CN117484484A - Upper limb exoskeleton multi-joint driving device and driving method - Google Patents
Upper limb exoskeleton multi-joint driving device and driving method Download PDFInfo
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- CN117484484A CN117484484A CN202311678871.4A CN202311678871A CN117484484A CN 117484484 A CN117484484 A CN 117484484A CN 202311678871 A CN202311678871 A CN 202311678871A CN 117484484 A CN117484484 A CN 117484484A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 11
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 10
- 238000003860 storage Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an upper limb exoskeleton multi-joint driving device and a driving method, and relates to the technical field of exoskeleton robots. The invention comprises a lasso fixing piece, wherein a first joint connecting rod is arranged at the end part of the lasso fixing piece, and one end of the first joint connecting rod is rotationally connected with a second joint connecting rod; the lasso mechanism is arranged on the lasso fixing piece, and a limit control assembly is sleeved on the outer surface of the lasso mechanism. According to the invention, the switching driving of the shoulder joint and the elbow joint can be realized through one driving motor, the load safety of the tail end of the arm is improved, meanwhile, the energy consumption of the driving motor during load holding is reduced, and the tristable control can be realized through the limiting control assembly, and three movement modes of the rope are controlled by one mechanism, so that the lasso transmission can cope with more complex working conditions, the whole universality is wide, the ropes with different diameters can be clamped, and the trouble of changing the lock head is avoided.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to an upper limb exoskeleton multi-joint driving device and a driving method.
Background
The exoskeleton system assists or enhances human body movement by means of external driving force, and has wide application prospect and huge economic value in the fields of medical treatment, military, industrial production and the like. Up to now, various types of prototypes have been developed at home and abroad and preliminary applications have been realized.
In an exoskeleton robot system, a plurality of robot joint driving degrees of freedom are designed to be a common multi-joint driving mode according to the characteristics of human joint movement, however, the existing motor driving type multi-joint driving exoskeleton generally needs to be provided with a corresponding number of motor driving devices, so that the exoskeleton rigid components are more, the size and weight of a driving transmission system are large, and the wearing comfort and flexibility are insufficient.
Disclosure of Invention
The invention aims to provide an upper limb exoskeleton multi-joint driving device and a driving method, which adopt a driving motor and lasso to realize the active driving of shoulder and elbow double joints, and have the advantages of light and handy whole structure, simple operation, convenience and practicability.
In order to achieve the above purpose, the present invention provides the following technical solutions: the upper limb exoskeleton multi-joint driving device comprises a lasso fixing piece, and is characterized in that a first joint connecting rod is rotatably connected to the end part of the lasso fixing piece, and a second joint connecting rod is rotatably connected to one end of the first joint connecting rod;
the lasso fixing piece is provided with a lasso mechanism, the outer surface of the lasso mechanism is sleeved with a limit control assembly, and the tail end of the lasso mechanism passes through the limit control assembly and is fixed on the second joint connecting rod.
Further, a shoulder joint is arranged between the lasso fixing piece and the first joint connecting rod, and an elbow joint is arranged between the first joint connecting rod and the second joint connecting rod.
Further, the lasso mechanism comprises a first driving cable, a shoulder spring is connected to the first driving cable, a second driving cable is connected to the free end of the shoulder spring, an elbow spring is connected to one end of the second driving cable, a third driving cable is connected to the free end of the elbow spring, and the third driving cable is fixedly connected to the second joint connecting rod;
the outer surface of the first driving rope is sleeved with a first sleeve, the first sleeve is fixedly connected to the lasso fixing piece, and one end of the first driving rope is connected with a driving motor.
Further, a connecting piece is fixedly connected to the side wall of the limit control assembly and is fixedly connected to the middle of the first joint connecting rod.
Further, the limit control assembly is sleeved on the outer surface of the second driving cable, and the shoulder spring and the elbow spring are respectively positioned on two sides of the limit control assembly.
Further, the limit control assembly comprises a storage barrel fixedly connected to the connecting piece, a base is installed in the storage barrel, a movable sleeve is slidably connected to the top of the base, self-locking rods are respectively sleeved at two ends of the inner part of the movable sleeve, and a pressure spring is fixedly connected between the two self-locking rods;
the top of the base is positioned at the left side and the right side of the movable sleeve and is provided with a self-locking sleeve, and the two self-locking sleeves are respectively sleeved on the two self-locking rods;
the novel steering gear is characterized in that the movable sleeve is connected with a inhaul cable, the other end of the inhaul cable is connected with an adjusting disc, a steering engine is mounted on the side wall of the adjusting disc, a tension spring is further connected to the movable sleeve, the other end of the tension spring is hung on a supporting piece, and the supporting piece is mounted on the base.
Further, two sleeve convex blocks are symmetrically and fixedly connected to the left side and the right side of the movable sleeve, and the sleeve convex blocks are provided with a rope hole for fixing a guy rope and a spring hole for fixing a tension spring;
the left end and the right end of the inner wall of the movable sleeve are respectively provided with a fixed groove, a sleeve cover is clamped in the fixed grooves, and a first through hole is formed in the center of the sleeve cover;
the base is provided with a guide rail matched with the movable sleeve, and both sides of the guide rail are provided with rotation stopping planes matched with the sleeve lugs.
Further, a second through hole for penetrating the second driving cable is formed in the center of the self-locking rod, a conical section is arranged on the self-locking rod, a roller hole is formed in the side wall of the conical section, and balls are embedded in the roller hole;
the side wall of the self-locking rod is also provided with a thrust inclined plane matched with the first through hole and a translation boss matched with the inner diameter of the movable sleeve.
Further, a self-locking inner cavity matched with the conical section of the self-locking rod is formed in the self-locking sleeve, a fixing boss is fixedly connected to the bottom of the self-locking sleeve, and a threaded hole is formed in the bottom of the fixing boss.
Further, a first arc section and a second arc section are arranged on the outer side wall of the adjusting disc, and the radius of the first arc section is larger than that of the second arc section;
a fixing hole is formed in the side wall of the adjusting disc, one end of the inhaul cable is fixed to the fixing hole, the other end of the inhaul cable is fixed to the cable hole of the movable sleeve, and a second sleeve is sleeved on the outer surface of the inhaul cable.
According to one aspect of the invention, the invention provides an upper limb exoskeleton multi-joint driving method, which uses the upper limb exoskeleton multi-joint driving device to drive and control the upper limb exoskeleton.
The invention has at least the following beneficial effects:
1. according to the invention, the switching drive of the shoulder joint and the elbow joint can be realized through one driving motor, the load safety of the tail end of the arm is improved, and meanwhile, the energy consumption of the driving motor in the load holding process is reduced.
2. According to the invention, three-stable control can be realized through the limiting control assembly, and three movement modes of the rope are controlled by using one mechanism, so that the lasso transmission can cope with more complex working conditions, the whole universality is wide, ropes with different diameters can be clamped, and the trouble of replacing the lock head is avoided.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an exploded view of the limit control assembly of the present invention;
FIG. 3 is a perspective view of the limit control assembly according to the present invention in an installed state;
FIG. 4 is a perspective view of a traveling sleeve structure according to the present invention;
FIG. 5 is a perspective view of a base structure of the present invention;
FIG. 6 is a schematic perspective view of the self-locking sleeve structure of the present invention;
FIG. 7 is a schematic cross-sectional view of the self-locking sleeve structure of the present invention;
FIG. 8 is a schematic perspective view of a dial structure of the present invention;
FIG. 9 is a schematic cross-sectional view of the upper end of the limit control assembly of the present invention in a locked state;
FIG. 10 is a schematic cross-sectional view of the limit control assembly of the present invention in a free state;
FIG. 11 is a schematic cross-sectional view of the lower end of the limit control assembly of the present invention in a locked state;
fig. 12 is a schematic diagram of the driving principle of the whole structure of the present invention.
Reference numerals:
1. lasso fasteners; 2. a first articulation link; 3. a second articulation link; 4. a lasso mechanism; 41. driving the first rope; 42. a shoulder spring; 43. driving the second rope; 44. an elbow spring; 45. driving a third cable; 46. a first sleeve; 47. a driving motor; 5. a limit control assembly; 51. a storage barrel; 52. a base; 53. moving the sleeve; 531. a fixing groove; 532. a sleeve cover; 533. a first through hole; 534. a sleeve bump; 535. a spring hole; 536. a rope hole; 54. a self-locking lever; 541. a second through hole; 542. a conical section; 543. a roller hole; 544. a ball; 545. thrust inclined plane; 546. translating the boss; 55. a pressure spring; 56. a self-locking sleeve; 561. self-locking inner cavity; 5611. a small end cylinder inner cavity; 5612. a tapered inner cavity; 5613. a large end cylinder inner cavity; 562. a fixing boss; 563. a threaded hole; 57. a guy cable; 58. an adjusting plate; 581. a first arc segment; 582. a second arc segment; 583. a fixing hole; 59. steering engine; 510. a tension spring; 511. a support; 6. a shoulder joint; 7. an elbow joint; 8. a guide rail; 9. and a rotation stopping plane.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to fall within the scope of this disclosure.
Referring to fig. 1-12, the present invention provides the following technical solutions: the upper limb exoskeleton multi-joint driving device comprises a lasso fixing piece 1, wherein a first joint connecting rod 2 is rotatably connected to the end part of the lasso fixing piece 1, a second joint connecting rod 3 is rotatably connected to one end of the first joint connecting rod 2, a shoulder joint 6 is arranged between the lasso fixing piece 1 and the first joint connecting rod 2, an elbow joint 7 is arranged between the first joint connecting rod 2 and the second joint connecting rod 3, when the first joint connecting rod 2 rotates around the shoulder joint 6, the whole upper limb can be driven to move, and when the second joint connecting rod 3 rotates around the elbow joint 7, a forearm can be driven to move.
The lasso fixing piece 1 is provided with a lasso mechanism 4, the outer surface of the lasso mechanism 4 is sleeved with a limit control assembly 5, and the tail end of the lasso mechanism 4 passes through the limit control assembly 5 and is fixed on the second joint connecting rod 3.
As shown in fig. 1, the lasso mechanism 4 includes a first driving cable 41, a shoulder spring 42 is connected to the first driving cable 41, a second driving cable 43 is connected to a free end of the shoulder spring 42, an elbow spring 44 is connected to one end of the second driving cable 43, a third driving cable 45 is connected to a free end of the elbow spring 44, and the third driving cable 45 is fixedly connected to the second joint connecting rod 3.
The first sleeve 46 is sleeved on the outer surface of the first driving rope 41, the first sleeve 46 is fixedly connected to the lasso fixing piece 1, the first sleeve 46 is used for protecting and accommodating the first driving rope 41 during traction conveniently, one end of the first driving rope 41 is connected with the driving motor 47, the driving motor 47 is powered by an external power supply, the driving motor 47 is used for conveniently providing a power source for the first driving rope 41, and the driving rope 41 is pulled to move.
As shown in fig. 1, a connecting piece is fixedly connected to the side wall of the limit control assembly 5 and is fixedly connected to the middle part of the first joint connecting rod 2 through the connecting piece, the limit control assembly 5 is used for conveniently and selectively limiting and locking the upper end or the lower end of the lasso mechanism 4, and when the upper end of the lasso mechanism 4 is locked, the first joint connecting rod 2 can be driven to rotate around the shoulder joint 6 at the moment, so that the movement of the whole upper limb is controlled; when the lower end of the locking lasso mechanism 4 or the lasso mechanism 4 is in a free state, the second articulation link 3 may be driven to rotate about the elbow joint 7 to control movement of the forearm.
The limit control assembly 5 is sleeved on the outer surface of the second driving cable 43, the shoulder spring 42 and the elbow spring 44 are respectively positioned on two sides of the limit control assembly 5, and when the shoulder joint 6 and the elbow joint 7 move, the shoulder spring 42 and the elbow spring 44 serve as series elasticity to realize flexible driving of the shoulder joint 6 and the elbow joint 7, reduce joint impact, resist disturbance load and store elastic energy.
As shown in fig. 2-4, the limit control assembly 5 includes a storage barrel 51 fixedly connected to the connecting piece, a base 52 is installed in the storage barrel 51, a moving sleeve 53 is slidably connected to the top of the base 52, two self-locking rods 54 are respectively sleeved at two ends of the moving sleeve 53, a compression spring 55 is fixedly connected between the two self-locking rods 54, and the pre-tightening force is conveniently provided for the two self-locking rods 54 by utilizing elastic potential energy provided by the compression spring 55.
It should be noted that, as shown in fig. 5, the top of the base 52 is provided with a guide rail 8 adapted to the moving sleeve 53, so that the moving sleeve 53 is convenient to support and guide when moving, two sleeve convex blocks 534 are symmetrically and fixedly connected to the left and right sides of the moving sleeve 53, two rotation stopping planes 9 adapted to the sleeve convex blocks 534 are respectively provided on two sides of the guide rail 8, and when the moving sleeve 53 moves, the sleeve convex blocks 534 are attached to the rotation stopping planes 9, so that the moving sleeve 53 is convenient to be prevented from rotating, and the stability in the moving process is improved.
Further, both ends have all been seted up at the left and right sides of removal sleeve 53 inner wall fixed slot 531, and the joint has sleeve lid 532 in the fixed slot 531, fixedly connected with and the snap ring of fixed slot 531 looks adaptation on the lateral wall of sleeve lid 532, and the center of sleeve lid 532 has seted up first through-hole 533, utilizes the sleeve lid 532 of setting, is convenient for carry out spacing and direction to the dead lever 54.
The top of the base 52 is provided with a self-locking sleeve 56 on the left side and the right side of the movable sleeve 53, and the two self-locking sleeves 56 are respectively sleeved on the two self-locking rods 54.
As shown in fig. 6-7, a self-locking inner cavity 561 adapted to the self-locking rod 54 is provided in the self-locking sleeve 56, the self-locking inner cavity 561 includes a small end cylindrical inner cavity 5611, a conical inner cavity 5612 and a large end cylindrical inner cavity 5613, a fixing boss 562 is fixedly connected to the bottom of the self-locking sleeve 56, a threaded hole 563 is provided in the bottom of the fixing boss 562, and the self-locking sleeve 56 is conveniently mounted on the base 52 by using the provided fixing boss 562 and the threaded hole 563.
The center of the self-locking rod 54 is provided with a second through hole 541 for penetrating the driving cable II 43, the self-locking rod 54 is provided with a conical section 542, the conical section 542 is matched with the conical inner cavity 5612, the side wall of the conical section 542 is provided with a plurality of roller holes 543, balls 544 are embedded in the roller holes 543, the side wall of the self-locking rod 54 is also provided with a thrust inclined plane 545 matched with the first through hole 533 and a translation boss 546 matched with the inner diameter of the moving sleeve 53, when the moving sleeve 53 is in a free state, the thrust inclined planes 545 of the two self-locking rods 54 are abutted against the first through hole 533 of the sleeve cover 532 at this moment, the pressure springs 55 are abutted against the two self-locking rods 54 towards the two ends, at this moment, the two self-locking rods 54 are not locked, and the driving cable II 43 can move freely; when the moving sleeve 53 moves leftwards or rightwards, the moving sleeve 53 drives the two inner self-locking rods 54 to move along with the moving sleeve, when the self-locking rods 54 are clamped into the self-locking inner cavities 561 of the self-locking sleeves 56, the conical sections 542 on the self-locking rods 54 are abutted against the side walls of the conical inner cavities 5612, and the balls 544 are extruded and move along the roller holes 543 towards the second through holes 541, so that the driving cable two 43 in the second through holes 541 can be locked, and the driving cable two 43 can only move along the opposite directions of the moving sleeve 53.
The cable 57 is connected to the movable sleeve 53, the other end of the cable 57 is connected with the adjusting disc 58, the steering engine 59 is mounted on the side wall of the adjusting disc 58, when the steering engine 59 is started to drive the adjusting disc 58 to rotate, the movable sleeve 53 can be driven to move through the cable 57, the steering engine 59 has self-locking performance, the moving distance of the movable sleeve 53 can be controlled through the starting time of the steering engine 59, the movable sleeve 53 is further connected with the tension spring 510, the other end of the tension spring 510 is hung on the supporting piece 511, the supporting piece 511 is mounted on the base 52, the movable sleeve 53 is conveniently driven to reset by the aid of the arranged tension spring 510, and the fact that the sleeve lug 534 is provided with a cable hole 536 for fixing the cable 57 and a spring hole 535 for fixing the tension spring 510 is required to be explained.
Further, as shown in fig. 8, the outer side wall of the adjusting disc 58 is provided with a first arc section 581 and a second arc section 582, the radius of the first arc section 581 is larger than that of the second arc section 582, for the technical scheme of the invention, the radius of the first arc section 581 is 15.28mm, the radius of the second arc section 582 is 11.46mm, when the same angle is rotated, the traction distance through the first arc section 581 is longer than that of the second arc section 582, so that the device is convenient for a worker to selectively use according to actual conditions, and the practicability of the device is improved.
On the other hand, the side wall of the adjusting disc 58 is provided with a fixing hole 583, one end of the inhaul cable 57 is fixed on the fixing hole 583, the other end of the inhaul cable 57 is fixed on the cable hole 536 of the moving sleeve 53, the outer surface of the inhaul cable 57 is sleeved with a second sleeve, and the inhaul cable 57 is protected and stored conveniently by the aid of the second sleeve.
Specifically, when the upper end of the limit control assembly 5 needs to be locked, the steering engine 59 is started to drive the adjusting disc 58 to rotate, as shown in fig. 9, at this time, the pulling force of the pull rope 57 is greater than the elastic force of the pull spring 510, the pull rope 57 drives the moving sleeve 53 to move leftwards on the guide rail 8 and drives the pull spring 510 to stretch, when the moving sleeve 53 moves, the self-locking rod 54 is driven to move leftwards along with the moving sleeve 53, when the self-locking rod 54 is clamped into the self-locking cavity 561 of the self-locking sleeve 56, the conical section 542 on the self-locking rod 54 abuts against the side wall of the conical cavity 5612, at this time, the ball 544 is extruded and moves along the roller hole 543 towards the second through hole 541, so that the driving cable two 43 in the second through hole 541 can be locked, at this time, the limit control assembly 5 is in the upper end locking state, the driving cable two 43 can only move towards the lower end, then reversely rotating the steering engine 59 to rotate a certain distance, as shown in fig. 10, the pulling force of the pull rope 57 is smaller than the elastic force of the pull spring 510, the pull spring 510 in a stretched state drives the movable sleeve 53 to return to the initial position, the pulling force of the pull rope 57 and the pulling force of the pull spring 510 are balanced, the limit control assembly 5 is in a free state, the driving rope two 43 can freely move along two directions, reversely rotating the steering engine 59 again to drive the adjusting disc 58 to rotate a certain distance, the pull rope 57 stops pulling the movable sleeve 53, the pulling force of the pull rope 57 is far smaller than the elastic force of the pull spring 510, as shown in fig. 11, the movable sleeve 53 moves rightward under the action of the pull spring 510, the self-locking rod 54 on the right side is pulled into the self-locking sleeve 56 on the right side, and the limit control assembly 5 is in a lower end locking state, at this time, the second driving cable 43 can move only in the upper end direction.
According to one aspect of the invention, the invention provides an upper limb exoskeleton multi-joint driving method, which uses an upper limb exoskeleton multi-joint driving device to drive and control an upper limb exoskeleton.
The application principle and the flow of the invention are as follows: firstly, a steering engine 59 is started to drive an adjusting disc 58 to rotate, a movable sleeve 53 is driven to move leftwards on a guide rail 8 through a guy cable 57, when the movable sleeve 53 moves, a self-locking rod 54 is driven to move leftwards along with the movable sleeve 53, when the self-locking rod 54 is clamped into a self-locking inner cavity 561 of the self-locking sleeve 56, a conical section 542 on the self-locking rod 54 is abutted against the side wall of the conical inner cavity 5612, at the moment, a ball 544 is extruded and moves towards a second through hole 541 along a roller hole 543, so that a driving cable two 43 in the second through hole 541 can be locked, at the moment, a limit control assembly 5 is in an upper end locking state, in this state, a driving motor 47 is started to rotate anticlockwise, a driving cable one 41 and a shoulder spring 42 are driven to stretch, and the first joint connecting rod 2 can be pulled to rotate around a shoulder joint 6, so that the whole upper limb is lifted upwards, and the driving motor 47 can be controlled to put down in a clockwise direction;
when the steering engine 59 is reversely rotated to rotate for a certain distance, the pulling force of the pull rope 57 is smaller than the elastic force of the pull spring 510, the pull spring 510 in a stretched state drives the movable sleeve 53 to move to the middle position, the pulling force of the pull rope 57 and the pulling force of the pull spring 510 are balanced, the limit control assembly 5 is in a free state, the driving motor 47 is started in the state to enable the driving motor 47 to anticlockwise rotate so as to pull the driving rope one 41, the shoulder spring 42, the driving rope two 43, the elbow spring 44 and the driving rope three 45 to move, and the second joint connecting rod 3 can be driven to move, so that the forearm is controlled to be lifted, and otherwise, the driving motor 47 is reversely rotated so as to control the forearm to be put down;
when the steering engine 59 is reversely rotated to stop pulling the pull rope 57, the pull force of the pull rope 57 is far smaller than the elastic force of the tension spring 510, at this time, the moving sleeve 53 moves rightward under the action of the tension spring 510, at this time, the self-locking rod 54 located on the right side is clamped into the self-locking sleeve 56 on the right side, the conical section 542 on the self-locking rod 54 also abuts against the side wall of the conical inner cavity 5612, so that the ball 544 is extruded and moves along the roller hole 543 towards the direction of the second through hole 541, the second driving rope 43 is extruded and limited, so that the limiting control assembly 5 is in a lower end locking state, in this state, the driving motor 47 is started to positively rotate to drive the first driving rope 41, the shoulder spring 42, the second driving rope 43, the elbow spring 44 and the third driving rope 45, so as to drive the second joint connecting rod 3 to be lifted, and on the contrary, the driving motor 47 is reversely rotated to drive the first driving rope 41 and the shoulder spring 42, at this time, the second driving rope 43 and the elbow spring 44 are kept locked, so as to keep the second joint connecting rod 3 locked, and the second joint connecting rod 3 is kept loose, and the elbow connecting rod 3 is kept from falling down, and the hidden danger of falling is prevented.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. When an element is referred to as being "mounted," "secured" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Claims (10)
1. The upper limb exoskeleton multi-joint driving device comprises a lasso fixing piece (1), and is characterized in that a first joint connecting rod (2) is rotatably connected to the end part of the lasso fixing piece (1), and a second joint connecting rod (3) is rotatably connected to one end of the first joint connecting rod (2);
the lasso fixing piece (1) is provided with a lasso mechanism (4), the outer surface of the lasso mechanism (4) is sleeved with a limit control assembly (5), and the tail end of the lasso mechanism (4) passes through the limit control assembly (5) and is fixed on the second joint connecting rod (3).
2. The upper extremity exoskeleton multi-joint driving device according to claim 1, wherein: a shoulder joint (6) is arranged between the lasso fixing piece (1) and the first joint connecting rod (2), and an elbow joint (7) is arranged between the first joint connecting rod (2) and the second joint connecting rod (3).
3. The upper extremity exoskeleton multi-joint driving device according to claim 2, wherein: the lasso mechanism (4) comprises a first driving cable (41), a shoulder spring (42) is connected to the first driving cable (41), a second driving cable (43) is connected to the free end of the shoulder spring (42), an elbow spring (44) is connected to one end of the second driving cable (43), a third driving cable (45) is connected to the free end of the elbow spring (44), and the third driving cable (45) is fixedly connected to the second joint connecting rod (3);
the outer surface of the first driving rope (41) is sleeved with a first sleeve (46), the first sleeve (46) is fixedly connected to the lasso fixing piece (1), and one end of the first driving rope (41) is connected with a driving motor (47).
4. An upper extremity exoskeleton multi-joint driving apparatus as set forth in claim 3, wherein: the side wall of the limit control assembly (5) is fixedly connected with a connecting piece, the connecting piece is fixedly connected to the middle of the first joint connecting rod (2), the limit control assembly (5) is sleeved on the outer surface of the driving cable II (43), and the shoulder springs (42) and the elbow springs (44) are respectively located on two sides of the limit control assembly (5).
5. The upper extremity exoskeleton multi-joint driving device according to claim 4, wherein: the limiting control assembly (5) comprises a storage barrel (51) fixedly connected to the connecting piece, a base (52) is arranged in the storage barrel (51), a movable sleeve (53) is slidably connected to the top of the base (52), self-locking rods (54) are respectively sleeved at two ends of the inner part of the movable sleeve (53), and a pressure spring (55) is fixedly connected between the two self-locking rods (54);
the top of the base (52) is provided with self-locking sleeves (56) on the left side and the right side of the movable sleeve (53), and the two self-locking sleeves (56) are respectively sleeved on the two self-locking rods (54);
the novel steering device is characterized in that a pull rope (57) is connected to the movable sleeve (53), an adjusting disc (58) is connected to the other end of the pull rope (57), a steering engine (59) is mounted on the side wall of the adjusting disc (58), a tension spring (510) is further connected to the movable sleeve (53), the other end of the tension spring (510) is hung on a supporting piece (511), and the supporting piece (511) is mounted on the base (52).
6. The upper extremity exoskeleton multi-joint driving device according to claim 5, wherein: two sleeve convex blocks (534) are symmetrically and fixedly connected to the left side and the right side of the movable sleeve (53), and the sleeve convex blocks (534) are provided with a rope hole (536) for fixing a pull rope (57) and a spring hole (535) for fixing a pull spring (510);
the left end and the right end of the inner wall of the movable sleeve (53) are respectively provided with a fixed groove (531), a sleeve cover (532) is clamped in the fixed grooves (531), and a first through hole (533) is formed in the center of the sleeve cover (532);
the base (52) is provided with a guide rail (8) matched with the movable sleeve (53), and both sides of the guide rail (8) are provided with rotation stopping planes (9) matched with the sleeve lugs (534).
7. The upper extremity exoskeleton multi-joint driving device according to claim 5, wherein: the center of the self-locking rod (54) is provided with a second through hole (541) for penetrating the driving cable II (43), the self-locking rod (54) is provided with a conical section (542), the side wall of the conical section (542) is provided with a roller hole (543), and the roller hole (543) is embedded with a ball (544);
the side wall of the self-locking rod (54) is also provided with a thrust inclined plane (545) which is matched with the first through hole (533) and a translation boss (546) which is matched with the inner diameter of the movable sleeve (53).
8. The upper extremity exoskeleton multi-joint driving device according to claim 7, wherein: the self-locking sleeve (56) is characterized in that a self-locking inner cavity (561) matched with the conical section (542) of the self-locking rod (54) is formed in the self-locking sleeve (56), a fixing boss (562) is fixedly connected to the bottom of the self-locking sleeve (56), and a threaded hole (563) is formed in the bottom of the fixing boss (562).
9. The upper extremity exoskeleton multi-joint driving device according to claim 7, wherein: the outer side wall of the adjusting disc (58) is provided with a first arc section (581) and a second arc section (582), and the radius of the first arc section (581) is larger than that of the second arc section (582);
a fixing hole (583) is formed in the side wall of the adjusting disc (58), one end of the inhaul cable (57) is fixed to the fixing hole (583), the other end of the inhaul cable is fixed to a cable hole (536) of the moving sleeve (53), and a second sleeve is sleeved on the outer surface of the inhaul cable (57).
10. The method for driving the multi-joint of the exoskeleton of the upper limb is characterized by comprising the following steps of: the method uses the upper limb exoskeleton multi-joint driving device as claimed in any one of claims 1 to 9 to drive and control the upper limb exoskeleton.
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| US10676177B1 (en) * | 2015-05-29 | 2020-06-09 | Earthly Dynamics, LLC | Robotic landing gear for rotorcraft |
| CN108161988A (en) * | 2017-12-04 | 2018-06-15 | 东南大学 | For the electromagnetic self-locking device of lasso trick |
| CN207606868U (en) * | 2017-12-25 | 2018-07-13 | 南京工程学院 | A kind of simple activation lacking mechanical finger |
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