CN210757705U

CN210757705U - Energy-increasing wearable arm and upper limb exoskeleton device

Info

Publication number: CN210757705U
Application number: CN201920688685.1U
Authority: CN
Inventors: 王亚丽; 肖永飞; 赵永国; 吴昊
Original assignee: Institute of Automation Shandong Academy of Sciences
Current assignee: Institute of Automation Shandong Academy of Sciences
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-06-16
Anticipated expiration: 2029-05-14

Abstract

The utility model provides an energy-increasing type wearable arm and upper limbs ectoskeleton device, adopt multiple sensor to gather data such as each joint angle, each arm motor rotational speed, the moment of torsion of each joint of mechanism, install high accuracy photoelectric encoder at every joint, can accurate collection terminal position and gesture, realize the accurate control to the manipulator, the size of automatic adaptation upper limbs, can adapt to height and the arm length of different operations, under the heavy load condition, adjust the output according to the weight of load, can self-adaptation load, in the course of the work of mechanism, can realize shoulder joint horizontal direction abduction/adduction, pendulum/lower pendulum and rotary motion and the elbow joint's of vertical direction bending/extension motion, be equipped with the sound suggestion of voice interaction module, guarantee the safe and stable operation of entire system.

Description

Energy-increasing wearable arm and upper limb exoskeleton device

Technical Field

The utility model relates to a control field of special mechanism, in particular to energy-increasing type wearable arm and upper limbs ectoskeleton device.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The upper limbs are the most vulnerable parts to injury in daily life, and the strength of the upper limbs is limited, so that the effect of performing various actions is greatly reduced. The energy-increasing type upper limb exoskeleton is wearable mechanical equipment and is mainly used for enhancing the functions of upper limbs of a human body. The energy-increasing type upper limb exoskeleton mechanism is designed based on a bionic principle, combines with human engineering and can be comfortably combined with an upper limb. Each degree of freedom link of the upper limb corresponds to a single driving device on the mechanism, so that the mechanism motion and the human body degree of freedom motion can be ensured to be coaxial. The aim of obtaining stronger strength, faster response and more comfortable wearing effect is to search for energy-increasing wearable upper limb exoskeleton mechanisms. The energy-increasing wearable upper limb exoskeleton mechanism has the following transmission modes: belt drive, motor direct drive, gear drive, and pneumatic muscle drive.

The inventor of the present disclosure finds that the existing upper limb exoskeleton mechanism has the defects of unbalanced weight, small driving force, insensitive control and the like, and particularly, the adaptive fitting with the upper limb is difficult to achieve in the aspect of control, and the real-time performance of the control is poor.

Disclosure of Invention

In order to solve the defects of the prior art, the present disclosure provides an energy-increasing wearable arm and upper limb exoskeleton device, which can realize the precise control of a mechanical arm, wherein the wearable arm and exoskeleton device has compact structure, light weight and high rigidity, can adapt to the heights and the arm lengths of different operations, can adjust the output according to the weight of a load under the heavy load condition, can adapt to the load, can realize the abduction/adduction of a shoulder joint in the horizontal direction, the upward/downward swinging and rotating motion of a vertical direction and the bending/extending motion of an elbow joint in the working process of a mechanism, and is matched with the sound prompt of an alarm to ensure the safe and stable operation of the whole system.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

in a first aspect, the present disclosure provides an energized wearable arm;

an energy-increasing wearable arm comprises a plurality of motors, a first connecting piece, a second connecting piece, a large arm, a motor driving module and a processor, wherein the motors comprise a first shoulder joint motor, a second shoulder joint motor, a third shoulder joint motor and an elbow joint motor, each motor is provided with at least one speed reducer matched with the motor, the first shoulder joint motor and the second shoulder joint motor are connected through the first connecting piece, and the second shoulder joint motor and the third shoulder joint motor are connected through the second connecting piece and are used for realizing abduction and adduction of a shoulder joint in the horizontal direction, and swinging up and down and rotating in the vertical direction; the third shoulder joint motor is connected with the elbow joint motor through a large arm, and the large arm is provided with a passive telescopic device which can be used for realizing the telescopic action of the large arm and adapting to different wearers; the elbow joint motor is used for realizing flexion and extension movement of the elbow joint;

the processor is respectively in communication connection with the speed reducer and the motor driving module and is used for controlling the action of each motor through the motor driving module and realizing the speed control of each motor through the speed reducer.

The wrist device is connected with the elbow joint motor through the small arm, so that the mechanical arm is directly combined with the wrist of the person.

As possible some implementation manners, the wrist device is a detachable wrist bracelet, and further comprises a plurality of control buttons, the control buttons are arranged on the wrist bracelet or on a handle close to the bracelet, and the control buttons are connected with the processor and used for realizing case control.

As some possible implementation manners, the large arm and the small arm are both telescopic structures, the telescopic structure of the large arm is composed of a sliding rail, the large arm can adapt to the size of wearing after being passively stressed, and can be fixed after being adjusted so as to stabilize the stress of the large arm; the telescopic structure of forearm also comprises the slide rail, can adapt to the size of wearing after passive atress, and the flexible adjustment of big arm and forearm is used for adapting to different health demands.

In a second aspect, the present disclosure provides an energy-augmenting wearable upper extremity exoskeleton device;

an energy-enhanced wearable upper limb exoskeleton device comprises a back frame, a left arm, a right arm and a plurality of sensors, wherein the left arm and the right arm are the energy-enhanced wearable arms disclosed by the disclosure, and the left arm and the right arm are respectively fixed on two sides of the back frame;

the sensor comprises a plurality of electromyographic signal sensors, a plurality of multi-dimensional force sensors and a plurality of rotary encoders, wherein the electromyographic signal sensors and the multi-dimensional force sensors are arranged at the positions of a shoulder joint and an elbow joint, the electromyographic signal sensors are used for detecting whether active force exists on any degree of freedom of an arm, the multi-dimensional force sensors are used for detecting the stress conditions of the joints, and the rotary encoders are arranged at the positions of motors, connected with the motors and used for monitoring the positions and postures of the motors;

the processor is in communication connection with the sensors and used for receiving information acquired by the sensors, giving corresponding output control strategies according to different conditions and realizing action control of the motors.

As possible some implementation manners, the voice recognition device further comprises a sound pickup and a loudspeaker which are respectively in communication connection with the processor, wherein the sound pickup is used for receiving external voice information and sending the external voice information to the processor, and the loudspeaker is used for sending the voice information according to instructions of the processor.

As some possible implementation manners, the system further comprises a display screen, wherein the display screen is in communication connection with the processor and is used for displaying the control parameters and the real-time state according to instructions of the processor.

As some possible implementation manners, the portable electronic device further comprises a power supply for supplying power to each electronic element, and the power supply and the processor are both fixedly arranged inside the back frame.

As some possible implementation manners, the power supply further comprises a start-stop switch, wherein the start-stop switch is connected with the power supply and used for starting and closing the power supply; the start-stop switch is also in communication connection with the processor and is used for realizing the start-stop switch according to a control instruction of the processor.

As some possible implementations, the multi-dimensional force sensor is a six-dimensional force/moment sensor for monitoring three force components and three moment components of each joint.

Compared with the prior art, the beneficial effect of this disclosure is:

the content of this disclosure adopts multiple sensor to gather data such as each joint angle, each arm motor rotational speed, each joint's moment of torsion of mechanism, installs high accuracy photoelectric encoder at every joint, can accurately gather terminal position and gesture through kinematics positive solution, can realize the accurate control to the manipulator.

The wearable upper limb exoskeleton is compact in structure, light in weight and high in rigidity, can automatically adapt to the size of an upper limb according to the natural condition of a wearer through the control mechanism of the main controller, and can adapt to heights and arm lengths of different operations; under the heavy load condition, the output is adjusted according to the weight of the load, and the load can be self-adapted; during the working process of the mechanism, the horizontal abduction/adduction, the vertical upward/downward swinging and rotation of the shoulder joint and the flexion/extension of the elbow joint can be realized.

The content of this disclosure is equipped with a plurality of control button at bracelet or the handle position of being close to bracelet department and controls the treater procedure.

The content through setting up adapter and speaker, can realize equipment and external voice interaction, mainly be in mechanism's working process, receive user's voice command, accomplish the pronunciation analysis and give the controller to unusual situation or system go wrong appear, send warning suggestion pronunciation, make the user have more clear understanding to the mechanism, be equipped with the audible cue of alarm, guarantee entire system safety and stability's operation.

The multi-dimensional force/torque sensor disclosed by the disclosure adopts a six-dimensional force/torque sensor, namely a sensor capable of measuring three force components and three torque components simultaneously, and a control system can detect and control the gripping force of a robot paw for fetching an object, and can also detect the weight of the grabbed object, and whether sliding, vibration and the like exist in the grabbing operation process.

The processor disclosed by the disclosure realizes servo control on the motor of each joint through the motor driving module, so that the action of each link is soft and stable, and the fastest response speed is achieved.

The present disclosure enables visual interaction between a user and a real-time controller by providing a display for displaying some parameters of the mechanism and real-time conditions.

The processor is mainly used for collecting information collected by each sensor, analyzing and processing data, giving corresponding strategies to different conditions to control the output of the mechanism, completing information interaction with a user, collecting voice information of the user through the voice interaction module, analyzing and forming corresponding instructions, and further driving the mechanism to complete the instructions; the information of the switching value and the analog value is acquired through the information acquisition module, and the relation between the mechanism and the outside can be fed back to the control system in real time; some parameter display and real-time state display of the mechanism are finished through the information display module, so that a user can conveniently receive the state of the mechanism in real time; the action control module analyzes the action of the command generated by the controller and sends the command to the motor driver so as to drive the motor to operate, and the self-adaptive adjustment of the exoskeleton structure and the accurate control of the action are realized through the cooperation of the modules.

The wearable arm disclosed by the disclosure comprises two degrees of freedom at the shoulder joint and the elbow joint, so that the self-adaptive adjustment of the arm in all directions is realized, and the abduction/adduction of the shoulder joint in the horizontal direction, the upward swinging/downward swinging and rotating motion in the vertical direction and the bending/extending motion of the elbow joint are realized.

Drawings

Fig. 1 is a schematic view of an energy-enhanced wearable arm according to embodiment 1 of the present disclosure.

Fig. 2 is a schematic view of an energy-enhanced wearable upper extremity exoskeleton device according to embodiment 2 of the present disclosure.

Fig. 3 is a schematic control diagram of an energy-enhanced wearable upper extremity exoskeleton device according to embodiment 2 of the present disclosure.

1-left arm; 2-right arm; 3-carrying a frame; 4-a first shoulder joint motor; 5-a second shoulder joint motor; 6-a third shoulder joint motor; 7-elbow joint motor; 8-a first encoder; 9-a second encoder; 10-a third encoder; 11-a fourth encoder; 12-a first reducer; 13-a second reducer; 14-a third reducer; 15-a fourth reducer; 16-a first connector; 17-a second connector; 18-big arm; 19-forearm; 20-wrist bracelet.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Example 1:

as shown in fig. 1, an energy-enhanced wearable arm according to embodiment 1 of the present disclosure includes a plurality of motors (4, 5, 6, 7), a first connecting member 16, a second connecting member 17, a large arm 18, a motor driving module, and a processor, where the motors include a first shoulder joint motor 4, a second shoulder joint motor 5, a third shoulder joint motor 6, and an elbow joint motor 7, and each motor is provided with at least one speed reducer matching the motor, which is respectively a first speed reducer 12, a second speed reducer 13, a third speed reducer 14, and a fourth speed reducer 15; the first speed reducer 12 is connected with the second speed reducer 13 through a first connecting piece 16, and the second speed reducer 13 is connected with the third speed reducer 14 through a second connecting piece 17, so that the shoulder joint can abduct and adduct in the horizontal direction, and can swing up and down in the vertical direction and rotate; the third speed reducer 14 is connected with the fourth speed reducer 15 through a large arm 18, and the elbow joint motor 7 and the fourth speed reducer 15 jointly form an elbow joint for realizing flexion and extension motions of the elbow joint; each motor is a direct current motor, an output shaft of each motor is directly connected with a speed reducer, and an output end of each speed reducer is directly connected with a connecting piece or a large arm to convert the rotation of the motors into the action of each joint.

The processor is respectively in communication connection with each speed reducer (12, 13, 14, 15) and the motor driving module, and is used for controlling the action of each motor through the motor driving module and realizing the speed control of each motor through the speed reducers (12, 13, 14, 15).

Still include forearm 19 and wrist bracelet 20, wrist bracelet 20 can be dismantled, elbow joint motor 7 is connected with wrist bracelet 20 through forearm 19, realizes the combination of mechanical arm direct and people's wrist.

Still include a plurality of control button, locate on wrist bracelet 20 or be close to the handle of bracelet on, control button is connected with the treater for realize case control.

The large arm 18 and the small arm 19 are both telescopic structures, the telescopic structure of the large arm is composed of slide rails, the size of the large arm can be adapted to the size of wearing after passive stress, and the large arm can be fixed after adjustment so as to stabilize the stress of the large arm; the telescopic structure of forearm also comprises the slide rail, can adapt to the size of wearing after passive atress, and the flexible adjustment of big arm and forearm is used for adapting to different health demands.

Example 2:

as shown in fig. 2 to 3, an embodiment 2 of the present disclosure provides an energy-enhanced wearable upper limb exoskeleton device, including a back frame 3, a left arm 1, a right arm 2, and a plurality of sensors, where the left arm 1 and the right arm 2 are the energy-enhanced wearable arms of the present disclosure, and the left arm 1 and the right arm 2 are respectively fixed on two sides of the back frame 3;

Still include adapter and speaker, respectively with treater communication connection, the adapter is used for receiving external voice information and sends for the treater, the speaker is used for sending voice information according to the instruction of treater, adapter and speaker are located on the back of the body frame 3.

The display screen is in wireless communication connection with the processor and used for displaying control parameters and real-time states according to instructions of the processor.

The portable electronic device further comprises a power supply for supplying power to each electronic element, and the power supply and the processor are fixedly arranged inside the back frame.

The power supply is connected with the power supply, and the power supply is connected with the power supply through the power supply switch; the start-stop switch is also in communication connection with the processor and is used for realizing the start-stop switch according to a control instruction of the processor.

The multi-dimensional force sensor is a six-dimensional force/moment sensor and is used for monitoring three force components and three moment components of each joint.

The processor is used for collecting information acquired by each sensor, analyzing and processing data, giving corresponding strategies according to different conditions to output and control the mechanism, and meanwhile, finishing information interaction with a user; the processor is mainly divided into four functional blocks: the voice interaction module, the information acquisition module, the information display module and the action control module; the voice interaction module is mainly used for collecting voice information of a user, analyzing the voice information, forming a corresponding instruction and further driving the mechanism to complete the instruction; the information acquisition module is mainly used for acquiring information of switching value and analog quantity and feeding back the relation between the mechanism and the outside to the control system in real time; the information display module is mainly used for finishing parameter display and real-time state display of the mechanism, so that a user can conveniently receive the state of the mechanism in real time; the action control module mainly analyzes the action of the instruction generated by the controller and sends the analyzed action to the motor driver so as to drive the motor to operate.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An energy-increasing wearable arm is characterized by comprising a plurality of motors, a first connecting piece, a second connecting piece, a large arm, a motor driving module and a processor, wherein the motors comprise a first shoulder joint motor, a second shoulder joint motor, a third shoulder joint motor and an elbow joint motor, each motor is provided with at least one speed reducer matched with the motor, the first shoulder joint motor and the second shoulder joint motor are connected through the first connecting piece, and the second shoulder joint motor and the third shoulder joint motor are connected through the second connecting piece and are used for realizing abduction and adduction of a shoulder joint in the horizontal direction, and swinging in the vertical direction and rotating motion; the third shoulder joint motor is connected with the elbow joint motor through a big arm, and the elbow joint motor and the fourth speed reducer jointly form an elbow joint for realizing flexion and extension motions of the elbow joint;

2. The energy-enabled wearable arm according to claim 1 further comprising a forearm and a wrist device, wherein the elbow motor is connected to the wrist device via the forearm to enable the robotic arm to be directly coupled to the wrist of the person.

3. The energy-enabled wearable arm of claim 2, wherein the wrist device is a detachable wrist bracelet, further comprising a plurality of control buttons disposed on the wrist bracelet or on the handle proximate to the bracelet, the control buttons being connected to the processor for case control.

4. The energy-enhanced wearable arm of claim 2, wherein the large arm and the small arm are both telescopic structures and both comprise a sliding rail, and the telescopic adjustment of the large arm and the small arm is used for adapting to different body requirements.

5. An energy-enhanced wearable upper extremity exoskeleton device, comprising a back frame, a left arm, a right arm and a plurality of sensors, wherein the left arm and the right arm are the wearable arms of any one of claims 1 to 4, and the left arm and the right arm are respectively fixed on two sides of the back frame;

6. The energy-enabled wearable upper extremity exoskeleton device of claim 5 further comprising a microphone and a speaker, each communicatively coupled to the processor, wherein the microphone is configured to receive external voice information and transmit the external voice information to the processor, and wherein the speaker is configured to emit voice information in accordance with instructions from the processor.

7. The energy-enabled wearable upper extremity exoskeleton device of claim 5 further comprising a display screen communicatively coupled to the processor for displaying control parameters and real-time status in accordance with instructions from the processor.

8. The energy-enabled wearable upper extremity exoskeleton device of claim 5 further comprising a power supply for powering each of the electronic components, wherein the power supply and the processor are both fixedly disposed within the back frame.

9. The energy-enabled wearable upper extremity exoskeleton device of claim 8 further comprising a start-stop switch connected to the power supply for turning the power supply on and off; the start-stop switch is also in communication connection with the processor and is used for realizing the start-stop switch according to a control instruction of the processor.

10. The energy-enabled wearable upper extremity exoskeleton device of claim 5 wherein the multi-dimensional force sensor is a six-dimensional force/moment sensor for monitoring three force components and three moment components for each joint.