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Variable load upper limb power-assisted exoskeleton based on double quadrilateral gravity balance principle

A gravity balance, double quadrilateral technology, applied in the field of medical equipment, can solve the problems of large volume and mass, reduced reliability, complex circuit, etc., and achieve the effect of small volume and mass, less number of motors, and low energy consumption

Active Publication Date: 2017-11-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem that the existing upper extremity exoskeleton adopts the direct drive of the motor to realize the power assist, resulting in larger volume and mass, complex circuit, lower reliability and higher energy consumption, the invention further proposes a variable load upper limb power assist based on the principle of double quadrilateral gravity balance Exoskeleton

Method used

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  • Variable load upper limb power-assisted exoskeleton based on double quadrilateral gravity balance principle
  • Variable load upper limb power-assisted exoskeleton based on double quadrilateral gravity balance principle
  • Variable load upper limb power-assisted exoskeleton based on double quadrilateral gravity balance principle

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specific Embodiment approach 1

[0016] Specific implementation mode one: combine figure 1 with figure 2 Describe this embodiment. The variable-load upper limb power-assisted exoskeleton based on the principle of double quadrilateral gravity balance in this embodiment includes two spring energy storage mechanisms 1, a back 6, a strap 7, two arms 2, two wrists 3, and two Turntable 5 and a plurality of magnetic sensors 4, one end of each arm 2 is respectively connected to the upper part of the corresponding side of the back 6 through a turntable 5, the other end of each arm 2 is connected to a wrist 3 respectively, and the strap 7 is arranged on the back 6, a plurality of magnetic sensors 4 are sequentially arranged on the back of the back 6 from top to bottom, and two spring energy storage mechanisms 1 are installed on the back 6, and each spring energy storage mechanism 1 is connected to a corresponding arm 2.

[0017] The magnetic sensor in this embodiment is the Whistle magnetic sensor D, which can sense ...

specific Embodiment approach 2

[0019] Specific implementation mode two: combination image 3 Describe this embodiment. Each spring energy storage mechanism 1 of the variable load upper limb power-assisted exoskeleton described in this embodiment includes a screw 1-1, a first wire rope compression sleeve 1-2, and a first connecting plate. 1-4, right slider 1-5, first wire rope 1-6, right screw mandrel 1-7, left screw mandrel 1-8, external wire rope 1-9, left slider 1-10, motor 1-11, The first pulley 1-12, the second pulley 1-13, the third pulley 1-14, the fourth pulley 1-15, the first shaft 1-16, the second shaft 1-17, the bearing seat 1- 18, the first mounting plate 1-19, the second mounting plate 1-20 and three springs 1-3,

[0020]Motor 1-11, the first mounting plate 1-19, the second mounting plate 1-20 are arranged successively from left to right, and a plurality of springs 1-3 are arranged side by side in parallel, and the lower end of each spring 1-3 is all connected with the second mounting plate. T...

specific Embodiment approach 3

[0022] Specific implementation mode three: combination Figure 4 Describe this embodiment, the arm 2 of the variable load upper limb power-assisted exoskeleton based on the double quadrilateral gravity balance principle in this embodiment includes a second connecting plate 2-1, a first connecting rod 2-2, and a second connecting rod 2-3 , the third connecting plate 2-4, the fourth connecting rod 2-5, the fifth connecting rod 2-6, the fourth connecting plate 2-7, the fifth connecting plate 2-8, the second steel wire rope 2-9, the second Wire rope gland 2-10, the third wire rope gland 2-11 and the third wire rope 2-12,

[0023] The first connecting rod 2-2, the second connecting rod 2-3, the second connecting plate 2-1, and the fifth connecting plate 2-8 form an upper parallelogram mechanism, the third connecting rod 2-5, the fourth connecting rod 2 -6. The third connecting plate 2-4 and the fourth connecting plate 2-7 form a lower parallelogram mechanism, the fourth connecting...

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Abstract

The invention relates to a load-variable upper limb assistance outer skeleton, in particular to a load-variable upper limb assistance outer skeleton based on the ditetragon gravity balancing principle. The problems that an existing upper limb outer skeleton is directly driven by a motor to achieve assistance, the volume and mass are large, a circuit is complex, reliability is reduced, and energy consumption is large are solved. The outer skeleton comprises two spring energy storage mechanisms, a back part, straps, two arms, two wrists, two rotating discs and a plurality of magnetic sensors. One end of each arm is connected with the upper portion of the corresponding side of the back part through the corresponding rotating disc. The other end of each arm is connected with the corresponding wrist. The straps are arranged on the front face of the back part. The magnetic sensors are sequentially arranged on the back face of the back part from top to bottom. The two spring energy storage mechanisms are arranged on the back part. Each spring energy storage mechanism is connected with the corresponding arm. The invention belongs to the field of medical apparatuses and instruments.

Description

technical field [0001] The invention relates to a variable-load upper limb-assisted exoskeleton, in particular to a variable-load upper-limb-assisted exoskeleton based on the principle of double quadrilateral gravity balance, and belongs to the field of medical devices. Background technique [0002] At present, the research on exoskeleton power-assisted devices is gradually emerging, and has a wide range of application prospects, such as helping the elderly and the disabled, medical rehabilitation, industrial production, earthquake rescue, individual combat and other fields. The general power-assisted exoskeleton has the following characteristics: it can detect the movement intention of the human body; the joint degrees of freedom and joint rotation space are similar to the human body; it has the necessary active drive of the joints to assist the output; it has its own control system and energy system; it has certain safety defense mechanism. [0003] The power-assisted exo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 朱延河张超赵杰
Owner HARBIN INST OF TECH
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