Exoskeleton mechanism based on sector track
An exoskeleton and fan-shaped technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of many parts, unreliable movement, complex structure of exoskeleton mechanism, etc., achieve small mass, ensure non-interference movement, and simple structure Effect
Active Publication Date: 2017-05-10
SOUTHEAST UNIV
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Problems solved by technology
[0005] The purpose of the present invention is to solve the problems of the existing exoskeleton mechanism for hand use such as complex structure, many parts and unreliable movement, and provide an exoskeleton mechanism based on fan-shaped track
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[0028] The present invention will be further described in detail below through the specific examples, the following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention with this.
[0029] The exoskeleton mechanism based on the fan-shaped track includes the first fan-shaped track, the second fan-shaped track, the third fan-shaped track, the near phalanx 4, the middle phalanx 5 and the far phalanx 6. The first fan-shaped track comprises two fan-shaped plates-1 and a steel bar-41. The fan-shaped plate-1 is provided with a chute-51, and the two fan-shaped plates-1 are symmetrically fixed on the same side of the steel bar-41. The second fan-shaped track comprises two fan-shaped plates 2 and steel bar 2 42, offers chute 2 52 in the fan-shaped board 2 2, and two fan-shaped plates 2 2 are symmetrically fixed on the same side of the steel bar 2 42. The 3rd fan-shaped track comprises two fan-shaped plates 3 and steel bar 3 43, a...
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The invention discloses an exoskeleton mechanism based on sector tracks. The exoskeleton mechanism comprises a first sector track, a second sector track, a third sector track, a proximal knuckle (4), a middle knuckle(5) and a distal knuckle (6), wherein the first sector track is in sliding connection with the proximal knuckle through a cylindrical pin I (15); the second sector track is in sliding connection with the middle knuckle through a cylindrical pin II (16); the third sector track is in sliding connection with the distal knuckle through a cylindrical pin III (17); the proximal knuckle is connected with the second sector track through a telescopic device I; the middle knuckle is connected with the third sector track through a telescopic device II; the first sector track, the second sector track and the third sector track are fixed on the corresponding knuckles; and the knuckles is driven to rotate by cylindrical pins and wire ropes. According to the exoskeleton mechanism disclosed by the invention, a sector track is adopted at each knuckle, the proximal knuckle, the middle knuckle and the distal knuckle move in three sector tracks, and the problems that conventional exoskeleton mechanisms are complicated in structure and the parts are numerous, are solved.
Description
technical field [0001] The invention belongs to the field of mechanical engineering, and in particular relates to an exoskeleton mechanism based on a fan-shaped track. Background technique [0002] Nowadays, the research on exoskeleton mechanism has been very in-depth. Exoskeleton mechanism can be worn on the human body to provide protection, extra power or ability to people, and can also help injured limbs recover functions. It can also be used in master-slave manipulator systems. Realize remote control, complete various engineering tasks and realize force feedback. [0003] Based on the current research status of exoskeleton mechanisms at home and abroad, the existing exoskeleton mechanisms have the following problems: Due to the complex structure of the exoskeleton mechanism, there are many parts and the mass is large, the operator will have a sense of restraint and damage The sense of presence in free space; the exoskeleton mechanism has the problem of low integration, ...
Claims
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IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/0006B25J17/00
Inventor 许俊军龚文杨决宽
Owner SOUTHEAST UNIV