CN209022104U - A kind of joint for upper limb exoskeleton robot circumnutation - Google Patents
A kind of joint for upper limb exoskeleton robot circumnutation Download PDFInfo
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- CN209022104U CN209022104U CN201821842918.0U CN201821842918U CN209022104U CN 209022104 U CN209022104 U CN 209022104U CN 201821842918 U CN201821842918 U CN 201821842918U CN 209022104 U CN209022104 U CN 209022104U
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- joint
- upper limb
- circumnutation
- pedestal
- exoskeleton robot
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Abstract
The utility model discloses a kind of joints for upper limb exoskeleton robot circumnutation, including arc track and the joint pedestal of arc track outer surface is set, traveling wheel is provided on the joint pedestal, the traveling wheel is connect by torque sensor with Power Component, the corresponding arc track outer surface of the traveling wheel is provided with rack gear, connection is engaged with rack in the traveling wheel, it is additionally provided with limit assembly on the joint pedestal, the arcuate directions movement of the limit assembly limitation joint pedestal arcuately track.The utility model can independently accomplish rotary motion, splendid with the coupling effect of human body, improve usage experience impression.
Description
Technical field
The utility model relates to exoskeleton robot fields, and in particular to one kind is for upper limb exoskeleton robot convolution fortune
Dynamic joint.
Background technique
In recent years, with the quick development and change of society, the problem of an aging population and medical rehabilitation problem are got worse；Together
When, worldwide geological disaster frequently occurs, and new demand is all proposed to assisted class robot field.Ectoskeleton power-assisted
Robot is a kind of man-machine integration mechanical device for people's wearing, and " physical strength " of the intelligence of people and robot is ideally combined
Together, it is with a wide range of applications.
Exoskeleton robot conveys control instruction, machine to robot by the reciprocal between people and robot, people
People then plays its powerful receiving load capacity.Therefore, robot needs to match the proper motion of human body.
Human upper limb is divided into shoulder, large arm, elbow, forearm and hand, realizes human upper limb by each joint of robot
Various movements, including stretch, bend, outreach, interior receipts and convolution.Currently, since circumnutation joint influences whether exoskeleton robot
With the coupled characteristic of human body, so the design difficulty of exoskeleton robot is mainly the inward turning and outward turning of upper limb large arm and forearm
Cyclarthrosis design.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of passes for upper limb exoskeleton robot circumnutation
Section, can independently accomplish rotary motion, splendid with the coupling effect of human body, improve usage experience impression.
In order to solve the above-mentioned technical problem, the utility model provides a kind of for the circumnutation of upper limb exoskeleton robot
Joint, including arc track and the joint pedestal of arc track outer surface is set, is provided with row on the joint pedestal
Wheel is walked, the traveling wheel is connect by torque sensor with Power Component, and the corresponding arc track outer surface of the traveling wheel is set
It is equipped with rack gear, the traveling wheel is engaged with rack connection, limit assembly, the limit assembly are additionally provided on the joint pedestal
Limit joint pedestal arcuately track arcuate directions movement.
Further, the two sides that the traveling wheel is located at axial direction are provided with protection guide plate, the traveling wheel and tooth
When item engages, two protection guide plates are located at rack gear two sides.
Further, the Power Component includes sequentially connected encoder, brake, motor and retarder, described to subtract
Fast device is mounted on power mounting plate, and the power mounting plate is fixed on the pedestal of joint, the output end of the retarder and torsion
The connection of square sensor.
Further, the rack gear is toothed timing belt, toothed timing belt fitting arc track outer surface setting, and two
End is provided with clamping part, and the clamping part is fixed on arc track.
Further, limit assembly is provided on the arc track two sides, limit assembly includes at least three limits
Position wheel, the distribution of at least three position-limited wheels are arranged on the outer surface and inner surface of arc track and abut.
Further, the joint pedestal is connect with revolution switching arm, and the revolution switching arm includes two L-type supporting plates,
Two L-type supporting plates are arranged in parallel, and long end is fixed on the pedestal of joint, is provided with auxiliary between two short ends takes the portion of holding.
Further, installation attachment base, the installation attachment base and wearing are provided on the inner surface of the arc track
Assembly support connects, and is provided with arc relief portion on the installation attachment base.
Further, be provided with mounting groove on the corresponding arc track of the installation attachment base, the installation attachment base with
The cell wall of mounting groove is fixedly connected.
Further, it is additionally provided with limit switch on the arc track, is provided on the joint pedestal and is opened with limit
The limit for closing cooperation triggers block piece.
The utility model has the beneficial effects that
Using arc track, rack gear, traveling wheel cooperation, can be realized joint pedestal, arcuately track periphery is rotated, joint
Pedestal drives upper limb to be rotated, and when upper limb is located at joint pedestal center of rotation, that is, has achieved the effect that upper limb turns round, whole
Structure is simple, stable and reliable operation, and it is splendid to match with human body movement.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the joint pedestal superstructure schematic diagram of the utility model；
Fig. 3 is the joint pedestal substructure schematic diagram of the utility model；
Fig. 4 is the arc track partial schematic diagram of the utility model.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
Referring to figs. 1 to 4, the one of the joint for the circumnutation of upper limb exoskeleton robot of the utility model is real
Example is applied, including arc track 1 and the joint pedestal 2 of arc track outer surface is set, is provided with traveling wheel on the pedestal of joint
3, traveling wheel is connect by torque sensor 4 with Power Component 5, and the corresponding arc track outer surface of traveling wheel is provided with rack gear 6,
Connection is engaged with rack in traveling wheel, and limit assembly 7 is additionally provided on the pedestal of joint, and limit assembly limits joint pedestal arcuately rail
The arcuate directions in road move.When in use, Power Component driving traveling wheel rotation is able to drive joint pedestal after traveling wheel rotation
Arcuately raceway surface is mobile, i.e., joint pedestal can be swung along the center of circle, when upper limb is located at the center point that joint pedestal is swung,
And when the movement of joint pedestal, joint pedestal can drive upper limb to do rotary motion；This joint is curved components, therefore be can be set
In preaxial part, obstruction is not had for human body, usage experience effect is good.
The wherein setting of torque sensor is able to detect revolution dynamics, to guarantee Power Component output power or stop
Only output has judgement.
It in one embodiment, can be according to the movement of torque sensor real-time detection user's upper limb, when user's upper limb
When rotary motion, torque sensor is able to detect that twisting resistance and torsional direction, by twisting resistance and torsional direction
Differentiate that control Power Component output rotates in same direction power, synkinesia；So that this joint is the mechanism actively turned round,
Improve the intelligent level in usage experience sense and joint.
It is located at axial two sides in traveling wheel and is provided with protection guide plate 8, when traveling wheel is engaged with rack, two anti-
Shield guide plate is located at rack gear two sides, plays the effect of limit, the relative position of rack gear and traveling wheel is effectively ensured.Rack gear can be with
For toothed timing belt, toothed timing belt is bonded the setting of arc track outer surface, and both ends are provided with clamping part 14, and clamping part is fixed
It is arranged on arc track, clamping part has the function of that dropping toothed timing belt tenses, and stablizes revolution.Toothed timing belt and traveling wheel cooperate
The problems such as movement, has the effect of slow-roll stabilization, flexible by toothed timing belt itself, reduces vibration when operation, improves operation
Comfort level.
Power Component includes sequentially connected encoder 9, brake 10, motor 11 and retarder 12, and retarder is mounted on
On power mounting plate 13, power mounting plate is fixed on the pedestal of joint, and the output end of retarder is connect with torque sensor.Motor
Rotation drives retarder output, and wherein brake guarantees the stability that output stops, and encoder is programmed control, to meet control
Demand processed forms independent operating system.
Above-mentioned limit assembly is 2, is separately positioned on arc track two sides, and limit assembly includes at least three limits
Wheel 15, the distribution of at least three position-limited wheels are arranged on the outer surface and inner surface of arc track and abut, and can be set to 4
It is a, stability when operation and smooth degree is effectively ensured, reduces friction.The distribution of outer surface and inner surface enables position-limited wheel
The movement of joint pedestal is enough limited, joint pedestal is merely able to the arcuate directions movement of arcuately track；Wherein set in the middle part of position-limited wheel
It is equipped with bulge loop structure, the corresponding arc track surface of bulge loop structure is provided with limit recess portion, and the limit of axial direction is realized after cooperation
Position.
It when in use, can installation revolution switching arm, revolution switching arm be used for for connecting with upper limb on the pedestal of joint again
Transmit rotary motive power；Turning round switching arm includes two L-type supporting plates 16, and two L-type supporting plates are arranged in parallel, and long end is fixed on pass
On section pedestal, auxiliary is provided between two short ends taking the portion of holding 17, L-type supporting plate has the effect of transition junctions, is suitble in upper limb
Outside is transmitted on the inside of the supreme limb of rotary motive power, and auxiliary, which takes the portion of holding, can be used for holding, or the hand-held support put convenient for upper limb
Connection；Joint pedestal when moving, can drive hand-held support to be moved along the circumference, upper limb rides upon hand-held by revolution switching arm
On bracket, upper limb is the rotation center of circle of hand-held support at this time, therefore is effectively formed gyroscopic effects.
Installation attachment base 171 is provided on the inner surface of above-mentioned arc track, installation attachment base and wearing assembly support connect
It connects, installs and be provided with arc relief portion 18 on attachment base, protruded into convenient for upper limb.Wearing assembly support is relatively-stationary structure,
Therefore when joint pedestal is mobile, arc track is remained stationary.Mounting groove is provided on the corresponding arc track of installation attachment base
19, installation attachment base is fixedly connected with the cell wall of mounting groove, guarantees connective stability, and the convenience of assembling.
In order to improve operation stability, it is additionally provided with limit switch on arc track, is provided with and limits on the pedestal of joint
Bit switch cooperation limit trigger block piece 20, when rotary motion arrive maximum position when, limit triggering block piece trigger limit switch, guarantor
Demonstrate,prove stability in use.
Above embodiments are only preferred embodiments for fully illustrating the utility model, the guarantor of the utility model
It is without being limited thereto to protect range.Those skilled in the art made equivalent substitute or transformation on the basis of the utility model,
It is within the protection scope of the utility model.The protection scope of the utility model is subject to claims.
Claims (9)
1. a kind of joint for upper limb exoskeleton robot circumnutation, which is characterized in that including arc track and setting
Joint pedestal in arc track outer surface is provided with traveling wheel on the joint pedestal, and the traveling wheel passes through torque sensing
Device is connect with Power Component, and the corresponding arc track outer surface of the traveling wheel is provided with rack gear, and the walking wheel and rack is nibbled
Connection is closed, is additionally provided with limit assembly on the joint pedestal, the arc of the limit assembly limitation joint pedestal arcuately track
The movement of shape direction.
2. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the walking
Wheel is located at axial two sides and is provided with protection guide plate, when the traveling wheel is engaged with rack, two protection guide plate positions
In rack gear two sides.
3. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the power
Component includes sequentially connected encoder, brake, motor and retarder, and the retarder is mounted on power mounting plate, institute
It states power mounting plate to be fixed on the pedestal of joint, the output end of the retarder is connect with torque sensor.
4. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the rack gear
For toothed timing belt, toothed timing belt fitting arc track outer surface is arranged, and both ends are provided with clamping part, the clamping
Portion is fixed on arc track.
5. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the arc
Limit assembly is provided on track two sides, limit assembly includes at least three position-limited wheels, and the distribution of at least three position-limited wheels is set
It sets on the outer surface of arc track and inner surface and abuts.
6. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the joint
Pedestal is connect with revolution switching arm, and the revolution switching arm includes two L-type supporting plates, and two L-type supporting plates are arranged in parallel, and long
End is fixed on the pedestal of joint, is provided with auxiliary between two short ends and takes the portion of holding.
7. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the arc
Installation attachment base is provided on the inner surface of track, the installation attachment base is connect with wearing assembly support, the installation connection
Arc relief portion is provided on seat.
8. being used for the joint of upper limb exoskeleton robot circumnutation as claimed in claim 7, which is characterized in that the installation
Mounting groove is provided on the corresponding arc track of attachment base, the installation attachment base is fixedly connected with the cell wall of mounting groove.
9. being used for the joint of upper limb exoskeleton robot circumnutation as described in claim 1, which is characterized in that the arc
It is additionally provided with limit switch on track, is provided on the joint pedestal and triggers block piece with the limit of limit switch cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821842918.0U CN209022104U (en) | 2018-11-09 | 2018-11-09 | A kind of joint for upper limb exoskeleton robot circumnutation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821842918.0U CN209022104U (en) | 2018-11-09 | 2018-11-09 | A kind of joint for upper limb exoskeleton robot circumnutation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209022104U true CN209022104U (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821842918.0U Active CN209022104U (en) | 2018-11-09 | 2018-11-09 | A kind of joint for upper limb exoskeleton robot circumnutation |
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| CN (1) | CN209022104U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079841A (en) * | 2018-11-09 | 2018-12-25 | 苏州大学 | A kind of joint for upper limb exoskeleton robot circumnutation |
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2018
- 2018-11-09 CN CN201821842918.0U patent/CN209022104U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079841A (en) * | 2018-11-09 | 2018-12-25 | 苏州大学 | A kind of joint for upper limb exoskeleton robot circumnutation |
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