Active-passive combined upper limb power-assisting robot

Abstract

The invention discloses an active-passive combined upper limb power-assisting robot, and belongs to the technical field of robots. The active-passive combined upper limb power-assisting robot comprises a waist mechanism, a back mechanism and shoulder mechanisms, and the waist mechanism and the back mechanism are located on the back waist and the back of a human body respectively; the robot further comprises the shoulder mechanisms and passive power-assisting mechanisms; the lower ends of the shoulder mechanisms are connected with the back mechanism, the upper ends of the shoulder mechanisms are located above the back mechanism, and shoulder joints are assisted in abduction/constriction, inward rotation/outward rotation and forward flexion/backward extension movement through driving force; the lower ends of the passive power-assisting mechanisms are connected with the back mechanism, the upper ends of the passive power-assisting mechanisms are connected with the shoulder mechanisms, and the passive power-assisting mechanisms are used for providing multi-directional boosting force and supporting force for a user and the shoulder mechanisms; and the shoulder mechanisms have six degrees of freedom, not only provide supporting force for the shoulders, but also provide assistance in three degrees of freedom directions of abduction/convergence, inward rotation/outward rotation and forward flexion/backward extension of the shoulder joints by utilizing the passive power-assisting mechanisms and torsion springs, and effectively provide multidirectional assistance for a human body to carry and lift goods.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an active-passive upper limb assisting robot. Background technique [0002] With the increasing automation of social development, some robotic systems that can replace or enhance human capabilities are increasingly favored by researchers. As a wearable robot that can assist and enhance the functions of the human body, the exoskeleton robot not only plays a role in enhancing the functions of the human body, but also provides assistance for the upper limbs of the human body. In the normal working process of people, there are also reasons such as the decline of human physical fitness, which cause people's work efficiency to drop, and even cause potential safety hazards. Because factory workers do heavy and repetitive work every day, especially those assembly tasks that require lifting their hands, many workers suffer from back and shoulder strains, and upper limb assist ...

AI Technical Summary

Problems solved by technology

[0003] At present, there are two ways of assisting exoskeleton robots: active assisting and passive assisting. Among the active assisting schemes, the most common one is the scheme using motor, hydraulic pressure or air pressure as the prime mover. The invention patent CN106031669A discloses "7 degrees of freedom upper limb assisting external Skeleton robot”, the design controls its seven degrees of freedom through seven motors, although the system design is simple and the precision is high, but with the increase of the source parts, the weight is heavy, the cost is high, the structure is huge, and the wearer will increase when the energy is exhausted Burden; in the passive power-assisted mode, the most common ones are energy storage elements such as springs. The invention patent CN110561393A discloses "a foldable upper limb power-assisted exoskeleton device". The design has six degrees of freedom, including the movement of the shoulder and elbow , to provide passive boosting effect through springs and cables. Although the weight is small and the cost is low, problems such as the nonlinearity of the energy storage element will affect the boosting effect, and the structural parameters are very sensitive to the change of the load weight, and the adaptability is poor.

[0004] In the combination of active and passive assisting methods, the invention patent CN112022628A discloses "an active and passive combination of six degrees of freedom upper limb assisting exoskeleton based on a flexible transmission mechanism". This design uses a combination of active and passive assisting methods. Although it has a good assisting effect, However, the limit of the working stroke of the tension spring driven by the passive type will affect the auxiliary function of the forearm, and there is friction in the transmission process of the wire rope, and the transmission efficiency is low

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