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A wearable upper limb exoskeleton robot with flexible transmission

An exoskeleton robot and flexible transmission technology, applied in the field of robotics, can solve the problems of unsafe and reliable, poor load-bearing capacity, low rigidity, etc., and achieve the effect of wide application range, strong bearing capacity and high rigidity

Active Publication Date: 2017-03-29
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The content of the present invention is to solve the problem that the upper extremity exoskeleton robot belongs to the series structure, which has low rigidity and poor load-bearing capacity, so that it cannot be used safely and reliably for the life assistance of the infirm, and then provides a flexible transmission upper limb for wearing exoskeleton robot

Method used

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  • A wearable upper limb exoskeleton robot with flexible transmission
  • A wearable upper limb exoskeleton robot with flexible transmission
  • A wearable upper limb exoskeleton robot with flexible transmission

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0016] Specific implementation mode one: combine Figure 1-Figure 10 Describe this embodiment, a flexible transmission upper limb exoskeleton robot for wearing described in this embodiment, it includes a wrist joint mechanism, an elbow joint mechanism, a shoulder joint mechanism and a back plate 22, and the wrist joint mechanism includes a wrist joint driving fixed wheel 1. Human palm fixing part 2, wrist joint driving wheel connecting part 3, wrist joint planetary wheel 4, wrist joint driving rod 5, wrist joint driving rod power input wheel 6, exoskeleton forearm 7, 'L' shaped connecting part 27 and two A wrist joint wire rope 23, the elbow joint mechanism includes an elbow joint planetary wheel 8, an elbow joint planetary wheel support frame 9, a first elbow joint drive fixed wheel 10, a second elbow joint drive fixed wheel 11, an elbow joint connected upper arm frame 12,' U'-shaped frame body 26 and four elbow joint wire ropes 24, the shoulder joint mechanism comprises shou...

specific Embodiment approach 2

[0021] Specific implementation mode two: combination Figure 1-Figure 2 Describe this embodiment, the flexible transmission upper extremity exoskeleton robot described in this embodiment, the jack assembly includes a scissor jack upper platform 18, a scissor jack adjuster 19, a scissor jack support bar 20 and The scissor jack lower platform 21, the shoulder joint driving fixed wheel connecting plate 29 is a 'Z' shaped plate, the scissor jack upper platform 18 is fixedly installed on the lower end surface of the shoulder joint driving fixed wheel connecting plate 29 top plate, the scissor jack The lower platform 21 is arranged under the scissor jack upper platform 18, the scissor jack lower platform 21 and the scissor jack upper platform 18 are connected by the scissor jack support bar 20, and the scissor jack adjustment part 19 is arranged on the scissor jack support bar On the member 20, the lower platform 21 of the scissor jack is fixedly installed on the backboard 22, and t...

specific Embodiment approach 3

[0023] Specific implementation mode three: combination Figure 9 and Figure 10 Describe this embodiment, the flexible transmission upper limb exoskeleton robot described in this embodiment, two grooves are processed on the upper end surface of the bottom plate of the fixed wheel connecting plate 29 of the shoulder joint drive, and the shoulder joint drive The inner ring surface of the fixed wheel 16 is processed with an annular groove, and the inner ring surface of the shoulder joint driver 14 is processed with an annular groove, and the others are the same as in the first or second embodiment.

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Abstract

The invention discloses a flexible transmission upper-limb exoskeleton robot for wearing, relates to a robot for wearing, and aims to solve such problems as low rigidity and weak loading capacity due to an upper-limb exoskeleton robot belonging to a serial connecting structure and caused incapability of safe and reliable life assistance for weak people. A wrist joint mechanism comprises a wrist joint driving fixed wheel, a human body palm fixed piece, a wrist joint moving wheel connecting piece, a wrist joint planet gear, a wrist joint driving rod, a wrist joint driving rod power input wheel, an exoskeleton front arm, an L-shaped connecting piece and a wrist joint steel wire rope; an elbow joint mechanism comprises an elbow joint planet gear, an elbow joint planet gear support frame, a first elbow joint driving fixed wheel, a second elbow joint driving fixed wheel, an elbow joint connecting upper arm frame, a U-shaped frame body and an elbow joint steel wire rope; and a shoulder joint mechanism comprises a shoulder joint planet gear, a shoulder joint driving fixed wheel, an exoskeleton support piece, a jack component, a shoulder joint driving fixed wheel connecting plate, a shoulder joint driving piece, an exoskeleton upper arm, a shoulder joint steel wire rope and an exoskeleton upper arm connecting shaft. The flexible transmission upper-limb exoskeleton robot for wearing is applied to the field of robot operation.

Description

technical field [0001] The invention relates to a wearable robot, in particular to a wearable flexible upper limb exoskeleton robot. Background technique [0002] At present, many countries are facing the problem of population aging, such as China, Japan, and Italy. With the acceleration of the pace of life today, the probability of various motor dysfunctions in the elderly is also increasing year by year. At the same time, people with impaired or disabled physical functions also face the problem of motor dysfunction. Upper limb motor function assistance and upper limb motor function rehabilitation training play a vital role in frail people. The upper extremity exoskeleton can better assist the infirm. At present, the upper extremity exoskeleton robot belongs to the series structure, which has problems such as low rigidity and poor load-bearing capacity. As a result, it cannot be used safely and reliably for the life assistance of the infirm. Therefore, a kind of Robots t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 高永生肖飞云朱延河王胜新赵杰
Owner HARBIN INST OF TECH
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