[0024] The present invention will be further described in detail below in conjunction with the drawings:
[0025] The invention is an exoskeleton type teleoperation main hand device, and the arm wear part has seven degrees of freedom. figure 1 Shown is the overall structure of the device. The exoskeleton type teleoperation main hand device of the present invention consists of a bracket (2), a driving unit (3), and an exoskeleton main hand ( Figure 4 ) Three parts. Among them, the main hand part of the exoskeleton is divided into an odd heterogeneous adjustment unit (4) and an arm wear part. According to the anthropomorphic design principle, the arm wear part adopts a tandem structure and is worn on the operator's upper arm, including shoulders, elbows, and wrists, with a total of seven rotational degrees of freedom, and each rotational degree of freedom is sequentially distributed. Among them, the shoulder has three degrees of freedom of rotation to achieve shoulder joint adduction/abduction (J1), flexion/extension (J2), and internal rotation/external rotation (J3) movements. The rotation axis of shoulder joint adduction/abduction (J1), flexion/extension (J2), internal rotation/external rotation (J3) always intersect at one point, and the three degrees of freedom of rotation of the shoulder are approximately a spherical hinge; There is one degree of freedom of rotation in the elbow joint to realize the flexion/extension (J4) movement of the elbow joint; the wrist has three degrees of freedom in rotation to realize the rotation of the wrist (J5), adduction/abduction (J6) and flexion. / Stretch (J7) movement. The axis of rotation of the wrist joint's internal rotation/external rotation (J5), adduction/abduction (J6), and flexion/extension (J7) also intersect at one point to achieve three opposite movements of the wrist. The operator can sit in the seat (1) or stand to perform teleoperation tasks after penetrating the upper limbs into the exoskeleton.
[0026] figure 2 Shown is the bracket (2) part of the device of the present invention, which includes a frame composed of profiles, a lifting platform, and a weight balance. The frame composed of the profile is spliced by the profile rod frame (201) to support the ground. The lifting platform is composed of a linear guide rail group (203) and a lifting plate (202), image 3 The drive unit shown is suspended and fixed on the lifting platform. The weight balance mechanism is composed of a counterweight pulley block (205), a counterweight wire rope (204), a counterweight track (206) and a counterweight (207). Among them, the linear guide rail group (203), the counterweight pulley group (205) and the counterweight track (206) are all fixed on a frame composed of profile rod frames (201) by screws. There are a total of four linear guide groups (203), which are symmetrically distributed from front to back and from left to right. The lifting plate (202) is fixed on the four sliding blocks of the four linear guide rail sets (203), and is connected to the singular adjustment base of the odd heterogeneous adjustment unit of the exoskeleton main hand part on its side, so that the exoskeleton main hand Part can move up and down along the guide rail with the lifting plate. The up and down movement of this lifting board is designed to allow the operator to wear the exoskeleton in a standing or sitting position, and to compensate for the slight elevation and decline of the shoulder center point caused by the operator’s upper limbs lifting or lowering, which improves the operator’s Comfort. The counterweight wire rope (204) bypasses the counterweight pulley block (205). One end is connected to the lifting plate (202), and one end is connected to the counterweight (207), so that the configuration block can follow the movement of the lifting plate on the counterweight track (206) Sliding in.
[0027] The structure of the driving unit (3) of the seven-degree-of-freedom exoskeleton type teleoperation master hand device of the present invention is as follows image 3 As shown, there are a total of seven sets of motor components, which are fixed on the motor base (301) and the hanging plate (310) for driving the seven joints of the wearing part of the exoskeleton arm. The connection method of each motor component is as follows: the end of the motor (302) is connected with an encoder (303) for measuring the rotation angle and angular velocity of each joint; the front end of the motor (302) is connected with a harmonic reducer (304) through a flange. The harmonic reducer (304) can avoid the tooth side clearance caused by the transmission of the ordinary reducer and avoid the rotation error. The torque sensor (305) is used to measure the real-time torque value of each joint, and is connected to the harmonic reducer (304) through a flange. The torque sensor (305) and the transmission wheel (306) are fixed on the same rotating shaft. The motor (302) transmits power to the joints of the wearing part of the exoskeleton arm through the transmission wheel (306) and the wire rope (307).
[0028] In the structure of the exoskeleton main hand of the present invention, such as Figure 4 , Figure 5 , Image 6 with Figure 7 Shown. The initial part of the exoskeleton main hand structure is the odd heterogeneous adjustment unit (4). When the shoulder joint adduction/abduction (J1) and internal rotation/external rotation (J3) axes or shoulder joint internal rotation/external rotation (J3) and wrist joint internal rotation/external rotation (J5) axes are in line When position, cause one degree of freedom to be lost, forming odd heterogeneous type. The odd heterogeneous adjustment unit is connected to the wear part of the operator's arm and has two degrees of freedom of rotation. One degree of freedom is horizontal rotation, which is composed of a singular adjustment base (401) and a crank slider rotating track base (402). The head of the crank slider rotating track seat (402) is a disc type with a rotating shaft, and the crank slider rotating track seat (402) can be adjusted to rotate a certain angle in the horizontal direction around the singular adjustment base (401). After rotating, it is fixed by a large nut. The other degree of freedom is the swing of the wearing part of the exoskeleton arm in the pitch direction, which is realized by the crank slider (403). Specifically, the singular adjustment plate (502) is connected with the crank slider (403), and the slider in the crank slider (403) can move along the crank slider rotating track seat (402), so that the singular adjustment plate (502) can be moved Swing in the pitch direction. The crank slider (403) is moved to a proper position and fixed on the crank slider rotating track seat (402) by screws. The posture of the singular adjustment plate (502) is changed by the odd heterogeneous adjustment unit (4), and then the posture of the arm wear part is changed, so that the loss of freedom occurs at the edge of the arm range (work space).
[0029] The arm wear part starts with an odd heterogeneous adjustment unit, including seven rotating joints. The first joint is the adduction/abduction (J1) joint of the shoulder, which is fixed by the singular adjustment plate (502), the first joint drive wheel (503), the first joint drive output (504) and the drive wheel wire rope sleeve fixing seat (501) and other composition. The singular adjustment plate (502) and the drive wheel wire rope sleeve fixing seat (501) are connected by screws, and the first joint drive wheel (503) and the first joint drive output rod (504) are connected by screws. One joint drives the output rod (504) to rotate around the singular adjustment plate (502) to achieve shoulder adduction/abduction movement; the second joint is the shoulder flexion/extension (J2) joint, and the second joint drives the fixed rod ( 505), the second joint drive wheel (506), the second joint drive output rod (507) and so on. The second joint drive wheel (506) is driven by the wire rope, and then the second joint drive output rod (507) is driven to rotate around the second joint drive fixed rod (505) to realize shoulder flexion/extension movement; shoulder rotation/inward rotation/ The external rotation joint (J3) is the third joint, see the structure Figure 4 The internal rotation/external rotation joint group (508), specifically Figure 5 As shown; the elbow flexion/extension (J4) joint is the fourth joint, see the structure Figure 4 In the flexion/extension and adduction/abduction joint groups (509), specifically Figure 7 As shown; the fifth joint is the wrist internal/external rotation (J5) joint, specifically the fifth joint drive output rod (511) drives the fixed rod (510) around the fifth joint to rotate in a semicircular ring to realize the wrist The sixth joint is the adduction/abduction (J6) joint of the wrist. Specifically, the sixth joint drives the output rod (514) to rotate around the sixth joint to drive the fixed rod (512) to achieve Adduction/abduction movement of the wrist. Among them, the sixth joint drive wheel (513) and the sixth joint drive output rod (514) are fixed by screws; the seventh joint is the wrist flexion/extension (J7) joint, and the sixth joint drives the output rod (514), The seventh joint drive wheel (515), the seventh joint drive output rod (516) and the handle (517) are composed. Specifically, the seventh joint drive wheel (515), the seventh joint drive output rod (516) and the handle (517) are connected to each other. The handle (517) can rotate around the sixth joint drive output rod (514) to realize the wrist Flexion/extension exercise.
[0030] Figure 5 Shown are the specific principle structure diagrams of the pronation/extrarotation (J3) joint of the shoulder and the wrist pronation/extrarotation (J5) joint of the aforementioned exoskeleton arm. Two arc guide rails (50802) are screwed to the arc guide rail connecting plate (50807) by back-to-back mode, the two sliders (50804) on the guide rail are fixed with the slider connecting rod (50806), and the arc guide rail drive input The rod (50803) is fixed with the arc guide rail connecting plate (50807). Two circular arc guide rail steel wire rope sleeve fixing seats (50801) are respectively fixed on the two ends of the circular arc guide rail connecting plate (50807). The wire rope pulling block (50805) is fixed in the middle of the clamping plate of the sliding block connecting rod (50806) (that is, between the two arc guide rails). This internal/external rotation joint is driven by two steel wire rope sleeves (308) and two steel ropes (307). One end of the steel wire rope sleeve (308) is connected to the arc guide wire rope sleeve fixing seat (50801), and one end is connected to the transmission Wheel wire rope fixing seat (309). The motor drives the wire rope to move in the wire rope sleeve, and then pulls the wire rope pulling block (50805), so that the slider (50804) moves around the arc guide rail (50802). The sliding block (50804) and the arc guide rail (50802) slide through balls. In this way, the slider connecting rod (50806) (that is, the output rod of the internal/external rotation joint) drives the input rod (50803) (that is, the output rod of the internal rotation/external rotation joint) to rotate smoothly along the semicircular ring relative to the arc guide rail.
[0031] In the above-mentioned exoskeleton arm wearing part, each adjacent rod can slide relatively ( Figure 4 ), when it slides to a suitable position, it is fixed by bolts. For example, the handle (517) can slide along the seventh joint to drive the output rod (516), and the sixth joint drives the fixed rod (512) to extend the fifth joint to drive the output rod (511). ) Sliding, the second joint drives the fixed rod (505) to slide along the first joint to drive the output rod (504), etc. The sliding of the rod causes different distances between the joints, thereby adjusting the rod to fit the operator's arm. The principle of the size adjustment mechanism of each rod adjustment part ( Image 6 ) Is: the size adjustment connecting hole (50902B) on the drive fixing plate (50902) and the size adjustment chute (50806A) on the slider connecting rod (50806) are fixed by bolts, and the size adjustment connecting hole (50902B) is Adjust the position in the chute (50806A) to adapt to different operator arm lengths. This adjustment method makes the exoskeleton arm wearable part adaptable to the size of different operators, does not cause the operation to be stiff due to the different joints of the exoskeleton and the joints of the human body, and is restricted in the range of motion, and the comfort is better.
[0032] Figure 7 In an exploded view, display the shoulder adduction/abduction (J1) joint, shoulder flexion/extension (J2) joint, elbow flexion/extension joint (J4), and wrist adduction/abduction (J6) ) The specific principle structure diagram of joint and wrist flexion/extension (J7) joint. The drive fixing plate (50902) and the drive wheel (50903) are installed on the stepped shaft (50901). The driving wheel wire rope pipe sleeve fixing seat (501) is fixed with the end surface of the stepped shaft by screws, and is used for connecting the end of the wire rope pipe sleeve. The circlip (50906) is clamped on the stepped shaft to prevent the inner ring of the rolling bearing (50903) from sliding axially. The wire rope set screw (50904) fixes the wire rope on the drive wheel (50903), and the drive output plate (50907) is connected to the drive wheel through the screw (50903) Fixed. When the wire rope drives the drive wheel (50903) to rotate, even if the drive output plate (50907) rotates relatively around the drive fixed plate (50902).
[0033] The transmission system of the exoskeleton type teleoperation main hand device of the present invention is such as Picture 8 As shown, it includes a driving end (601), an execution end (602) and a wire rope sleeve (308). The driving end (601) includes a motor (302), a motor seat (301), a transmission wheel (306) and a transmission wheel wire rope fixing seat (309). The execution end (602) includes a drive fixing plate (50902), a drive wheel wire rope sleeve fixing seat (501), and a drive wheel (50903). Wherein, the transmission wheel (306) and the driving wheel (50904) are provided with wire rope threaded holes (30601). The positive and negative rotation movement of a joint requires two wire ropes (307) and two wire rope sleeves (308) to complete. Each wire rope passes through the wire rope sleeve (308), and then both ends pass through the transmission wheel (306) and The threaded hole (30601) of the upper wire rope of the driving wheel (50903) is then tightened and fixed by the wire rope set screw (50904); the hole threaded fixing posts at both ends of each wire rope sleeve (308) are respectively tightened and fixed to the driving wheel by the wire rope The seat (309) and the drive wheel wire rope pipe sleeve fixing seat (501) (or the arc guide wire rope pipe sleeve fixing seat (50801). When the motor is reversing, drive the drive wheel (50903) to rotate accordingly, causing the arm wear part Rotation of each joint.
[0034] According to the above structural characteristics, it can be seen that the 7-DOF exoskeleton type teleoperation main arm of the present invention has lower weight, compact structure, flexible operation, and can adapt to the size of the operator’s upper limbs; the arm does not bear the weight of the exoskeleton for a long time. Operation is not easy to fatigue.
