CN215193465U - Wearable shoulder exoskeleton based on flexible sensor - Google Patents
Wearable shoulder exoskeleton based on flexible sensor Download PDFInfo
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- CN215193465U CN215193465U CN202121105588.9U CN202121105588U CN215193465U CN 215193465 U CN215193465 U CN 215193465U CN 202121105588 U CN202121105588 U CN 202121105588U CN 215193465 U CN215193465 U CN 215193465U
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Abstract
A flexible sensor based wearable shoulder exoskeleton comprising: the wearable vest comprises a wearable vest body, a back fixing plate cover, a shoulder joint side-expanding motor, a first output flange, a long connecting arc, a shoulder joint rotating motor, a bearing, a short connecting arc, a shoulder joint flexion and extension motor, an arm fixing sleeve, a second output flange and a flexible sensor. The utility model discloses have three degree of freedom, adopt brushless motor and disk motor drive respectively. Each degree of freedom rotary mechanism is provided with a flexible sensor, the position or the posture of the shoulder can be acquired through kinematics positive solution, and the manipulator can be accurately controlled.
Description
Technical Field
The utility model relates to a shoulder ectoskeleton especially relates to a wearable shoulder ectoskeleton based on flexible sensor, both can be used to the remote control operation of manipulator, also can be used to upper limbs shoulder joint rehabilitation training.
Background
Exoskeleton control has further advantages over conventional manipulators using a wider joystick. However, the wearable exoskeleton used at home and abroad can only realize one-way control of a human to a machine at present, and lacks force feedback, so that real man-machine integration cannot be realized.
With the expansion of a series of special application fields such as space, deep sea, atomic energy and the like, people urgently need the robot control system with force feedback to work in some unknown or harmful environments to human bodies.
Disclosure of Invention
Based on this, the utility model aims at providing a shoulder ectoskeleton with force feedback, the utility model provides an adopt wearable shoulder ectoskeleton device that stereoplasm cloth and light aluminum alloy were made, use flexible sensor to gather human action signal and with signal output controlled end robot, realize the remote control robot of human hand control.
A flexible sensor based wearable shoulder exoskeleton comprising: the wearable vest comprises a wearable vest (1), a back fixing plate (2), a back fixing plate cover (3), a shoulder joint side-extending motor (4), a first output flange (5), a long connecting arc (6), a shoulder joint rotating motor (7), a bearing (8), a short connecting arc (9), a shoulder joint flexion and extension motor (10), an arm fixing sleeve (11), a second output flange (12) and a flexible sensor (13).
The back fixing plate (2) is fixed with the back fixing plate cover (3), and the main control board and various routing wires can be placed inside the back fixing plate. Be equipped with wiring end hole on back fixed plate lid (3), the main control board integration and the debugging on the back fixed plate (2) of being convenient for.
And motor mounting holes are formed in two ends of the back fixing plate (2) and are fixed with a shoulder joint side-extending motor (4), and a first output flange (5) is connected to a shaft of the shoulder joint side-extending motor. The first output flange (5) is connected with one side of the long connecting arc (6). The back fixing plate (2) and the long connecting arc (6) form a side-spread rotating pair.
The other side of the long connecting arc (6) is provided with a motor mounting hole, a shoulder joint rotating motor (7) is mounted in the hole, and the two ends of the long connecting arc (6) are connected with a short connecting arc (9) through a bearing (8) to form an adduction/abduction rotating pair. The output shaft of the shoulder joint rotating motor (7) is connected with a short connecting arc (9).
And a motor mounting hole is formed in the other side of the short connecting arc (9) and is fixed with a shoulder joint flexion and extension motor (10), and a second output flange (12) is connected to a shoulder joint flexion and extension motor shaft. The second output flange (12) is connected with the arm fixing sleeve (11). The short connecting arc (9) and the arm fixing sleeve (11) form a bending/stretching rotating pair.
The arm fixing sleeve (11) is provided with a binding band mounting hole, and the binding band can be fixed with the arm of a human.
The flexible sensors (13) are respectively arranged on the shoulder joint lateral extension mechanism, the shoulder joint rotating mechanism and the shoulder joint lateral extension mechanism and are used for collecting shoulder three-degree-of-freedom angle information.
The shoulder joint lateral extension motor (4) and the shoulder joint flexion and extension motor (10) both adopt disc motors, and the shoulder joint rotating motor (7) adopts a miniature brushless motor.
The utility model provides a pair of wearable shoulder ectoskeleton based on flexible sensor, single shoulder part have three degrees of freedom, respectively shoulder joint bend-stretch, shoulder joint abduction-adduction and shoulder joint internal rotation-external rotation.
According to the wearable shoulder exoskeleton based on the flexible sensor, the flexible sensor is arranged on each freedom degree rotating mechanism, so that when a hand drives a rotary joint to rotate, the flexible sensor stretches to generate elastic deformation, the resistance value of the flexible sensor which deforms also changes, namely the change amount of the joint rotation angle corresponds to the change amount of the resistance value. The flexible sensor collects human body action signals in the mode and outputs the human body action signals to the robot at the controlled end, so that the robot is remotely controlled by a human hand, actual information of the robot can be fed back to the human hand, and force feedback bidirectional control is realized.
The utility model discloses have following characteristics for prior art:
1) the wearable shoulder exoskeleton has three degrees of freedom, and can solve the problem that the existing shoulder joint cannot accurately simulate various motions of a real upper arm;
2) the light exoskeleton and the flexible vest are integrated, so that the wearing is comfortable and convenient;
3) a small-sized disk motor and a brushless motor are used, and the driving device is light and portable. And in the use process of the force feedback manipulator, the force of the hand of a common operator is larger than or equal to the feedback force of the equipment, so that the motor of the force feedback manipulator generally works in a locked-rotor state. The motor can realize the locked rotor output of the motor and output corresponding torque and ensure the safety of the motor;
4) the back device consisting of the back fixing plate (2) and the back fixing plate cover (3) can integrate various electronic elements, a main control board and wiring required by the system, and is convenient for wiring, debugging and dismounting;
5) the flexible sensor is used for realizing the collection of the action, the action of the human body can be accurately restored to the controlled robot, and a complex circuit is not required to be configured when the robot is used;
6) the wearable device can realize the control of the robot by the human, and position or posture information generated by the action of the environment on the robot can also be fed back to an operator, so that the information interaction is realized.
[ description of the drawings ]
Fig. 1 and 2 are schematic structural diagrams of an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a shoulder adduction/abduction revolute pair;
FIG. 4 is a schematic view of a back retaining plate cover;
fig. 5 is a front view of an embodiment of the present invention;
fig. 6 is a left side view of an embodiment of the present invention;
fig. 7 is a rear view of an embodiment of the present invention.
[ detailed description ] embodiments
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the wearable shoulder exoskeleton based on flexible sensors comprises: the wearable vest comprises a wearable vest (1), a back fixing plate (2), a back fixing plate cover (3), a shoulder joint side-extending motor (4), a first output flange (5), a long connecting arc (6), a shoulder joint rotating motor (7), a bearing (8), a short connecting arc (9), a shoulder joint flexion and extension motor (10), an arm fixing sleeve (11), a second output flange (12) and a flexible sensor (13).
As shown in fig. 1 and 4, the back fixing plate (2) is fixed to the back fixing plate cover (3), and a main control board and various routing wires can be placed inside the back fixing plate. Be equipped with wiring end hole on back fixed plate lid (3), the main control board integration and the debugging on the back fixed plate (2) of being convenient for.
As shown in fig. 1, motor mounting holes are formed in two ends of the back fixing plate (2) and are fixed to a shoulder joint side extension motor (4), and a first output flange (5) is connected to a shaft of the shoulder joint side extension motor. The first output flange (5) is connected with one side of the long connecting arc (6). The back fixing plate (2) and the long connecting arc (6) form a side-spread rotating pair.
As shown in fig. 1 and 3, a motor mounting hole is formed in the other side of the long connecting arc (6), a shoulder joint rotating motor (7) is mounted in the hole, and two ends of the long connecting arc (6) are connected with the short connecting arc (9) through bearings (8) to form an adduction/abduction rotating pair. The output shaft of the shoulder joint rotating motor (7) is connected with a short connecting arc (9).
As shown in fig. 1 and 2, a motor mounting hole is formed in the other side of the short connecting arc (9) and is fixed with a shoulder joint flexion and extension motor (10), and a second output flange (12) is connected to a shoulder joint flexion and extension motor shaft. The second output flange (12) is connected with the arm fixing sleeve (11). The short connecting arc (9) and the arm fixing sleeve (11) form a bending/stretching rotating pair.
As shown in figure 1, the arm fixing sleeve (11) is provided with a binding belt mounting hole, and can be fixed with a human arm through a binding belt.
As shown in fig. 1 and 2, the flexible sensors (13) are respectively installed on the shoulder joint lateral extension mechanism, the shoulder joint rotation mechanism and the shoulder joint lateral extension mechanism and are used for acquiring three-degree-of-freedom angle information of the shoulder.
As shown in fig. 1 and 3, both the shoulder joint lateral extension motor (4) and the shoulder joint flexion and extension motor (10) adopt disc motors, and the shoulder joint rotating motor (7) adopts a miniature brushless motor.
When the robot works, the flexible sensor collects position and posture signals of the human arm, the main control board processes the signals and outputs the signals to the slave robot, position or posture information generated by interaction between the slave robot and the environment can be fed back to the motor through the main control board, and the motor outputs positive or negative rotation to feed back force to the human hand.
The utility model discloses a symmetrical structure, above example and drawing only show single right-hand structure, left-hand structure and right-hand looks symmetry.
Claims (5)
1. A wearable shoulder exoskeleton based on a flexible sensor, the wearable shoulder exoskeleton comprising: the device comprises a wearable vest (1), a back fixing plate (2), a back fixing plate cover (3), a shoulder joint side-extending motor (4), a first output flange (5), a long connecting arc (6), a shoulder joint rotating motor (7), a bearing (8), a short connecting arc (9), a shoulder joint flexion and extension motor (10), an arm fixing sleeve (11), a second output flange (12) and a flexible sensor (13); wherein: the back fixing plate (2) and the wearable vest (1) are of an integrated structure, the back fixing plate cover (3) is fixed with the back fixing plate (2), and a main control board and various routing wires are placed inside the back fixing plate cover; a wiring end hole is formed in the back fixing plate cover (3), so that the integration and debugging of a main control plate on the back fixing plate (2) are facilitated; two ends of the back fixing plate (2) are provided with shoulder joint side-extending motor mounting holes and are fixed with the shoulder joint side-extending motor (4), and a shaft of the shoulder joint side-extending motor is connected with the first output flange (5); the first output flange (5) is connected with one side of the long connecting arc (6); the back fixing plate (2) and the long connecting arc (6) form a side-spread rotating pair; a shoulder joint rotating motor mounting hole is formed in the other side of the long connecting arc (6), the shoulder joint rotating motor (7) is mounted in the shoulder joint rotating motor mounting hole, and two ends of the long connecting arc (6) are connected with the short connecting arc (9) through the bearing (8) to form an adduction/abduction rotating pair; the output shaft of the shoulder joint rotating motor (7) is connected with the short connecting arc (9); a shoulder joint flexion and extension motor mounting hole is formed in the other side of the short connecting arc (9) and is fixed with the shoulder joint flexion and extension motor (10), and a shaft of the shoulder joint flexion and extension motor is connected with the second output flange (12); the second output flange (12) is connected with the arm fixing sleeve (11); the short connecting arc (9) and the arm fixing sleeve (11) form a bending/stretching rotating pair.
2. The flexible sensor based wearable shoulder exoskeleton of claim 1 wherein the wearable vest (1) is of the zip type with a material of hard cloth.
3. The flexible sensor based wearable shoulder exoskeleton of claim 1 wherein the arm harness (11) is provided with a strap mounting hole for being fixed to a human arm by a strap.
4. The flexible sensor based wearable shoulder exoskeleton of claim 1, wherein the long connecting arcs (6), the short connecting arcs (9) and the arm harness (11) are made of light aluminum alloy.
5. The wearable shoulder exoskeleton of claim 1, wherein the shoulder joint lateral extension motor (4) and the shoulder joint flexion and extension motor (10) are disc motors, and the shoulder joint rotation motor (7) is a miniature brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121105588.9U CN215193465U (en) | 2021-05-22 | 2021-05-22 | Wearable shoulder exoskeleton based on flexible sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121105588.9U CN215193465U (en) | 2021-05-22 | 2021-05-22 | Wearable shoulder exoskeleton based on flexible sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215193465U true CN215193465U (en) | 2021-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121105588.9U Active CN215193465U (en) | 2021-05-22 | 2021-05-22 | Wearable shoulder exoskeleton based on flexible sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215193465U (en) |
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2021
- 2021-05-22 CN CN202121105588.9U patent/CN215193465U/en active Active
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