball bearing, a folding and unfolding shaft shoulder, a redundant structure carbon fiber pipe and a folding and unfolding rotating pair shell. The flexion-extension rotating pair fixing seat is connected with the retraction-extension rotating pair shell through a bolt pair, the outer rings of the two deep groove ball bearings are fixed and abutted against, and the retraction-extension shaft shoulder and the carbon fiber pipe are adhered and abutted against the inner rings of the retraction-extension deep groove ball bearings.
Furthermore, the supporting pulley structure comprises a supporting deep groove ball bearing, a nylon column, a roller and a gasket. Two support deep groove ball bearings are embedded into the roller, the rope passes through the upper part of the pulley, and a nylon column is used for preventing the rope from being separated from the pulley.
Compared with the prior art, the invention has the beneficial effects that:
(1) the structure is light and handy portable, has used the rope to carry out the long distance drive, compares in the structure of most upper limbs ectoskeleton, can reach good helping hand effect when reducing structure volume and quality, and is lighter and more handy portable. The main material uses carbon fiber tube and ABS, lightens weight when guaranteeing intensity through structural design.
(2) Can be adapted to the freedom degree of the movement of the shoulder joint of the human body, and avoids the discomfort or the injury to the human body. The degree of freedom of shoulder motion is analyzed according to the bionics principle, and the motion adaptation design is carried out on the appendage structure on the basis of the degree of freedom, so that the damage to a human body caused by the improper degree of freedom can be prevented.
(3) The whole power-assisted structure is more perfect and is equipped with, and the power-assisted function of upper limbs and the support function of upper torso are designed in comprehensive consideration, wherein the structure is adjusted in order to promote the effect and adapt to different human body sizes.
Drawings
Fig. 1 is a schematic diagram of the exoskeleton of the present invention.
Fig. 2 is a schematic structural view of a crown shaft flexion-extension rotary pair of the present invention.
FIG. 3 is a schematic structural diagram of a redundant degree of freedom rotary pair according to the present invention.
FIG. 4 is a schematic view of a sagittal axis contracting and rotating pair structure of the present invention.
Fig. 5 is a schematic view of the pulley support structure of the present invention.
FIG. 6 is a control flow diagram of the present invention.
Description of reference numerals: 1-rigid ring, 2-flexible ring, 3-coronary axis flexion-extension revolute pair, 4-redundant degree of freedom revolute pair, 5-sagittal axis extension revolute pair, 6-right angle connecting piece, 7-supporting pulley structure, 8-rope, 9-braces, 10-base, 11-winch, 12-driving motor, 13-back carbon fiber plate, 14-upper carbon tube base, 15-upper carbon fiber tube, 16-lower carbon fiber tube, 17-lower carbon tube base, 18-belt, 19-flexion-extension revolute pair fixing base, 20-flexion-extension deep groove ball bearing, 21-flexion-extension carbon fiber tube, 22-flexion-extension bearing upper fixing, 23-appendage carbon fiber tube fixing, 24-appendage carbon fiber tube, 25-flexion-extension bearing lower fixing, 26-redundant revolute pair base, 27-redundant revolute pair outer shell, 28-redundant deep groove ball bearing, 29-redundant shaft shoulder, 30-thrust ball bearing shaft, 31-folding and unfolding deep groove ball bearing, 32-folding and unfolding shaft shoulder, 33-redundant structure carbon fiber tube, 34-folding and unfolding revolute pair outer shell, 35-supporting deep groove ball bearing, 36-nylon column, 37-roller and 38-gasket.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
The technical solution of the present invention is further described below with reference to the accompanying drawings, but the present invention is not limited to the following.
As shown in fig. 1, a rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton comprises an appendage structure, a waist-back structure and a motor rope driving structure. The appendage structure is connected in human appendage and arm provides the helping hand effect, and back regulation structure is used for providing the support for the upper torso, and the rope of motor rope drive structure is walked around shoulder pulley and is connected and remote drive appendage structure.
The appendage structure and the motor rope driving structure are respectively and fixedly connected to the upper part and two sides of the waist-back structure, the motor rope driving structure drives the tail end of the appendage structure, the waist-back structure main body is connected to the upper torso of a human body through a back belt, and the lower end of the waist-back structure main body is connected to the hip of the human body through a waist belt.
Furthermore, the appendage structure comprises two rigid rings 1, a flexible ring 2, a coronal axis flexion-extension revolute pair 3, a redundant degree of freedom revolute pair 4, a sagittal axis contraction-extension revolute pair 5 and a right-angle connecting piece 6. The rigid ring 1 is provided with a buckle design, and is fixed on the appendage carbon fiber tube 24 according to the sequence of the rigid ring 1, the flexible ring 2 and the rigid ring 1, connected with the coronal axis flexion-extension revolute pair 3 and connected with the sagittal axis contraction-extension revolute pair 5. The three redundant freedom degree rotating pairs 4 and the right-angle connecting piece 6 are connected through a redundant structure carbon fiber pipe 28, the tail ends of the redundant freedom degree rotating pairs are fixed on the back carbon fiber plate 13 through bolts, and the other ends of the redundant freedom degree rotating pairs are connected with the sagittal axis folding and unfolding rotating pair 5.
Further, the lumbar-back structure includes a strap 9, a back carbon fiber plate 13, an upper carbon tube base 14, an upper carbon fiber tube 15, a lower carbon fiber tube 16, a lower carbon tube base 17, and a belt 18. The back carbon fiber plate 13 is fixed to the harness 9, and the upper carbon tube base 14 is fixed to the back carbon fiber plate 13 by bolts. The inner diameter of the upper carbon fiber tube 15 is the same as the outer diameter of the lower carbon fiber tube 16, the upper carbon fiber tube and the lower carbon fiber tube are sleeved with each other, through holes are arranged at intervals, and the upper carbon fiber tube and the lower carbon fiber tube are connected through bolts to adjust the relative height. The lower carbon tube base 17 is fixed to the belt by clamping with bolts. The back carbon fiber plate 13 and the upper carbon tube base 14 are connected by a sliding groove and a bolt, so that the up-and-down position can be adjusted.
Further, the motor rope driving structure comprises a supporting pulley structure 7, a rope 8, a motor fixing base 10, a winch 11 and a driving motor 12. A winch 11 is fixed to the output shaft of the drive motor 12 and is fixed to one end of the cable 8, the other end being fixed to the rigid ring 1 around the two supporting pulley structures 7. The motor fixing base 10 and the back carbon fiber plate 13 are connected through a sliding groove and a bolt, so that the up-and-down position can be adjusted.
As further shown in fig. 2, the coronary-shaft flexion-extension rotary pair 3 is composed of a flexion-extension rotary pair fixing seat 19, a flexion-extension deep groove ball bearing 20, a flexion-extension carbon fiber tube 21, a flexion-extension bearing upper fixing 22, an appendage carbon fiber tube fixing 23, an appendage carbon fiber tube 24, and a flexion-extension bearing lower fixing 25. The bearing groove of the flexion-extension rotary pair fixing seat 19 fixes the position of the flexion-extension deep groove ball bearing 20 and supports against the outer ring thereof, and the flexion-extension bearing upper fixing 22 and the flexion-extension bearing lower fixing 24 support against the bearing inner ring and the flexion-extension carbon fiber tube 21 and are connected and clamped through bolts and nuts.
As further shown in fig. 3, the redundant degree of freedom rotary pair 4 is composed of a redundant rotary pair base 26, a redundant rotary pair housing 27, a redundant deep groove ball bearing 28, a redundant shaft shoulder 29, a thrust ball bearing shaft 30 and a thrust ball bearing 30. The redundant rotating pair shell 27 and the redundant shaft shoulder 29 respectively abut against the outer ring and the inner ring of the bearing, the redundant shaft shoulder 29 is bonded with the carbon fiber pipe, and the redundant rotating pair base 26 and the redundant rotating pair shell 27 are connected through bolts to be integrally fixed. The thrust ball bearing shaft 30 and the redundant rotating sub-mount 26 fix the thrust ball bearing 30 using a bolt connection.
As further shown in fig. 4, the sagittal axis contracting and expanding revolute pair 5 is composed of a flexion and extension revolute pair fixing seat 19, a contracting and expanding deep groove ball bearing 31, a contracting and expanding shaft shoulder 32, a redundant structure carbon fiber pipe 33 and a contracting and expanding revolute pair outer shell 34. The flexion-extension revolute pair fixing seat 19 is connected with the extension-extension revolute pair shell 34 through a bolt pair, the outer rings of the two extension-extension deep groove ball bearings 31 are fixed and abutted, and the extension-extension shaft shoulder 32 and the redundant structure carbon fiber pipe 33 are bonded and abutted against the inner rings of the extension-extension deep groove ball bearings 31.
As further shown in fig. 5, the supporting pulley structure 7 includes a supporting deep groove ball bearing 35, a nylon column 36, a roller 37, and a spacer 38. Two supporting deep groove ball bearings 35 are embedded in the roller 37 and the rope passes over the pulley, using nylon posts 36 to prevent the rope from coming off the pulley.
As shown in fig. 6, the invention uses SMT32 master control to drive a dc brushless motor, and the rope goes around the shoulder supporting pulley 7 structure to drive the rigid ring 1 at the appendage structure of the arm, thereby achieving the lifting assistance goal of the arm.
The work flow of the wearable upper limb exoskeleton driven by the rigid-flexible coupling lasso comprises the following steps:
s1: the exoskeleton of the upper limb is started, the arm vertically and naturally swings downwards to reach an initial position, the motor 12 is driven to rotate, so that the rope is in a tight state, and parameters need to be adjusted according to different wearers;
s2: the driving motor 12 rotates reversely to enable the rope 8 to be in an over-extension state, and the arm can swing freely;
s3: the driving motor 12 rotates in the positive direction, and the winch 11 drives the rope 8 to contract, so that the arm is lifted up to assist;
s4: control programs are rewritten for different scenes, so that different power-assisted processes and effects are realized;
s5: the drive motor 12 rotates in reverse to bring the arm into a state allowing free swing and the exoskeleton system is off.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention. It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (6)
1. A rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton is characterized by an appendage structure, a waist-back structure and a motor rope driving structure. The appendage structure is connected to the upper arm of the human body, the waist and back structure is used for providing support for the whole upper torso, and the rope of the motor rope driving structure is connected by bypassing the shoulder pulley and is used for remotely driving the appendage structure.
The appendage structure and the motor rope driving structure are respectively and fixedly connected to the two sides and the upper side of the waist-back structure, the motor rope driving structure drives the tail end of the appendage structure, the waist-back structure main body is connected to the upper torso of a human body through a back belt, and the lower end of the waist-back structure main body is connected to the hip of the human body through a waist belt.
2. The rigid-flexible coupling lasso-driven wearable biomimetic upper limb exoskeleton of claim 1, wherein: the appendage structure comprises two rigid rings (1), a flexible ring (2), a coronal axis flexion-extension revolute pair (3), a redundant degree of freedom revolute pair (4), a sagittal axis contraction-extension revolute pair (5) and a right-angle connecting piece (6). The rigid ring (1) is provided with a buckle design, and is fixed on the appendage carbon fiber tube (24) according to the sequence of the rigid ring (1), the flexible ring (2) and the rigid ring (1), connected with the crown axis flexion-extension revolute pair (3) and connected with the sagittal axis contraction-extension revolute pair (5).
The three redundant freedom degree rotating pairs (4) and the right-angle connecting piece (6) are connected through a redundant structure carbon fiber pipe (28), the tail end of the redundant structure carbon fiber pipe is fixed on the back carbon fiber plate (13) through a bolt, and the other end of the redundant structure carbon fiber pipe is connected with the sagittal axis folding and unfolding rotating pair (5).
3. The rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton of claim 1, wherein: the waist-back structure comprises a strap (9), a back carbon fiber plate (13), an upper carbon tube base (14), an upper carbon fiber tube (15), a lower carbon fiber tube (16), a lower carbon tube base (17) and a waistband (18). The back carbon fiber plate (13) is fixed on the braces (9), and the upper carbon tube base (14) is fixed on the back carbon fiber plate (13) through bolts. The inner diameter of the upper carbon fiber pipe (15) is the same as the outer diameter of the lower carbon fiber pipe (16), the upper carbon fiber pipe and the lower carbon fiber pipe are sleeved inside and outside, through holes are arranged at intervals, and the upper carbon fiber pipe and the lower carbon fiber pipe are connected through bolts to adjust the relative height. The lower carbon tube base (17) is fixed on the waistband in a clamping mode through bolts. The back carbon fiber plate (13) and the upper carbon tube base (14) are connected through a sliding groove and a bolt, so that the up-down position can be adjusted.
4. The rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton of claim 1, wherein: the motor rope driving structure comprises a supporting pulley structure (7), a rope (8), a motor fixing base (10), a winch (11) and a driving motor (12). The rope (8) is routed from the output shaft of the drive motor (12), through the shoulder two support pulley structures (7) and finally to the rigid ring (1) of the appendage structure. The motor fixing base (10) and the back carbon fiber plate (13) are connected through a sliding groove and a bolt, so that the up-down position can be adjusted.
5. The rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton of claim 2, wherein: the crown shaft flexion-extension rotary pair (3) is composed of a flexion-extension rotary pair fixing seat (19), a flexion-extension deep groove ball bearing (20), a flexion-extension carbon fiber pipe (21), a flexion-extension bearing upper fixing (22), an appendage carbon fiber pipe fixing (23), an appendage carbon fiber pipe (24) and a flexion-extension bearing lower fixing (25). The position of the bending and stretching deep groove ball bearing (20) is fixed by a bearing groove of the bending and stretching rotary pair fixing seat (19) and is propped against the outer ring of the bending and stretching deep groove ball bearing, and an upper fixing part (22) of the bending and stretching bearing and a lower fixing part (24) of the bending and stretching bearing are propped against the inner ring of the bearing and the bending and stretching carbon fiber pipe (21) and are connected and clamped through bolts and nuts.
The redundant freedom degree rotating pair (4) consists of a redundant rotating pair base (26), a redundant rotating pair shell (27), a redundant deep groove ball bearing (28), a redundant shaft shoulder (29), a thrust ball bearing shaft (30) and a thrust ball bearing (30). The redundant rotating pair shell (27) and the redundant shaft shoulder (29) respectively abut against an outer ring and an inner ring of the bearing, the redundant shaft shoulder (29) is bonded with the carbon fiber tube, and the redundant rotating pair base (26) and the redundant rotating pair shell (27) are connected through bolts to enable the whole to be fixed. The thrust ball bearing shaft (30) and the redundant rotating pair base (26) are connected and fixed with the thrust ball bearing (30) through bolts.
The sagittal axis folding and unfolding rotary pair (5) consists of a bending and stretching rotary pair fixing seat (19), a folding and unfolding deep groove ball bearing (31), a folding and unfolding shaft shoulder (32), a redundant structure carbon fiber pipe (33) and a folding and unfolding rotary pair shell (34). The flexion-extension rotating pair fixing seat (19) is connected with the folding-extension rotating pair shell (34) through a bolt pair, the outer rings of the two folding-extension deep groove ball bearings (31) are fixed and abutted against, and the folding-extension shaft shoulder (32) and the redundant structure carbon fiber pipe (33) are bonded and abutted against the inner rings of the folding-extension deep groove ball bearings (31).
6. The rigid-flexible coupling lasso-driven wearable bionic upper limb exoskeleton of claim 4, wherein: the supporting pulley structure (7) comprises a supporting deep groove ball bearing (35), a nylon column (36), a roller (37) and a gasket (38). Two supporting deep groove ball bearings (35) are embedded in the roller (37), the rope passes above the pulley, and a nylon column (36) is used for preventing the rope from being separated from the pulley.
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| CN202210840591.8A CN115091436A (en) | 2022-07-18 | 2022-07-18 | Wearable upper limb exoskeleton driven by rigid-flexible coupling lasso |
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