CN204997660U - Wearable helping hand ectoskeleton upper limbs mechanism - Google Patents
Wearable helping hand ectoskeleton upper limbs mechanism Download PDFInfo
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- CN204997660U CN204997660U CN201520616001.9U CN201520616001U CN204997660U CN 204997660 U CN204997660 U CN 204997660U CN 201520616001 U CN201520616001 U CN 201520616001U CN 204997660 U CN204997660 U CN 204997660U
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- 210000001364 upper extremity Anatomy 0.000 title abstract description 4
- 210000000245 forearm Anatomy 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 210000002310 elbow joint Anatomy 0.000 claims description 11
- 210000000323 shoulder joint Anatomy 0.000 claims description 11
- 210000003414 extremity Anatomy 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000011835 investigation Methods 0.000 description 2
- 206010017472 Fumbling Diseases 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The utility model discloses a wearable helping hand ectoskeleton upper limbs mechanism, include: left arm, right arm, back of the body frame, real -time controller and motor drive, the left arm is the same with the right arm structure, articulates the both sides at back of the body frame respectively, the upper end one side at back of the body frame is installed to big arm motor, big arm is given through counter gear cylindrical meshing transmission with the power transmission to big arm motor, the forearm motor sets up on big arm, and its power transmits for the forearm through a pair of bevel gear's meshing transmission, the lower extreme of forearm is articulated with the palm, the utility model has the characteristics of simple structure, people's wearing of dressing convenience, adjustable length nature, suitable different height weight and each joint free movement of ectoskeleton etc.
Description
Technical field
The utility model relates to robot field, particularly relates to a kind of wearable assistance exoskeleton limb mechanism of upper.
Background technology
Soldiers often needs to bear weight to carry out growing distance walking or fighting, overweight load often can cause certain injury to soldier's health, under this background, need to develop a ectoskeleton equipment that can strengthen soldier's speed, strength and endurance in battlefield surroundings; In fields such as scientific investigation, fire-fighting rescues, scientific investigation personnel and fire-fighting rescue worker usually need long distance walking, bear weight, transport the wounded, Field Operational, mountain climbing expedition etc., and traditional wheeled vehicles is difficult to play a role at these special occasions.In addition, ectoskeleton also can be used to the cargo handling in warehouse, to alleviate the labour intensity of porter.The combination of ectoskeleton and people can adapt to non-structured environment, has fabulous flexibility, can complete the work of the handling of some complexity, and as being fighter plane handling guided missiles etc., this is that other handling facilities hardly match.The application of ectoskeleton in these fields plays very positive effect by these fields.In addition, aging is just at global spread, and ectoskeletal appearance not only can help some the elderlys to solve poor, the constant problem of walking of muscle power, and some also can be helped to lose the ability to act of people's recovered part of ability to act.The feature of assistance exoskeleton requires to cooperate with wearer under non-structure environment, this requires that researcher needs to solve the man-machine integration problem of hight coordinate under unstructuredness environment, comprise effective, reliable between humans and machines interaction problems, to the quick response problem of human motion intention, light, biomimetic features design flexibly, the safety issue etc. of man-machine system, these technical problems are also in the elementary stage of fumbling, and immature, also need to carry out deep research.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, a kind of wearable assistance exoskeleton limb mechanism of upper is provided, this mechanism have structure simple, dress convenience, adjustable length, the people's wearing being applicable to different height and weight and the ectoskeleton each joint motion feature such as freely.
In order to achieve the above object, the technical scheme that the utility model adopts is as follows: a kind of wearable assistance exoskeleton limb mechanism of upper, comprising: left arm, right arm, backrest, real-time controller and motor driver; Wherein, described left arm is identical with right arm structure, is hinged on the both sides of backrest respectively; Described left arm and right arm include: large arm motor, driven cylindrical gear, shoulder joint rotary encoder, ball pivot, large arm, forearm motor, driven wheel of differential, elbow joint rotary encoder, multi-dimension force sensor, forearm, palm, initiatively roller gear, drive bevel gear, forearm bandage; Wherein, large arm motor is arranged on the side, upper end of backrest; The output shaft of large arm motor is fixedly connected with active roller gear; Driven cylindrical gear is hinged in backrest, and with active roller gear engaged transmission, shoulder joint rotary encoder is set in hinged place; One end of ball pivot is fixedly connected with driven cylindrical gear, and the other end is fixedly connected with large arm upper end; The upper end thereof of large arm lower end and forearm, arranges elbow joint rotary encoder in hinged place; Forearm motor is arranged in large arm, and drive bevel gear is fixedly connected with forearm motor output shaft; Driven wheel of differential is fixed on forearm, and with drive bevel gear engaged transmission; Lower end and the palm of forearm are hinged; Multi-dimension force sensor is arranged on forearm, and multi-dimension force sensor is connected with forearm bandage; Large arm motor is all connected with motor driver with forearm motor; Motor driver, shoulder joint rotary encoder, elbow joint rotary encoder are all connected with real-time controller with multi-dimension force sensor.
Compared with prior art, the beneficial effects of the utility model are: the utility model is mainly for auxiliary under long-time heavy burden operating environment or enhancing people upper limbs heavy burden ability.Its dynamical system adopts the motor drive mode with the feature such as energy-conservation, stable, controllability is high, floor space is little, running rate is high, respond fast, easy to maintenance.Compliant mechanism is set, adopt anthropomorphic mechanism design, wearable structural design adapts to human physiological structure, by be coupled realization and the human body coordinated movement of various economic factors with human upper limb locomotion joint, have structure simple, dress convenience, adjustable length, the people's wearing being applicable to different height and weight and the ectoskeleton each joint motion feature such as freely.
Accompanying drawing explanation
Fig. 1 is global shape structural representation of the present utility model;
Fig. 2 is shoulder joint partial enlarged drawing of the present utility model;
Fig. 3 is elbow joint partial enlarged drawing of the present utility model;
In figure, backrest 1, large arm motor 2, driven cylindrical gear 3, shoulder joint rotary encoder 4, ball pivot 5, large arm 6, forearm motor 7, driven wheel of differential 8, elbow joint rotary encoder 9, multi-dimension force sensor 10, forearm 11, palm 12, initiatively roller gear 13, drive bevel gear 14, forearm bandage 15.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
As Figure 1-3, a kind of wearable assistance exoskeleton limb mechanism of upper, comprising: left arm, right arm, backrest 1, real-time controller, motor driver; Wherein, described left arm is identical with right arm structure, is hinged on the both sides of backrest 1 respectively; Described left arm and right arm include: large arm motor 2, driven cylindrical gear 3, shoulder joint rotary encoder 4, ball pivot 5, large arm 6, forearm motor 7, driven wheel of differential 8, elbow joint rotary encoder 9, multi-dimension force sensor 10, forearm 11, palm 12, initiatively roller gear 13, drive bevel gear 14, forearm bandage 15; Wherein, large arm motor 2 is arranged on the side, upper end of backrest 1; The output shaft of large arm motor 2 is fixedly connected with active roller gear 13; Driven cylindrical gear 3 is hinged in backrest 1, and with active roller gear 13 engaged transmission, shoulder joint rotary encoder 4 is set in hinged place; One end of ball pivot 5 is fixedly connected with driven cylindrical gear 3, and the other end is fixedly connected with large arm 6 upper end, can realize inside and outside stretching, extension one degree of freedom; The upper end thereof of large arm 6 lower end and forearm 11, arranges elbow joint rotary encoder 9 in hinged place; Forearm motor 7 is arranged in large arm 6, and drive bevel gear 14 is fixedly connected with forearm motor 7 output shaft; Driven wheel of differential 8 is fixed on forearm 11, and with drive bevel gear 14 engaged transmission; Lower end and the palm 12 of forearm 11 are hinged; Multi-dimension force sensor 10 is arranged on forearm 11, and multi-dimension force sensor 10 is connected with forearm bandage 15; Large arm motor 2 is all connected with motor driver with forearm motor 7; Motor driver, shoulder joint rotary encoder 4, elbow joint rotary encoder 9 are all connected with real-time controller with multi-dimension force sensor 10.The adoptable model of described real-time controller is the product of NIcRIO-9031, but is not limited thereto; The adoptable model of described motor driver is the product of EPOS2, but is not limited thereto.
Claims (1)
1. a wearable assistance exoskeleton limb mechanism of upper, is characterized in that, comprising: left arm, right arm, backrest (1), real-time controller and motor driver; Wherein, described left arm is identical with right arm structure, is hinged on the both sides of backrest (1) respectively; Described left arm and right arm include: large arm motor (2), driven cylindrical gear (3), shoulder joint rotary encoder (4), ball pivot (5), large arm (6), forearm motor (7), driven wheel of differential (8), elbow joint rotary encoder (9), multi-dimension force sensor (10), forearm (11), palm (12), initiatively roller gear (13), drive bevel gear (14), forearm bandage (15); Wherein, large arm motor (2) is arranged on the side, upper end of backrest (1); The output shaft of large arm motor (2) is fixedly connected with active roller gear (13); Driven cylindrical gear (3) is hinged in backrest (1), and with active roller gear (13) engaged transmission, shoulder joint rotary encoder (4) is set in hinged place; One end of ball pivot (5) is fixedly connected with driven cylindrical gear (3), and the other end is fixedly connected with large arm (6) upper end; The upper end thereof of large arm (6) lower end and forearm (11), arranges elbow joint rotary encoder (9) in hinged place; Forearm motor (7) is arranged in large arm (6), and drive bevel gear (14) is fixedly connected with forearm motor (7) output shaft; Driven wheel of differential (8) is fixed on forearm (11), and with drive bevel gear (14) engaged transmission; Lower end and the palm (12) of forearm (11) are hinged; Multi-dimension force sensor (10) is arranged on forearm (11), and multi-dimension force sensor (10) is connected with forearm bandage (15); Large arm motor (2) is all connected with motor driver with forearm motor (7); Motor driver, shoulder joint rotary encoder (4), elbow joint rotary encoder (9) are all connected with real-time controller with multi-dimension force sensor (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520616001.9U CN204997660U (en) | 2015-08-14 | 2015-08-14 | Wearable helping hand ectoskeleton upper limbs mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520616001.9U CN204997660U (en) | 2015-08-14 | 2015-08-14 | Wearable helping hand ectoskeleton upper limbs mechanism |
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| Publication Number | Publication Date |
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| CN204997660U true CN204997660U (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520616001.9U Active CN204997660U (en) | 2015-08-14 | 2015-08-14 | Wearable helping hand ectoskeleton upper limbs mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107588677A (en) * | 2017-07-21 | 2018-01-16 | 长安大学 | A kind of cannon is shot with ectoskeleton energization system |
| CN107669442A (en) * | 2017-11-02 | 2018-02-09 | 武汉大学 | A kind of flexible strand drives upper limbs exoskeleton robot |
| CN108652910A (en) * | 2018-02-09 | 2018-10-16 | 湖北工业大学 | A kind of joint of robot device of cylinder driving |
| CN109288616A (en) * | 2018-10-12 | 2019-02-01 | 河海大学常州校区 | A kind of ectoskeleton upper limb rehabilitation robot |
| CN110039518A (en) * | 2019-03-21 | 2019-07-23 | 北京精密机电控制设备研究所 | Exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move |
| CN110944804A (en) * | 2017-07-18 | 2020-03-31 | Iuvo公司 | System for assisting operator force application |
| CN111452024A (en) * | 2019-05-14 | 2020-07-28 | 成都智慧果易科技有限公司 | Be applied to upper limbs bearing helping hand ectoskeleton equipment |
-
2015
- 2015-08-14 CN CN201520616001.9U patent/CN204997660U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110944804A (en) * | 2017-07-18 | 2020-03-31 | Iuvo公司 | System for assisting operator force application |
| US11801596B2 (en) | 2017-07-18 | 2023-10-31 | Iuvo S.R.L | System for assisting an operator in exerting efforts |
| CN107588677A (en) * | 2017-07-21 | 2018-01-16 | 长安大学 | A kind of cannon is shot with ectoskeleton energization system |
| CN107669442A (en) * | 2017-11-02 | 2018-02-09 | 武汉大学 | A kind of flexible strand drives upper limbs exoskeleton robot |
| CN107669442B (en) * | 2017-11-02 | 2019-10-11 | 武汉大学 | A kind of flexible strand drive upper limb exoskeleton robot |
| CN108652910A (en) * | 2018-02-09 | 2018-10-16 | 湖北工业大学 | A kind of joint of robot device of cylinder driving |
| CN109288616A (en) * | 2018-10-12 | 2019-02-01 | 河海大学常州校区 | A kind of ectoskeleton upper limb rehabilitation robot |
| CN109288616B (en) * | 2018-10-12 | 2021-07-13 | 河海大学常州校区 | Exoskeleton upper limb rehabilitation robot |
| CN110039518A (en) * | 2019-03-21 | 2019-07-23 | 北京精密机电控制设备研究所 | Exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move |
| CN110039518B (en) * | 2019-03-21 | 2021-04-13 | 北京精密机电控制设备研究所 | Upper limb electromechanical power-assisted lifting exoskeleton robot |
| CN111452024A (en) * | 2019-05-14 | 2020-07-28 | 成都智慧果易科技有限公司 | Be applied to upper limbs bearing helping hand ectoskeleton equipment |
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| TR01 | Transfer of patent right |
Effective date of registration: 20170331 Address after: Room 607, D9 building, Hefei Innovation Industrial Park, No. 800 West Wangjiang Road, Hefei, Anhui, China Patentee after: ANHUI SANLIAN ROBOT TECHNOLOGY CO., LTD. Patentee after: Zhejiang University Address before: 201203 Shanghai Zhangjiang High Tech Park of Pudong New Area Songtao Road No. 489 Building 1 room 203C Patentee before: Shanghai Shenqing Industry Co., Ltd. Patentee before: Zhejiang University |