CN116276897A

CN116276897A - Bionic upper limb wearable equipment based on stretching integral structure

Info

Publication number: CN116276897A
Application number: CN202211477056.7A
Authority: CN
Inventors: 孙建伟; 王金朔; 倪鹏; 李铭鑫; 范智崴
Original assignee: Changchun University of Technology
Current assignee: Changchun University of Technology
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-06-23

Abstract

The invention discloses a bionic upper limb wearable device based on a stretching integral structure, which comprises a front arm four-rod stretching platform mechanism and a large arm two-rod stretching mechanism which are sequentially connected into a whole from front to back. According to the invention, the tension structure is combined with the bionic upper limb structure, the tension integral structure mapping of the elbow joint is established through bionic analysis, the tension integral structure has the characteristic of being capable of keeping self-balance depending on self-structure adaptation environment, and various angle change movements of the mechanism can be realized by changing integral geometric configuration, so that the problem of wearable elbow joint design can be well solved, the design can meet the requirement of having stronger human elbow joint movement adaptability as a rigid structure, the human elbow joint can be better attached to the human elbow joint in the movement process, and meanwhile, the assistance capability changing along with the working angle can be provided in the human elbow joint movement.

Description

Bionic upper limb wearable equipment based on stretching integral structure

Technical Field

The invention relates to the technical field of upper limb wearable equipment, in particular to bionic upper limb wearable equipment based on a tensile integral structure.

Background

In recent years, the bionic mechanical arm is widely applied to various fields such as natural exploration, national defense aviation, logistics transportation, maintenance, entertainment and leisure, rehabilitation and nursing and the like. The research results of the mechanical arm bring convenience in living aspects. For example, in industrial production, robotic arms are often used to replace hands to perform repetitive work, and have absolute advantages especially in high-risk and high-precision work, in rehabilitation, hand-assisted exoskeleton helps cerebral apoplexy patients, hemiplegic patients perform upper limb rehabilitation training, and the robot arm is more interesting than traditional rehabilitation training, and in the field of artificial limbs, the prosthetic arms simulate human upper limbs to make waving, drinking water, picking up eggs and other actions under the control of surface electromyographic signals.

However, existing upper limb wearable devices have their own limitations: firstly, a large and heavy motor and battery equipment are inevitably required to be arranged in the upper limb wearable equipment with an active driving device, and if hydraulic or pneumatic driving is used, equipment which is difficult to carry, such as an external hydraulic pump or an air pump, is required to be connected; in addition, in the structural design of the exoskeleton, the elbow joint wearable device is regarded as a simple rigid rotating structure in many cases, the driving is often designed at the position of the rotating shaft, the structure is directly driven, the complex working condition is possible to face the impact, when the rigid structural design faces the impact, the stress is mostly concentrated at the weak part of the structure such as a hinge connection point and the like, so that the wearable device is at risk of damage, and due to the rigid kinematic pair of the mechanical joint, the mechanical joint cannot be completely matched with the elbow joint of a human body, the elbow joint of the wearer is difficult to move or feel uncomfortable, and the flexible structure cannot provide more accurate assistance for the wearer in the working environment, and the control system is complex and inconvenient to operate.

Therefore, providing a bionic upper limb wearable device based on a tensile integral structure is a problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, the invention provides a bionic upper limb wearable device based on a tensile integral structure, which has flexible movement, light structure and self-stability and self-recovery performance in the face of impact.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

a bionic upper limb wearable device based on a stretching integral structure comprises a front arm four-rod stretching platform mechanism and a large arm two-rod stretching mechanism which are sequentially connected into a whole from front to back.

Further, the forearm four-bar tensioning platform mechanism comprises a first forearm support plate, a second forearm support plate, four forearm elastic pieces and four forearm rotating struts, wherein the first forearm support plate and the second forearm support plate are symmetrically arranged from front to back; one end of each forearm elastic piece is hinged with the lateral outer end edge of the first forearm supporting plate, and the other end of each forearm elastic piece is hinged with the lateral outer end edge of the second forearm supporting plate; one end of each forearm rotating support rod is hinged with the outer end edge of the side face of the first forearm supporting plate, the other end of each forearm rotating support rod is hinged with the outer end edge of the side face of the second forearm supporting plate, and each forearm rotating support rod is distributed in a staggered mode with two adjacent forearm elastic pieces.

Further, the outer end edge of the side surface of the first forearm supporting plate is fixedly provided with a first forearm connector, a second forearm connector, a third forearm connector and a fourth forearm connector which are uniformly distributed; the outer end edge of the side surface of the forearm second support plate is fixedly provided with a forearm fifth connector, a forearm sixth connector, a forearm seventh connector and a forearm eighth connector which are uniformly distributed; the four forearm elastic pieces are respectively a first forearm elastic piece, a second forearm elastic piece, a third forearm elastic piece and a fourth forearm elastic piece; the four forearm rotating struts are respectively a first forearm rotating strut, a second forearm rotating strut, a third forearm rotating strut and a fourth forearm rotating strut; the two ends of the first forearm elastic piece are respectively in ball hinge joint with the first forearm connector and the fifth forearm connector; the two ends of the forearm second elastic piece are respectively in spherical hinge joint with the forearm second connector and the forearm sixth connector; the two ends of the third forearm elastic piece are respectively in ball hinge joint with the third forearm connector and the seventh forearm connector; the two ends of the forearm fourth elastic piece are respectively in ball hinge joint with the forearm fourth connecting body and the forearm eighth connecting body; the two ends of the first forearm rotating support rod are respectively in ball hinge joint with the first forearm connector and the eighth forearm connector; the two ends of the forearm second rotating support rod are respectively in ball hinge joint with the forearm second connector and the forearm fifth connector; the two ends of the third forearm rotating supporting rod are respectively in spherical hinge joint with the third forearm connector and the sixth forearm connector; and two ends of the forearm fourth rotating supporting rod are respectively in ball hinge joint with the forearm fourth connector and the forearm seventh connector.

Further, the big arm two-rod tensioning mechanism comprises two big arm first support plates, two big arm second support plates, a big arm third support plate, a big arm fourth support plate, a big arm fifth support plate, two big arm first elastic pieces, two big arm second elastic pieces, two big arm third elastic pieces, two big arm fourth elastic pieces, two racks, two rotating gears and two locking slide block assemblies, wherein the two big arm first support plates which are symmetrically distributed are fixed on the rear side of the front arm second support plate through support connecting blocks; the two symmetrically distributed large arm second support plates are respectively fixed on the inner side surfaces of the two large arm first support plates; two sides of the third support plate of the large arm are respectively connected with the front ends of the second support plates of the two large arms through angle irons; two sides of the fourth support plate of the large arm are respectively connected with the rear ends of the first support plates of the two large arms through angle irons; two sides of the fifth support plate of the large arm are respectively connected with the rear ends of the second support plates of the two large arms through angle irons; the two large arm first elastic pieces are distributed in a V shape, and two ends of each large arm first elastic piece are fixedly connected with the large arm fifth supporting plate and the forearm second supporting plate respectively; the two large arm second elastic pieces are distributed in a V shape, and two ends of each large arm second elastic piece are fixedly connected with the large arm fourth supporting plate and the large arm second supporting plate respectively; the two large arm third elastic pieces are distributed in a V shape, and two ends of each large arm third elastic piece are fixedly connected with the large arm third supporting plate and the large arm fourth supporting plate respectively; the two large arm fourth elastic pieces are distributed in a V shape, and two ends of each large arm fourth elastic piece are fixedly connected with the large arm third supporting plate and the forearm second supporting plate respectively; the two racks are respectively fixed on the two large-arm second support plates through rack fixing plates; the two rotating gears are respectively arranged on the two large arm second support plates and are respectively connected with the two racks in a meshed manner; each locking slide block component is arranged between the rack fixing plate and the rotating gear.

Further, the locking sliding block assembly comprises a locking sliding block, a first rolling column and a second rolling column, the bottom end of the locking sliding block is connected with the rotating shaft of the rotating gear through a bearing, and the locking sliding block is attached to the outer side face of the rotating gear; the first rolling column and the second rolling column are fixed at the top end of the locking sliding block, and the first rolling column and the second rolling column are in sliding connection with the upper surface of the rack fixing plate.

Compared with the prior art, the invention discloses a bionic upper limb wearable structure based on a stretching integral structure, and the stretching integral structure is used for establishing upper limb stretching integral structure mapping through bionic analysis, and the stretching integral structure has the characteristic of self-balancing by means of self-structure adaptation environment, so that various angle-changing movements of the mechanism can be realized by changing the integral geometric configuration, and the defects of large volume, heavy weight, poor flexibility, complex control system and the like of the traditional bionic upper limb wearable mechanism are overcome, so that the structure is simpler and faster to construct while the manufacturing cost is ensured, and the application prospect is wide.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a perspective view of a bionic upper limb wearable device based on a tensile integral structure;

fig. 2 is a schematic diagram of a perspective structure of a push-down view of a bionic upper limb wearable device based on a tensile integral structure;

FIG. 3 is a schematic perspective view of a two-bar tensioning mechanism for a large arm according to the present invention;

FIG. 4 is a front view of the two-bar tensioning mechanism of the large arm provided by the invention;

fig. 5 is a top view of the two-bar tensioning mechanism for large arm provided by the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1-5, the embodiment of the invention discloses a bionic upper limb wearable device based on a stretching integral structure, which comprises a front arm four-rod stretching platform mechanism and a large arm two-rod stretching mechanism which are sequentially connected into a whole from front to back. According to the invention, the tension structure is combined with the bionic upper limb structure, the tension integral structure mapping of the elbow joint is established through bionic analysis, the tension integral structure has the characteristic of being capable of keeping self-balance depending on self-structure adaptation environment, and various angle change movements of the mechanism can be realized by changing integral geometric configuration, so that the problem of wearable elbow joint design can be well solved, the design can meet the requirement of having stronger human elbow joint movement adaptability as a rigid structure, the human elbow joint can be better attached to the human elbow joint in the movement process, and meanwhile, the assistance capability changing along with the working angle can be provided in the human elbow joint movement.

Specifically, the forearm four-bar tensioning platform mechanism comprises a forearm first support plate 1, a forearm second support plate 2, four forearm elastic pieces 3 and four forearm rotating struts 4, wherein the forearm first support plate 1 and the forearm second support plate 2 are symmetrically arranged from front to back; one end of each forearm elastic piece 3 is hinged with the outer end edge of the side face of the first forearm supporting plate 1, and the other end of each forearm elastic piece 3 is hinged with the outer end edge of the side face of the second forearm supporting plate 2; one end of each forearm rotating support rod 4 is hinged with the outer end edge of the side face of the forearm first support plate 1, the other end of each forearm rotating support rod 4 is hinged with the outer end edge of the side face of the forearm second support plate 2, and each forearm rotating support rod 4 is distributed in a staggered manner with two adjacent forearm elastic pieces 3.

Specifically, the outer end edge of the side surface of the first forearm supporting plate 1 is fixed with a first forearm connector 11, a second forearm connector 12, a third forearm connector 13 and a fourth forearm connector 14 which are uniformly distributed; the forearm fifth connector 21, the forearm sixth connector 22, the forearm seventh connector (not shown in the figure) and the forearm eighth connector 23 which are uniformly distributed are fixed on the outer end edge of the side face of the forearm second support plate 2; the four forearm elastic pieces 3 are respectively a first forearm elastic piece, a second forearm elastic piece, a third forearm elastic piece and a fourth forearm elastic piece; the four forearm rotating struts 4 are respectively a first forearm rotating strut, a second forearm rotating strut, a third forearm rotating strut and a fourth forearm rotating strut; the two ends of the first elastic part of the forearm are respectively and spherically hinged with the first connecting body 11 of the forearm and the fifth connecting body 21 of the forearm; the two ends of the forearm second elastic piece are respectively in ball hinge joint with the forearm second connector 12 and the forearm sixth connector 22; the two ends of the third elastic part of the forearm are respectively and spherically hinged with the third connecting body 13 of the forearm and the seventh connecting body of the forearm; the two ends of the forearm fourth elastic piece are respectively in ball hinge joint with the forearm fourth connecting body 14 and the forearm eighth connecting body 23; the two ends of the first forearm rotating support rod are respectively in ball hinge joint with the first forearm connecting body 11 and the eighth forearm connecting body 23; the two ends of the forearm second rotating support rod are respectively and spherically hinged with the forearm second connector 12 and the forearm fifth connector 21; the two ends of the third forearm rotating support rod are respectively and spherically hinged with the third forearm connecting body 13 and the sixth forearm connecting body 22; the two ends of the forearm fourth rotating strut are respectively and spherically hinged with the forearm fourth connector 14 and the forearm seventh connector.

Specifically, the big arm two-bar tensioning mechanism comprises two big arm first support plates 5, two big arm second support plates 6, a big arm third support plate 7, a big arm fourth support plate 8, a big arm fifth support plate 9, two big arm first elastic pieces 10, two big arm second elastic pieces 101, two big arm third elastic pieces 102, two big arm fourth elastic pieces 103, two racks 104, two rotating gears 105 and two locking slide block assemblies, wherein the two big arm first support plates 5 which are symmetrically distributed are all fixed at the rear side of the front arm second support plate 2 through support connecting blocks 106; the two symmetrically distributed large arm second support plates 6 are respectively fixed on the inner side surfaces of the two large arm first support plates 5; two sides of the third large arm support plate 7 are respectively connected with the front ends of the second large arm support plates 6 through angle irons 107; two sides of the large arm fourth supporting plate 8 are respectively connected with the rear ends of the two large arm first supporting plates 5 through angle irons 107; two sides of the fifth support plate 9 of the large arm are respectively connected with the rear ends of the second support plates 6 of the two large arms through angle irons 107; the two large arm first elastic pieces 10 are distributed in a V shape, and two ends of each large arm first elastic piece 10 are fixedly connected with the large arm fifth supporting plate 9 and the forearm second supporting plate 2 respectively; the two large arm second elastic pieces 101 are distributed in a V shape, and two ends of each large arm second elastic piece 101 are fixedly connected with the large arm fourth supporting plate 8 and the large arm second supporting plate 6 respectively; the two large arm third elastic pieces 102 are distributed in a V shape, and two ends of each large arm third elastic piece 102 are fixedly connected with the large arm third supporting plate 7 and the large arm fourth supporting plate 8 respectively; the two large arm fourth elastic pieces 103 are distributed in a V shape, and two ends of each large arm fourth elastic piece 103 are fixedly connected with the large arm third supporting plate 7 and the forearm second supporting plate 2 respectively; the two racks 104 are respectively fixed on the two large-arm second support plates 6 through rack fixing plates 108; the two rotating gears 105 are respectively arranged on the two large-arm second support plates 6 and are respectively connected with the two racks 104 in a meshed manner; each lock slide assembly is mounted between a rack-securing plate 108 and a rotation gear 105.

Specifically, the locking slide block assembly comprises a locking slide block 109, a first rolling column 1010 and a second rolling column 1011, wherein the bottom end of the locking slide block 109 is connected with the rotating shaft of the rotating gear 105 through a bearing, and the locking slide block 109 is attached to the outer side surface of the rotating gear 105; the first rolling column 1010 and the second rolling column 1011 are fixed at the top end of the locking slider 109, and the first rolling column 1010 and the second rolling column 1011 are slidably connected to the upper surface of the rack fixing plate 108.

The working principle of the invention is as follows:

the bionic upper limb wearable device based on the stretching integral structure can complete the following actions: the forearm can realize the translation of certain angle rotation and small displacement of imitative human forearm by applying forearm four-bar stretch-draw platform mechanism, and simultaneously big arm two-bar stretch-draw mechanism cooperates with forearm four-bar stretch-draw platform mechanism, can realize the buckling and straightening motion of elbow joint:

when the forearm rotates, the four forearm elastic pieces 3 are gradually increased from the minimum pulling force, at the moment, the four forearm rotating support rods 4 start to rotate, namely, at the moment, the forearm first support plate 1 starts to rotate relative to the forearm second support plate 2, small-range shrinkage is generated between the forearm first support plate 1 and the forearm second support plate 2 due to the movement of the forearm rotating support rods 4, when the forearm elastic pieces 3 are stretched to the maximum pulling force, the rotating angle reaches the maximum, at the moment, the four forearm elastic pieces 3 are loosened, the forearm first support plate 1 and the forearm rotating support rods 4 are driven to restore to the initial state, and the whole process of forearm rotation and small-range displacement is completed;

when the elbow joint flexes and straightens, the first support plate 5, the second support plate 6 and the whole body of the big arm complete the rotation movement through the meshing transmission of the rotation gear 105 and the rack 104; when the elbow joint is straightened, the first elastic member 10 and the third elastic member 102 are in the state of maximum tension, and the second elastic member 101 and the fourth elastic member 103 are in the state of minimum tension; when the buckling movement is carried out, the forearm second support plate 2, the big arm first support plate 5 and the whole body rotate around the meshing position of the rotating gear 105 and the rack 104, at the moment, the big arm second elastic piece 101 and the big arm fourth elastic piece 103 are stretched, the pulling force is gradually increased, the big arm first elastic piece 10 and the big arm third elastic piece 102 are compressed, and the pulling force is gradually reduced; when the front arm second support plate 2, the large arm first support plate 5 and the overall rotation angle reach the maximum angle, all buckling actions are completed.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The bionic upper limb wearable device based on the stretching integral structure is characterized by comprising a front arm four-rod stretching platform mechanism and a big arm two-rod stretching mechanism which are sequentially connected into a whole from front to back.

2. The biomimetic upper limb wearable device based on a tensile overall structure according to claim 1, wherein the forearm four-bar tensioning platform mechanism comprises a forearm first support plate, a forearm second support plate, four forearm elastic members and four forearm rotating struts, the forearm first support plate and the forearm second support plate being symmetrically arranged from front to back; one end of each forearm elastic piece is hinged with the lateral outer end edge of the first forearm supporting plate, and the other end of each forearm elastic piece is hinged with the lateral outer end edge of the second forearm supporting plate; one end of each forearm rotating support rod is hinged with the outer end edge of the side face of the first forearm supporting plate, the other end of each forearm rotating support rod is hinged with the outer end edge of the side face of the second forearm supporting plate, and each forearm rotating support rod is distributed in a staggered mode with two adjacent forearm elastic pieces.

3. The bionic upper limb wearable device based on the tensile integral structure according to claim 2, wherein the outer end edge of the side surface of the first forearm supporting plate is fixedly provided with a first forearm connector, a second forearm connector, a third forearm connector and a fourth forearm connector which are uniformly distributed; the outer end edge of the side surface of the forearm second support plate is fixedly provided with a forearm fifth connector, a forearm sixth connector, a forearm seventh connector and a forearm eighth connector which are uniformly distributed; the four forearm elastic pieces are respectively a first forearm elastic piece, a second forearm elastic piece, a third forearm elastic piece and a fourth forearm elastic piece; the four forearm rotating struts are respectively a first forearm rotating strut, a second forearm rotating strut, a third forearm rotating strut and a fourth forearm rotating strut; the two ends of the first forearm elastic piece are respectively in ball hinge joint with the first forearm connector and the fifth forearm connector; the two ends of the forearm second elastic piece are respectively in spherical hinge joint with the forearm second connector and the forearm sixth connector; the two ends of the third forearm elastic piece are respectively in ball hinge joint with the third forearm connector and the seventh forearm connector; the two ends of the forearm fourth elastic piece are respectively in ball hinge joint with the forearm fourth connecting body and the forearm eighth connecting body; the two ends of the first forearm rotating support rod are respectively in ball hinge joint with the first forearm connector and the eighth forearm connector; the two ends of the forearm second rotating support rod are respectively in ball hinge joint with the forearm second connector and the forearm fifth connector; the two ends of the third forearm rotating supporting rod are respectively in spherical hinge joint with the third forearm connector and the sixth forearm connector; and two ends of the forearm fourth rotating supporting rod are respectively in ball hinge joint with the forearm fourth connector and the forearm seventh connector.

4. The bionic upper limb wearable device based on a tensile integral structure according to claim 2, wherein the big arm two-rod tensioning mechanism comprises two big arm first support plates, two big arm second support plates, a big arm third support plate, a big arm fourth support plate, a big arm fifth support plate, two big arm first elastic pieces, two big arm second elastic pieces, two big arm third elastic pieces, two big arm fourth elastic pieces, two racks, two rotating gears and two locking slide block assemblies, and the two symmetrically distributed big arm first support plates are all fixed on the rear side of the front arm second support plate through support connecting blocks; the two symmetrically distributed large arm second support plates are respectively fixed on the inner side surfaces of the two large arm first support plates; two sides of the third support plate of the large arm are respectively connected with the front ends of the second support plates of the two large arms through angle irons; two sides of the fourth support plate of the large arm are respectively connected with the rear ends of the first support plates of the two large arms through angle irons; two sides of the fifth support plate of the large arm are respectively connected with the rear ends of the second support plates of the two large arms through angle irons; the two large arm first elastic pieces are distributed in a V shape, and two ends of each large arm first elastic piece are fixedly connected with the large arm fifth supporting plate and the forearm second supporting plate respectively; the two large arm second elastic pieces are distributed in a V shape, and two ends of each large arm second elastic piece are fixedly connected with the large arm fourth supporting plate and the large arm second supporting plate respectively; the two large arm third elastic pieces are distributed in a V shape, and two ends of each large arm third elastic piece are fixedly connected with the large arm third supporting plate and the large arm fourth supporting plate respectively; the two large arm fourth elastic pieces are distributed in a V shape, and two ends of each large arm fourth elastic piece are fixedly connected with the large arm third supporting plate and the forearm second supporting plate respectively; the two racks are respectively fixed on the two large-arm second support plates through rack fixing plates; the two rotating gears are respectively arranged on the two large arm second support plates and are respectively connected with the two racks in a meshed manner; each locking slide block component is arranged between the rack fixing plate and the rotating gear.

5. The bionic upper limb wearable device based on a tensile integral structure according to claim 4, wherein the locking slide block assembly comprises a locking slide block, a first rolling column and a second rolling column, the bottom end of the locking slide block is connected with a rotating shaft of the rotating gear through a bearing, and the locking slide block is attached to the outer side face of the rotating gear; the first rolling column and the second rolling column are fixed at the top end of the locking sliding block, and the first rolling column and the second rolling column are in sliding connection with the upper surface of the rack fixing plate.