CN2710848Y - Wearing type ectoskeleton manipulator - Google Patents
Wearing type ectoskeleton manipulator Download PDFInfo
- Publication number
- CN2710848Y CN2710848Y CN 200420037222 CN200420037222U CN2710848Y CN 2710848 Y CN2710848 Y CN 2710848Y CN 200420037222 CN200420037222 CN 200420037222 CN 200420037222 U CN200420037222 U CN 200420037222U CN 2710848 Y CN2710848 Y CN 2710848Y
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- Prior art keywords
- cylinder
- shoulder
- slip ring
- plane
- wrist
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- Expired - Lifetime
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 47
- 210000000707 wrist Anatomy 0.000 claims description 33
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 abstract description 16
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 206010028289 Muscle atrophy Diseases 0.000 abstract 1
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 230000003292 diminished effect Effects 0.000 abstract 1
- 230000020763 muscle atrophy Effects 0.000 abstract 1
- 201000000585 muscular atrophy Diseases 0.000 abstract 1
- 235000001968 nicotinic acid Nutrition 0.000 abstract 1
- 210000001364 upper extremity Anatomy 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 206010003694 Atrophy Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The utility model discloses a wearing type ectoskeleton manipulator, comprising a shoulder big 3RPS paralleling body, a shoulder slip ring body, two elbow four-rob body, an arm slip ring body, and an arm small 3RPS paralleling body connected sequentially. The utility model has nine degrees of freedom, which can satisfy the requirement of motion in all directions of upper arms of the human body. The manipulator is adopted with cylinder as the execution element, imitating the action of muscle extension of human bodies with better toughness and characteristic of bionics. The convenience and comfort are increased, simultaneously the motion scope of the upper arms of the operator is diminished, and the motion limit of the existing exoskeleton body is decreased. The motion data of the upper arms of the wearer can be collected well through the displacement sensor matching the cylinder, and the manipulator is force feeding back operated with sense through a computer. The manipulator can also be used for medical treatment as the assistant medical equipment for the patients with upper arms muscle atrophy.
Description
Technical field
The utility model relates to the Wearable exoskeleton manipulator, is a kind of employing biomimetic features specifically, is used to gather the device of human upper limb locomotion data.
Background technology
Ectoskeleton is controlled in the world to be generally believed it is one of at present desirable distant method of operating of manipulator, and the Joystick wider with respect to traditional use carries out manipulator more advantage.But the at present domestic and international exoskeleton manipulator that uses, or only have the less free degree, or mechanism's complexity, so opereating specification is very restricted.
Summary of the invention
The purpose of this utility model provides a kind of Wearable exoskeleton manipulator that is suitable for the distant operation of manipulator.
Wearable exoskeleton manipulator of the present utility model comprises the big 3RPS parallel institution of shoulder of polyphone successively, shoulder slip ring mechanism, two ancon four-bar mechanisms, the little 3RPS parallel institution of wrist slip ring mechanism and wrist, the big 3RPS parallel institution of said shoulder has the lower plane that is the U font and circular last plane, the bottom of U font lower plane and two openends are equipped with turning hinge respectively, these three turning hinges be wired to an equilateral triangle, circular last plane is evenly equipped with three ball pivots, three turning hinges on the U font plane link to each other with an end of first group of cylinder respectively, and the other end of first group of cylinder links to each other with three ball pivots on the annulus respectively; The revolute that the plane connects and composes goes up by first pedestal of annular and the big 3RPS parallel institution of shoulder circular in shoulder slip ring mechanism; The little 3RPS parallel institution of wrist has circular lower plane and the circular plane of going up, on lower plane, be evenly equipped with three turning hinges, be evenly equipped with three ball pivots on the last plane, three turning hinges on the lower plane link to each other with an end of second group of cylinder respectively, the other end of second group of cylinder links to each other with three ball pivots on the last plane respectively, and the handle that grips for wearer is housed on last plane; Wrist slip ring mechanism is the revolute that the circular lower plane by second pedestal of annular and the little 3RPS parallel institution of wrist connects and composes; The ancon four-bar mechanism comprises rectangular-shaped base, fork and a cylinder, first pedestal of the right angle flex point of base and shoulder slip ring mechanism is fixed, one end of base and an end of fork are hinged, one end of the other end of base and cylinder is hinged, the other end of cylinder and the other end of fork are hinged, and second pedestal of fork and wrist slip ring mechanism is fixed.
For ease of gathering the motion pose signal of human upper limb, usually, at inner displacement or the angular transducer installed of two slip rings of each cylinder and shoulder slip ring mechanism and wrist slip ring mechanism.
Wearable exoskeleton manipulator of the present utility model can be by the normal solution of the equation of motion, carries out the distant operation of master-slave mode to the 6DOF of isomorphism or isomery or less than the industry mechanical arm of 6DOF, and adaptability is strong.This manipulator adopts cylinder as executive component, the action that the imitation human muscle stretches, have toughness and bionic characteristics preferably, when having increased the convenience and comfortableness of dressing, expand the range of movement of operator's upper limbs widely, reduced and reduced the motion restriction of existing exoskeleton mechanism.Also can realize having the Long-distance Control of perception and force feedback simultaneously by to cylinder pressure control.This manipulator also can be used for medical treatment, as muscle of upper extremity atrophy patient's medical assistance apparatus.
Description of drawings
Fig. 1 is the structure installation diagram of Wearable exoskeleton manipulator;
Fig. 2 is shoulder and wrist slip ring structural scheme of mechanism;
Fig. 3 is an ancon four-bar mechanism structural scheme of mechanism.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing.
With reference to Fig. 1, the Wearable exoskeleton manipulator comprises the big 3RPS parallel institution 1 of shoulder of polyphone successively, shoulder slip ring mechanism 2, two ancon four-bar mechanisms 3, the little 3RPS parallel institution 5 of wrist slip ring mechanism 4 and wrist, the big 3RPS parallel institution 1 of said shoulder has the lower plane 10 that is the U font and circular last plane 9, the bottom of U font lower plane 10 and two openends are fixed with turning hinge 11 respectively, 12,13, these three turning hinges be wired to an equilateral triangle, be fixed with three ball pivots 14 that are 120 ° of distributions on the plane 9 on circular, 15,16, in the legend, three turning hinges 11 on the U font lower plane, 12,13 respectively with first group of cylinder 6,7,8 cylinder body end links to each other, first group of cylinder 6,7,8 tailpiece of the piston rod respectively with annulus 9 on three ball pivots 14,15,16 link to each other; The U font lower plane 10 of the big 3RPS parallel institution 1 of shoulder can be enclosed within the shoulder of wearer as the motion datum mark.The big 3RPS parallel institution 1 of shoulder constitutes 8 kinematic pairs by 3 turning hinges, 3 moving sets and 3 ball pivots, has 3 frees degree, can realize two rotational motions of human arm around shoulder.
The revolute (see figure 2) that plane 9 connects and composes goes up by first pedestal 17 of annular and the big 3RPS parallel institution 1 of shoulder circular in shoulder slip ring mechanism 2, has 1 free degree, can realize human body upper arm rotatablely moving around axis.At the slip ring inwall displacement or angular transducer are installed, and are fixed with protection block 34.
The little 3RPS parallel institution 5 of wrist is identical with the structure of the big 3RPS parallel institution 1 of shoulder, it has circular lower plane 22 and the circular plane 26 of going up, on lower plane 22, be fixed with three turning hinges 28 that are 120 ° of distributions, 29,30, be fixed with three ball pivots 31 that are 120 ° of distributions on the last plane 26,32,33, in the legend, three turning hinges 28 on the lower plane 22,29,30 respectively with second group of cylinder 22,23,24 cylinder body end links to each other, second group of cylinder 22,23,24 tailpiece of the piston rod respectively with last plane 26 on three ball pivots 14,15,16 link to each other, and the handle 27 that grips for wearer is housed on last plane 26; The big 3RPS parallel institution 5 of wrist constitutes 8 kinematic pairs by 3 turning hinges, 3 moving sets and 3 ball pivots, has 3 frees degree, can realize two rotational motions of human body wrist.
Wrist slip ring mechanism 4 is identical with the structure of shoulder slip ring mechanism 2, and it is the revolute that the circular lower plane 22 by second pedestal 21 of annular and the little 3RPS parallel institution 5 of wrist connects and composes; Have 1 rotational freedom, can realize human body wrist rotatablely moving around the underarm axis.
Two ancon four-bar mechanism 3 symmetries are connected between shoulder slip ring mechanism 2 and the wrist slip ring mechanism 4, each ancon four-bar mechanism 3 comprises rectangular-shaped base 18, a fork 20 and a cylinder 19 (seeing shown in Figure 3), first pedestal 17 of the right angle flex point of base 18 and shoulder slip ring mechanism 2 is fixing, one end of base 18 and an end of fork 20 are hinged, one end of the other end of base 18 and cylinder 19 is hinged, the other end of the other end of cylinder 19 and fork 20 is hinged, fork 20 is fixing with second pedestal 21 of wrist slip ring mechanism 4, and the ancon four-bar mechanism is in order to realize the flexure operation of human arm ancon.
In above-mentioned each cylinder, displacement or angular transducer are installed.
The Wearable exoskeleton manipulator has 9 frees degree (7 freedoms of motion, large and small 3RPS is along the axis direction displacement free degree), satisfies the requirement of human body upper arm omnibearing movable.
The people can stretch into hand exoskeleton manipulator inside, and it is dressed in outside the arm, holds handle 27 foremost, drives ectoskeleton and moves.The three degrees of freedom of movement of shoulder is finished jointly by big 3RP parallel institution 1 of shoulder and shoulder slip ring mechanism 2, and the big 3RP parallel institution 1 of shoulder is realized the rotation of arm around the shoulder both direction, and shoulder slip ring mechanism 2 realizes the rotation of upper arm around axis.One group of three cylinder 6,7,8 in the big 3RP parallel institution of shoulder, can be according to the situation of shoulder abduction/adduction and pitching in the arm motion, produce different displacements, make the last plane 9 of the big 3RP parallel institution of shoulder produce different poses thereupon with respect to lower plane 10.By being installed in the displacement transducer of cylinder interior, can detect the displacement size of three cylinders 6,7,8, try to achieve the pose on plane 9.By being installed in the angular transducer of shoulder slip ring mechanism, can obtain the side-play amount of angle.The rectangular-shaped base 18 of ancon four-bar mechanism, fork 20 and a cylinder 19, the fork slide block structure of composition one degree of freedom.When people's elbow has crooked action, cylinder 19 will shrink, and the angle between base 18 and the fork 20 diminishes.Because the base 18 of ancon four-bar mechanism links to each other with first pedestal 17 of shoulder slip ring mechanism 2 and second pedestal 21 of wrist slip ring mechanism 4 respectively with fork 20, thereby realize going up the rotation of underarm around ancon.The three degree of freedom at wrist place is realized by wrist slip ring mechanism 4 and the little 3RPS parallel institution 5 of wrist, wrist slip ring mechanism 4 realizes the rotation of wrist around the underarm axis, the big 3RPS parallel institution of motion principle and shoulder is similar, second group of cylinder 22,23,24 produces different displacements according to the different moving situation of wrist, thereby make the pose of going up between plane 26 and the lower plane 22 change, realize the abduction/adduction and the pitching of wrist.
Claims (2)
1. the Wearable exoskeleton manipulator is characterized in that comprising the big 3RPS parallel institution of shoulder (1), shoulder slip ring mechanism (2), two ancon four-bar mechanisms (3), wrist slip ring mechanism (4) and the little 3RPS parallel institution of wrist (5) of polyphone successively;
The big 3RPS parallel institution of said shoulder (1) has the lower plane (10) that is the U font and circular last plane (9), the bottom of U font lower plane (10) and two openends are equipped with turning hinge (11 respectively, 12,13), these three turning hinges be wired to an equilateral triangle, circular last plane (9) is evenly equipped with three ball pivots (14,15,16), three turning hinges (11 on the U font plane, 12,13) respectively with first group of cylinder (6,7,8) a end links to each other, first group of cylinder (6,7,8) the other end respectively with annulus (9) on three ball pivots (14,15,16) link to each other;
The revolute that plane (9) connects and composes goes up by first pedestal (17) of annular and the big 3RPS parallel institution of shoulder (1) circular in shoulder slip ring mechanism (2);
The little 3RPS parallel institution of wrist (5) has circular lower plane (22) and the circular plane (26) of going up, on lower plane (22), be evenly equipped with three turning hinges (28,29,30), be evenly equipped with three ball pivots (31 on the last plane (26), 32,33), three turning hinges (28 on the lower plane (22), 29,30) second group of difference and cylinder (22,23,24) a end links to each other, second group of cylinder (22,23,24) the other end respectively with last plane (26) on three ball pivots (14,15,16) link to each other, the handle (27) that grips for wearer is housed on last plane (26);
Wrist slip ring mechanism (4) is the revolute that the circular lower plane (22) by second pedestal (21) of annular and the little 3RPS parallel institution of wrist (5) connects and composes;
Ancon four-bar mechanism (3) comprises rectangular-shaped base (18), fork (20) and a cylinder (19), first pedestal (17) of the right angle flex point of base (18) and shoulder slip ring mechanism (2) is fixing, one end of one end of base (18) and fork (20) is hinged, one end of the other end of base (18) and cylinder (19) is hinged, the other end of the other end of cylinder (19) and fork (20) is hinged, and fork (20) is fixing with second pedestal (21) of wrist slip ring mechanism (4).
2. Wearable exoskeleton manipulator according to claim 1 is characterized in that at inner displacement or the angular transducer installed of two slip rings of each cylinder and shoulder slip ring mechanism and wrist slip ring mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420037222 CN2710848Y (en) | 2004-07-02 | 2004-07-02 | Wearing type ectoskeleton manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420037222 CN2710848Y (en) | 2004-07-02 | 2004-07-02 | Wearing type ectoskeleton manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2710848Y true CN2710848Y (en) | 2005-07-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420037222 Expired - Lifetime CN2710848Y (en) | 2004-07-02 | 2004-07-02 | Wearing type ectoskeleton manipulator |
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| CN (1) | CN2710848Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1325229C (en) * | 2004-07-02 | 2007-07-11 | 浙江大学 | Dress-able type flexible exoskeleton manipulator |
| CN102229146A (en) * | 2011-04-27 | 2011-11-02 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN103512694A (en) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | Force sensor and robot arm including force sensor |
| CN103932871A (en) * | 2014-05-05 | 2014-07-23 | 浙江大学 | Elbow joint active-passive combined rehabilitation training system |
| CN105583811A (en) * | 2016-03-16 | 2016-05-18 | 哈尔滨工程大学 | Portable auxiliary mechanical arm with night vision function |
| CN106726350A (en) * | 2016-12-29 | 2017-05-31 | 河北工业大学 | One kind rope drives elbow wrist healing robot |
| CN106863283A (en) * | 2017-04-19 | 2017-06-20 | 姚家冀 | A kind of pair of triangular prism mobile robot |
| CN109820697A (en) * | 2019-02-26 | 2019-05-31 | 南京理工大学 | Multi-functional auxiliary walking ectoskeleton containing used appearance |
| CN110664583A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand |
-
2004
- 2004-07-02 CN CN 200420037222 patent/CN2710848Y/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1325229C (en) * | 2004-07-02 | 2007-07-11 | 浙江大学 | Dress-able type flexible exoskeleton manipulator |
| CN102229146A (en) * | 2011-04-27 | 2011-11-02 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN102229146B (en) * | 2011-04-27 | 2013-05-08 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN103512694B (en) * | 2012-06-29 | 2016-03-23 | 佳能株式会社 | Force snesor and the robots arm comprising force snesor |
| US9027417B2 (en) | 2012-06-29 | 2015-05-12 | Canon Kabushiki Kaisha | Force sensor and robot arm including force sensor |
| CN103512694A (en) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | Force sensor and robot arm including force sensor |
| CN103932871A (en) * | 2014-05-05 | 2014-07-23 | 浙江大学 | Elbow joint active-passive combined rehabilitation training system |
| CN105583811A (en) * | 2016-03-16 | 2016-05-18 | 哈尔滨工程大学 | Portable auxiliary mechanical arm with night vision function |
| CN106726350A (en) * | 2016-12-29 | 2017-05-31 | 河北工业大学 | One kind rope drives elbow wrist healing robot |
| CN106863283A (en) * | 2017-04-19 | 2017-06-20 | 姚家冀 | A kind of pair of triangular prism mobile robot |
| CN106863283B (en) * | 2017-04-19 | 2023-09-22 | 姚家冀 | Double triangular prism mobile robot |
| CN110664583A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand |
| CN109820697A (en) * | 2019-02-26 | 2019-05-31 | 南京理工大学 | Multi-functional auxiliary walking ectoskeleton containing used appearance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20040702 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |