Motor-driven four degrees of freedom upper limb exoskeleton device
A motor-driven, degree-of-freedom technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of many driving components and complex structures, and achieve the effect of fewer driving components, good matching, and simple structure
Inactive Publication Date: 2019-10-29
BEIJING MECHANICAL EQUIP INST
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[0003] In order to solve the problem that the exoskeleton in the related art usually has a complex structure and many driving elements in order to achieve a good match with the end of the human body, the present invention provides a motor-driven four-degree-of-freedom upper limb exoskeleton device
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[0024] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.
[0025] The upper limb exoskeleton can assist the wearer to carry and lift objects, improve the wearer's carrying and lifting ability, and save the wearer's physical strength. The upper limb structure of the human body is complex and the movement is flexible. In order to achieve a good match with the end of the human body, the exoskeleton usually has a structure Complex, with many driving element...
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The application discloses a motor-driven four degrees of freedom upper limb exoskeleton device, and belongs to the field of mechanical devices. The motor-driven four degrees of freedom upper limb exoskeleton device comprises a hook, a steel wire rope, a first fixed pulley, a first internal cylinder, an external cylinder, a second fixed pulley, a third fixed pulley, a second internal cylinder, adjusting pins, a first bearing pedestal, a second bearing pedestal, a driving motor and a backboard, wherein the hook is fixedly connected with the steel wire rope; the external cylinder is L-shaped; thefirst internal cylinder and the second internal cylinder are correspondingly arranged inside the external cylinder; pin holes are correspondingly formed in the first internal cylinder, the second internal cylinder and the external cylinder; the adjusting pins are inserted in the corresponding pin holes in the first internal cylinder and the external cylinder and the corresponding pin holes in thesecond internal cylinder and the external internal; the first bearing pedestal and the second bearing pedestal are fixed on the backboard; the second internal cylinder is inserted in bearing inner rings of the first bearing pedestal and the second bearing pedestal; the driving motor is fixedly connected with the backboard; and the steel wire rope is sequentially wound on the first fixed pulley, the third fixed pulley and the second fixed pulley and is then wound on an output shaft of the driving motor. Driving elements are few, the structure is simple, and the matching performance with the tail end of a human body is high.
Description
technical field [0001] The invention belongs to the field of mechanical devices and relates to a four-degree-of-freedom upper limb exoskeleton device driven by a motor. Background technique [0002] The upper limb exoskeleton can assist the wearer to carry and lift objects, improve the wearer's carrying and lifting ability, and save the wearer's physical strength. The upper limb structure of the human body is complex and the movement is flexible. In order to achieve a good match with the end of the human body, the exoskeleton usually has a structure Complex, with many driving elements. Contents of the invention [0003] In order to solve the problems in the related art that the exoskeleton usually has a complex structure and many driving elements in order to achieve a good match with the end of the human body, the present invention provides a motor-driven four-degree-of-freedom upper limb exoskeleton device. The technical solution is as follows: [0004] Provided is a mo...
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IPC IPC(8): B25J9/00B25J9/10B25J9/12
CPCB25J9/0006B25J9/104B25J9/12
Inventor 王道臣吕鑫刘昊崔翔常远
Owner BEIJING MECHANICAL EQUIP INST