CN208451626U - Synchronous ectoskeleton mechanical arm - Google Patents
Synchronous ectoskeleton mechanical arm Download PDFInfo
- Publication number
- CN208451626U CN208451626U CN201820968027.3U CN201820968027U CN208451626U CN 208451626 U CN208451626 U CN 208451626U CN 201820968027 U CN201820968027 U CN 201820968027U CN 208451626 U CN208451626 U CN 208451626U
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- Prior art keywords
- forearm
- arm
- large arm
- hinged
- synchronous
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Abstract
The utility model provides a kind of synchronous ectoskeleton mechanical arm, belongs to bio-robot technical field.It include support device and be symmetrically mounted on be the support device two sides two arms, each described arm includes large arm, forearm and transmission device, the large arm and the forearm are hinged, the transmission device includes the large arm set being socketed on human arm, the transmission shaft being mounted in the large arm and the transmission mechanism being mounted on the forearm, the large arm set is rotatablely connected with the transmission shaft, and one end of the transmission shaft is connected with the transmission mechanism.Synchronization ectoskeleton mechanical arm in the utility model is using the arm of people as power source, large arm and forearm are imparted power to respectively by transmission shaft and transmission mechanism, to synchronously complete the arm action of people, support is provided for human body and movement auxiliary, consumptive material are few and easy to operate.
Description
Technical field
The utility model embodiment is related to bio-robot technical field more particularly to a kind of synchronous ectoskeleton mechanical arm.
Background technique
Ectoskeleton technology is a kind of electromechanical integration equipment of mimic biology exoskeleton, and the intelligence of people is moved with machinery
Power device is combined together, and realizes that movement auxiliary, bodily protection, support and posture are examined by man-machine contact transmission force and movement
The functions such as survey.
Currently, the driving of ectoskeleton is most of using motor or by the way of hydraulic, a small number of ectoskeletons use air pressure mode to drive
It is dynamic.Air pressure driving method is mainly used for the underloading such as medical rehabilitation treatment application.Wherein, according to motor driven, by dermoskeleton
The limitation of bone size, driving power, the quality for the motor usually selected are smaller, it is difficult to undertake larger load.According to hydraulic
The mode of driving, then be easy to appear leakage problem, influences system working efficiency, and improve system cost.It is driven according to air pressure
Mode, then gas medium is more friendly to environment and human body, and driving element is light-weight, cheap, but conventional cylinder executes
Power, the volume mass of device can not show a candle to hydraulic cylinder, be unable to satisfy larger burden requirement；And there is installation space on ectoskeleton
Limit, is unable to satisfy the needs of the more demanding ectoskeleton force aid system of portability, it is difficult to obtain wide popularization and application.
Utility model content
(1) technical problems to be solved
The purpose of the utility model is to provide a kind of synchronous ectoskeleton mechanical arm, to improve human arm and ectoskeleton
Synchronism reduces manufacturing cost.
(2) technical solution
In order to solve the above-mentioned technical problem, the utility model provides a kind of synchronous ectoskeleton mechanical arm, including support device
And two arms of the support device two sides are symmetrically mounted on, each described arm includes large arm, forearm and transmission device,
The large arm and the forearm are hinged, the transmission device include the large arm set being socketed on human arm, be mounted on it is described big
Transmission shaft on arm and the transmission mechanism being mounted on the forearm, the large arm set is rotatablely connected with the transmission shaft, described
One end of transmission shaft is connected with the transmission mechanism.
Wherein, the synchronous ectoskeleton mechanical arm further includes two shoulder joints for being fixedly mounted on the support device two sides
Section, two large arm are hinged with a shoulder joint respectively, each described large arm passes through the shoulder joint respectively
It is rotated relative to the support device.
Wherein, the large arm includes upper beam, lower beam and two large arm vertical beams, the upper beam, the lower beam and
It is hinged to form lanar four rod mechanism between two large arm vertical beams, the corresponding end of the upper beam and the lower beam
Hinged with the shoulder joint, the one end of the upper beam far from the support device and the forearm are hinged, the transmission shaft
Middle part it is hinged with two large arm vertical beams respectively.
Wherein, the transmission device further includes the axle sleeve for being fixedly mounted on the large arm set outer wall, the transmission shaft grafting
It can rotate in the axle sleeve and in the axle sleeve.
Wherein, the shoulder joint includes intermediate beam, two bearing blocks, two bearings and two shafts, the intermediate beam
Both ends are fixedly connected with a shaft respectively, and two bearing blocks are fixedly mounted in the support device, and two
The shaft passes through the bearing respectively and is rotatably installed on two bearing blocks, and the intermediate beam and the large arm are cut with scissors
It connects.
Wherein, the forearm includes the first forearm beam, the second forearm beam, third forearm beam and the 4th forearm beam, and described the
It is hinged to form plane four between one forearm beam, the second forearm beam, the third forearm beam and the 4th forearm beam
Link mechanism, the first forearm beam and the large arm are hinged, and the second forearm beam and the transmission mechanism are hinged.
Wherein, the transmission mechanism further includes the first drive beam and the second drive beam, and the middle part of first drive beam is logical
It crosses the first articulation piece and the transmission shaft is hinged, one end of first drive beam passes through the second articulation piece and second transmission
One end of beam is hinged, and the other end of second drive beam is cut with scissors by another described second articulation piece and the second forearm beam
It connects, so that the driving force of human arm is transferred to the forearm.
Wherein, first articulation piece includes the female member being fixedly mounted on first drive beam, is fixedly mounted on
Convex part and jackshaft on the transmission shaft are connected between the female member and the convex part by jackshaft rotation
It connects, the central axes of the jackshaft are vertical with the central axes of the transmission shaft.
Wherein, second articulation piece includes female type connection, convex fitting and pivotal axis, and two described second hinged
The convex fitting of part is respectively and fixedly installed to the both ends of the second drive beam, the concave of second articulation piece
Connector is respectively hinged on the second forearm beam and first drive beam.
Wherein, the arm further includes elastic component, and one end of the elastic component is connected with the top of the support device, separately
One end is connected with the large arm, and the elastic component is spring.
(3) beneficial effect
Synchronous ectoskeleton mechanical arm provided by the utility model, support device are located at the back of human body, large arm and human body
Upper arm it is corresponding, forearm is corresponding with the small arm of human body, using the arm of people as power source, passes through and is connected with large arm set
Transmission shaft imparts power to large arm, and the transmission mechanism by being mounted on end part of driving shaft imparts power to forearm, thus together
Step completes the arm action of people, provides support and movement auxiliary in the process for human body, easy to operate easy to control, reduces production
Cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of synchronous one preferred embodiment of ectoskeleton mechanical arm of the utility model；
Fig. 2 is the structural schematic diagram of support device shown in Fig. 1；
Fig. 3 is the attachment structure schematic diagram of arm and shoulder joint shown in Fig. 1；
Fig. 4 is the partial structure diagram of shoulder joint shown in Fig. 1；
Fig. 5 is the attachment structure schematic diagram between transmission shaft shown in FIG. 1, large arm set and the first drive beam.
In figure: 1, support device；11, horizontal support beam；12, supporting beam is erected；2, large arm；21, upper beam；22, lower beam；
23, large arm vertical beam；3, forearm；31, the first forearm beam；32, the second forearm beam；33, third forearm beam；34, the 4th forearm beam；4,
Decompressor；41, elastic component；5, transmission device；51, large arm set；52, transmission shaft；53, transmission mechanism；531, the first drive beam；
532, the second drive beam；54, axle sleeve；55, the first articulation piece；56, the second articulation piece；6, shoulder joint；61, intermediate beam；62, bearing
Seat；63, shaft.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is not intended to limit the scope of the present invention for illustrating the utility model.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
As shown in Figure 1, a kind of synchronous ectoskeleton mechanical arm, including support device 1 and it is symmetrically mounted on 1 two sides of support device
Two arms, each arm includes large arm 2, forearm 3 and transmission device 5.Wherein, large arm 2 and forearm 3 are hinged, transmission dress
Setting 5 includes the large arm set 51 being socketed on human arm, the transmission shaft 52 being mounted in large arm 2 and the biography being mounted on forearm 3
Motivation structure 53.Large arm set 51 is rotatablely connected with transmission shaft 52, and one end of transmission shaft 52 is connected with transmission mechanism 53.
In use, support device 1 is located at the back of human body, large arm 2 is corresponding with the upper arm of human body, forearm 3 and human body
Small arm it is corresponding.With the athletic performance of human arm, synchronous ectoskeleton mechanical arm is moved synchronously, and is provided for human body
Support and movement auxiliary.Specifically, when movable arm, the arm of people passes through the biography being connected with large arm set 51 as power source
Moving axis 52 imparts power to large arm 2, and the transmission mechanism 53 by being mounted on 52 end of transmission shaft imparts power to forearm
3, thus make large arm 2 it is synchronous with the arm of people with the athletic performance of forearm 3, coordinate.
In addition to this, synchronous ectoskeleton mechanical arm further includes decompressor 4, and specifically, decompressor 4 includes elastic component
41, one end of elastic component 41 is connected with the top of support device 1, and the other end is connected with large arm 2.It is supported since elastic component 41 connects
The top of device 1 and large arm 2, when movement, can pull large arm 2, to mitigate whole device to the pressure of human body, reduce physical strength and disappear
Consumption.
In order to make the athletic performance of synchronous ectoskeleton mechanical arm more be bonded arm action, the two sides of support device 1 also
It is respectively fixed with and a shoulder joint 6 is installed, two large arm 2 are respectively hinged in two shoulder joint 6, and shoulder joint 6 can
Rotate large arm 2 relative to support device 1.Specifically, as shown in figure 4, shoulder joint 6 includes 61, two bearing blocks of intermediate beam
62, two bearings and two shafts 63.Two bearing blocks 62 are fixedly mounted in support device 1, wherein a bearing block 62
Above another bearing block 62.Two shafts 63 are rotatably installed on two bearing blocks 62 by a bearing respectively, and two
It is connected between a shaft 63 by intermediate beam 61.One end of intermediate beam 61 is fixedly connected with the end of a shaft 63, the other end
It is fixedly connected with the end of another shaft 63, the extending direction of three is consistent.Large arm 2 is hinged on intermediate beam 61 by pin shaft
On, the central axes of pin shaft are vertical with the length direction of intermediate beam 61.In the case where the arm of people acts on power drive, large arm 2 passes through centre
Beam 61 drives shaft 63 to rotate, so that synchronous ectoskeleton mechanical arm energy companion moves together when the arm of people moves forward and backward.
Further, as shown in Fig. 2, support device 1 includes several horizontal support beams 11 and several perpendicular supporting beams 12.Its
In, it is parallel to each other between several horizontal support beams 11, is also parallel to each other between several perpendicular supporting beams 12.Several horizontal support beams
It is criss-cross between 11 and several perpendicular supporting beams 12, pass through a pin respectively at cross-point and is attached.Preferably, it erects
Supporting beam 12 has two, is symmetrically distributed in human spine two sides；Horizontal support beam 11 has three, is fixedly mounted on perpendicular supporting beam up and down
On 12.
Specifically, as shown in figure 3, large arm 2 includes upper beam 21, lower beam 22 and two large arm vertical beams 23.Upper beam 21
Hinged with the top of two large arm vertical beams 23 respectively, the middle part of two large arm vertical beams 23 is hinged with lower beam 22 respectively, thus
Lanar four rod mechanism is formed between upper beam 21, lower beam 22 and two large arm vertical beams 23.Upper beam 21 and lower beam 22
Corresponding end is hinged with the intermediate beam 61 in shoulder joint 6, and the one end of upper beam 21 far from support device 1 and forearm 3 are hinged.Transmission
Axis 52 is hingedly mounted on the bottom end of two large arm vertical beams 23 by pin shaft.Elastic component 41 is spring, one end of spring and upper beam
21 one end far from support device 1 are connected, and the top for the shaft 63 being located above in the other end and shoulder joint 6 is connected.
Further, transmission device 5 further includes the axle sleeve 54 for being fixedly mounted on large arm and covering 51 outer walls.Transmission shaft 52 is plugged on
It can rotate in axle sleeve 54 and in axle sleeve 54.Wherein, the axis parallel of the central axes of transmission shaft 52 and large arm set 51.
Specifically, with continued reference to Fig. 3, forearm 3 include the first forearm beam 31, the second forearm beam 32, third forearm beam 33 and
4th forearm beam 34.The middle part of first forearm beam 31 is hinged by one end of pin shaft and the second forearm beam 32, third forearm beam 33
Both ends pass through respectively pin shaft and the second forearm beam 32 the other end and the 4th forearm beam 34 one end it is hinged, the 4th forearm beam 34
Middle part by pin shaft with the first forearm beam 31 hingedly, thus in the first forearm beam 31, the second forearm beam 32, third forearm beam 33
And the 4th form lanar four rod mechanism between forearm beam 34.First forearm beam 31 and the upper beam 21 in large arm 2 are hinged, and second
Forearm beam 32 and transmission mechanism 53 are hinged.
In the synchronization ectoskeleton mechanical arm, transmission mechanism 53 further includes the first drive beam 531 and the second drive beam 532.
The middle part of first drive beam 531 is hinged by the first articulation piece 55 and transmission shaft 52, and one end of the first drive beam 531 passes through second
Articulation piece 56 and one end of the second drive beam 532 are hinged, and the other end of the second drive beam 532 passes through another second articulation piece 56
It is hinged with the second forearm beam 32, so that the driving force of human arm is transferred to forearm 3, make the movement between large arm 2 and forearm 3
Mutually coordinate.
Specifically, as shown in figure 5, the first articulation piece 55 includes convex part, female member and jackshaft.Wherein, convex part is logical
It crosses pin and is fixedly mounted on 52 end of transmission shaft, female member is fixedly mounted on the middle part of the first drive beam 531 by pin.Convex
Type part is equipped with through-hole, and groove is equipped in female member, which runs through two opposing end surfaces of convex part.Convex part is housed in
In groove, and connecting hole is equipped on the opposite cell wall of groove, jackshaft passes through connecting hole and through-hole for convex part and female member
Rotation connection, the opposite jackshaft of such first drive beam 531, transmission shaft 52 energy rotate.The central axes of the jackshaft with
The central axes of transmission shaft 52 are vertical.In addition between the first drive beam 531 and transmission shaft 52 being hingedly by the first articulation piece 55
Except realization, between upper beam 21 and the first forearm beam 31 it is hinged be also by the first articulation piece 55 realize.In order to preferably
It is hinged between realization large arm 2 and forearm 3, pass through two 55 phases of the first articulation piece between upper beam 21 and the first forearm beam 31
Even.For the first articulation piece 55 herein, the central axes of in-between axis are vertical with the length direction of upper beam 21.
Specifically, the second articulation piece 56 includes female type connection, convex fitting and pivotal axis.Wherein, female type connection
It is L-shaped.The female type connection of two the second articulation pieces 56 passes through the both ends that pin is fixedly mounted on the second drive beam 532 respectively,
The convex fitting of two the second articulation pieces 56 passes through pin shaft respectively and is hingedly mounted on the end of the first drive beam 531 and second small
The middle part of arm beam 32.Female type connection is rotatablely connected by pivotal axis and convex fitting.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of synchronous ectoskeleton mechanical arm, which is characterized in that including support device and be symmetrically mounted on the support device two
Two arms of side, each described arm include large arm, forearm and transmission device, and the large arm and the forearm are hinged, institute
Transmission device is stated to include the large arm set being socketed on human arm, the transmission shaft being mounted in the large arm and be mounted on described small
Transmission mechanism on arm, the large arm set are rotatablely connected with the transmission shaft, one end of the transmission shaft and the transmission mechanism
It is connected.
2. synchronous ectoskeleton mechanical arm according to claim 1, which is characterized in that the synchronous ectoskeleton mechanical arm also wraps
Two shoulder joint for being fixedly mounted on the support device two sides are included, two large arm are cut with scissors with a shoulder joint respectively
It connects, each described large arm passes through the shoulder joint respectively and rotates relative to the support device.
3. synchronous ectoskeleton mechanical arm according to claim 2, which is characterized in that the large arm includes upper beam, lower cross
Beam and two large arm vertical beams are hinged to form plane between the upper beam, the lower beam and two large arm vertical beams
The corresponding end of four-bar mechanism, the upper beam and the lower beam is hinged with the shoulder joint, and the upper beam is far from institute
One end and the forearm for stating support device are hinged, and the middle part of the transmission shaft is hinged with two large arm vertical beams respectively.
4. synchronous ectoskeleton mechanical arm according to claim 3, which is characterized in that the transmission device further includes fixed peace
Mounted in the axle sleeve of large arm set outer wall, the transmission shaft is plugged in the axle sleeve and can rotate in the axle sleeve.
5. synchronous ectoskeleton mechanical arm according to claim 2 or 3, which is characterized in that the shoulder joint include intermediate beam,
Two bearing blocks, two bearings and two shafts, the both ends of the intermediate beam are fixedly connected with a shaft respectively, and two
The bearing block is fixedly mounted in the support device, and two shafts pass through the bearing rotational installation respectively
On two bearing blocks, the intermediate beam and the large arm are hinged.
6. synchronous ectoskeleton mechanical arm according to claim 1, which is characterized in that the forearm include the first forearm beam,
Second forearm beam, third forearm beam and the 4th forearm beam, the first forearm beam, the second forearm beam, the third forearm
It is hinged to form lanar four rod mechanism between beam and the 4th forearm beam, the first forearm beam and the large arm are cut with scissors
It connects, the second forearm beam and the transmission mechanism are hinged.
7. synchronous ectoskeleton mechanical arm according to claim 6, which is characterized in that the transmission mechanism further includes the first biography
The middle part of dynamic beam and the second drive beam, first drive beam is hinged by the first articulation piece and the transmission shaft, and described first
One end of drive beam is hinged by one end of the second articulation piece and second drive beam, and the other end of second drive beam is logical
It crosses another described second articulation piece and the second forearm beam is hinged, to the driving force of human arm is transferred to described small
Arm.
8. synchronous ectoskeleton mechanical arm according to claim 7, which is characterized in that first articulation piece includes fixed peace
Female member on first drive beam, the convex part and jackshaft being fixedly mounted on the transmission shaft, the concave
It is rotatablely connected between part and the convex part by the jackshaft, the axis of the central axes of the jackshaft and the transmission shaft
Line is vertical.
9. synchronous ectoskeleton mechanical arm according to claim 7, which is characterized in that second articulation piece includes that concave connects
The convex fitting of fitting, convex fitting and pivotal axis, two second articulation pieces is respectively and fixedly installed to second
The both ends of drive beam, the female type connection of second articulation piece are respectively hinged at the second forearm beam and described first
On drive beam.
10. synchronous ectoskeleton mechanical arm according to claim 1, which is characterized in that the arm further includes elastic component, institute
The one end for stating elastic component is connected with the top of the support device, and the other end is connected with the large arm, and the elastic component is spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820968027.3U CN208451626U (en) | 2018-06-22 | 2018-06-22 | Synchronous ectoskeleton mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820968027.3U CN208451626U (en) | 2018-06-22 | 2018-06-22 | Synchronous ectoskeleton mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208451626U true CN208451626U (en) | 2019-02-01 |
Family
ID=65169888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820968027.3U Expired - Fee Related CN208451626U (en) | 2018-06-22 | 2018-06-22 | Synchronous ectoskeleton mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208451626U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527336A (en) * | 2018-06-22 | 2018-09-14 | 北京建筑大学 | Synchronous ectoskeleton mechanical arm |
| CN112076445A (en) * | 2020-08-24 | 2020-12-15 | 同济大学 | Symmetrical upper limb autonomous rehabilitation exoskeleton for hemiplegic patients |
-
2018
- 2018-06-22 CN CN201820968027.3U patent/CN208451626U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527336A (en) * | 2018-06-22 | 2018-09-14 | 北京建筑大学 | Synchronous ectoskeleton mechanical arm |
| CN108527336B (en) * | 2018-06-22 | 2023-09-22 | 北京建筑大学 | Synchronous exoskeleton mechanical arm |
| CN112076445A (en) * | 2020-08-24 | 2020-12-15 | 同济大学 | Symmetrical upper limb autonomous rehabilitation exoskeleton for hemiplegic patients |
| CN112076445B (en) * | 2020-08-24 | 2021-05-11 | 同济大学 | Symmetrical upper limb autonomous rehabilitation exoskeleton for hemiplegic patients |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 Termination date: 20190622 |