A tendon-transmitted force feedback shoulder and elbow exoskeleton

Abstract

The present invention belongs to the master-slave teleoperation field in exoskeleton robot technology, specifically a tendon-transmitted force feedback shoulder-elbow exoskeleton, which is bilaterally symmetrical and can form a double-arm structure; the forearm grip is fixedly installed at one end of the elbow joint assembly, and the other end of the elbow joint assembly is fixedly connected to the shoulder joint assembly; the shoulder joint assembly has the freedom of shoulder extension and retraction, shoulder internal rotation and external rotation, and shoulder abduction and adduction in sequence; the shoulder joint assembly can be fixedly connected to a carrying system or other platforms; an upper arm strap assembly is fixedly installed between the elbow joint assembly and the shoulder joint assembly. The present invention has the characteristics of being portable and wearable, having low inertia of movement, high compatibility and strong control flexibility, and can be widely used in the field of high telepresence exoskeleton teleoperation, sports rehabilitation and detection.

Description

Technical Field

[0001] The present invention belongs to the field of master-slave teleoperation in exoskeleton robot technology, and specifically is a tendon-transmitted force feedback shoulder-elbow exoskeleton, which is used to improve the intrinsic safety of human-machine interaction. Background Art

[0002] With the rapid development of industrial technology, the seven-degree-of-freedom serial robot has high flexibility, reliability and adaptability, can avoid the structural singularity and joint limitation problems that often occur in the six-degree-of-freedom serial robot, and has strong obstacle avoidance ability; it can successfully complete complex tasks under some special requirements and environments, such as assembly, welding and other industries, and has been widely used, and has achieved automatic control. However, in non-structural environments and diversified task operations such as nuclear radiation, fire and anti-terrorism operations, it is still difficult to achieve automatic operation of robots, and human participation in control is still required. Master-slave remote operation is the most commonly used operation method.

[0003] Humanoid robots can better reproduce the limb movements of operators and are considered to be the ideal choice for slave robots in teleoperation systems. However, in the control process, control parameters of multiple joints are required to reproduce the upper limb movements of the master operator and realize complex task operations in unstructured environments. However, in existing teleoperation systems, the master operator mostly uses a six-degree-of-freedom force feedback controller that is heterogeneous with the human arm to realize the Cartesian spatial posture control of the master and slave end tools. It is unable to effectively control and plan the paths of the slave humanoid robot's joints, and is unable to perceive the interaction between the slave humanoid robot's joints and the environment, which reduces the movement flexibility, adaptability and obstacle avoidance ability of the humanoid robot. A few exoskeleton teleoperation master hand power units (motor + reducer) are mostly distributed at the mechanism motion joints, which greatly increases the joint motion inertia and reduces its motion flexibility and interaction safety. On the other hand, the existing exoskeleton teleoperation master hand shoulder joint position mostly adopts a three-axis vertical orthogonal solution, and there is a problem of human-machine interference in shoulder abduction movement, which is very likely to cause head injuries and limit the shoulder motion range. Summary of the invention

[0004] In view of the above-mentioned problems existing in the existing exoskeleton-type teleoperated master hand, the object of the present invention is to provide a tendon-transmitted force feedback shoulder and elbow exoskeleton.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The present invention comprises a forearm grip, an elbow joint assembly, a shoulder joint assembly and an upper arm strap assembly, wherein the shoulder joint assembly comprises a shoulder extension and retraction joint assembly, a shoulder internal rotation and external rotation joint assembly and a shoulder abduction and adduction joint assembly, the shoulder abduction and adduction joint assembly is installed on a carrying system or a platform, the rotational freedom outputted by the output end of the shoulder abduction and adduction joint assembly rotates around the shoulder abduction and adduction joint rotation axis, the shoulder internal rotation and external rotation joint assembly is connected to the output end of the shoulder abduction and adduction joint assembly, and the rotational freedom outputted by the output end of the shoulder internal rotation and external rotation joint assembly rotates around the shoulder internal rotation and external rotation joint rotation axis. The rotation axis rotates, the shoulder extension and retraction joint assembly is connected to the output end of the shoulder internal and external rotation joint assembly, and the rotational freedom output by the output end of the shoulder extension and retraction joint assembly rotates around the shoulder extension and retraction joint rotation axis; one end of the elbow joint assembly is connected to the output end of the shoulder extension and retraction joint assembly, and the other end is the output end, and the rotational freedom output by the output end of the elbow joint assembly rotates around the joint rotation axis; one end of the forearm grip is connected to the output end of the elbow joint assembly, and the other end is the hand grip; an upper arm strap assembly is installed and fixed between the elbow joint assembly and the shoulder joint assembly.

[0007] Wherein: the elbow joint assembly includes an elbow rotating disk, a shoulder-elbow connecting rod, a tendon A, a tendon B, a force amplifying pulley block, a fixed pulley block, a guide unit, a power winch A, a remote power unit and a tendon C; the elbow rotating disk is rotatably connected to one end of the shoulder-elbow connecting rod through a bearing, and the other end of the shoulder-elbow connecting rod is connected to the output end of the shoulder extension and retraction joint assembly; the remote power unit is fixedly mounted on the output end of the shoulder extension and retraction joint assembly, and the output end of the remote power unit is connected to the power winch A; each side of the shoulder-elbow connecting rod is provided with a force amplifying pulley block and a fixed pulley block, and the wheel seat of the fixed pulley block is fixedly connected to the shoulder-elbow connecting rod The wheel seat of the force amplifying pulley group is slidably connected to the side of the shoulder-elbow connecting rod through a guide unit; one end of the tendon B and the tendon C are respectively wound on the power winch A in opposite directions, and the other ends of the tendon B and the tendon C are respectively passed by the fixed pulleys in the fixed pulley groups and the pulleys in the force amplifying pulley groups on both sides and then fixedly connected to the wheel seat of the fixed pulley group. The tendon B and the tendon C are synchronously moved in opposite directions by the drive of the remote power unit; there are two tendons A, which are symmetrically arranged on both sides of the shoulder-elbow connecting rod, one end of the tendon A on each side is connected to the wheel seat in the force amplifying pulley group on the same side, and the other end is connected to the same side of the elbow rotating disk.

[0008] An elbow joint position encoder for detecting the rotation angle of the elbow rotating disk relative to the shoulder-elbow connecting rod is installed on the shoulder-elbow connecting rod.

[0009] The shoulder extension and retraction joint assembly includes a shoulder extension and retraction joint rotating frame, a shoulder extension and retraction-internal rotation and external rotation connecting rod, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. One end of the shoulder extension and retraction-internal rotation and external rotation connecting rod is connected to the output end of the shoulder internal rotation and external rotation joint assembly. The shoulder extension and retraction joint rotating frame is rotatably connected to the other end of the shoulder internal rotation and external rotation joint assembly through a bearing. The shoulder extension and retraction rotating frame serves as the output end of the shoulder extension and retraction joint assembly. Used to connect with the elbow joint assembly; the shoulder power unit is fixed on the shoulder extension and retraction-internal rotation and external rotation connecting rod, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder extension and retraction-internal rotation and external rotation connecting rod through a bearing. The power winch B is connected to one side of the shoulder extension and retraction joint rotating frame through the tendon D, and is connected to the other side of the shoulder extension and retraction joint rotating frame through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

[0010] The shoulder extension and retraction-internal rotation and external rotation connecting rod is equipped with a shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder extension and retraction joint assembly.

[0011] The shoulder internal rotation and external rotation joint assembly includes a shoulder internal rotation and external rotation-abduction and adduction connecting rod, a rotating winch, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. One end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod is connected to the output end of the shoulder abduction and adduction joint assembly. The rotating winch is rotatably connected to the other end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod through a bearing. The rotating winch is connected to the shoulder extension and retraction joint assembly as the output end of the shoulder internal rotation and external rotation joint assembly; the shoulder power unit is fixed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod through a bearing. The power winch B is connected to one side of the rotating winch through the tendon D, and is connected to the other side of the rotating winch through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

[0012] A shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder internal rotation and external rotation joint assembly is installed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod.

[0013] The shoulder abduction and adduction joint assembly includes a shoulder abduction and adduction base, a rotating winch, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. The shoulder abduction and adduction base is installed on a carrying system or a platform. A rotating winch is rotatably installed on the shoulder abduction and adduction base through a bearing. The rotating winch is connected to the shoulder internal and external rotation joint assembly as the output end of the shoulder abduction and adduction joint assembly; the shoulder power unit is fixed on the shoulder abduction and adduction base, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder abduction and adduction base through a bearing. The power winch B is connected to one side of the rotating winch through the tendon D, and is connected to the other side of the rotating winch through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

[0014] A shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder abduction and adduction joint assembly is installed on the shoulder abduction and adduction base.

[0015] The joint rotation axis matches the equivalent axis of human elbow joint movement, and the shoulder extension and retraction joint rotation axis, shoulder internal and external rotation joint rotation axis and shoulder abduction and adduction joint rotation axis are equivalent to the three-degree-of-freedom joint movement of the human shoulder; the shoulder extension and retraction joint rotation axis matches the equivalent axis of human shoulder extension and retraction movement, the shoulder abduction and adduction joint rotation axis matches the equivalent axis of human shoulder abduction and adduction movement, the shoulder extension and retraction joint rotation axis is orthogonal to the shoulder abduction and adduction joint rotation axis, the shoulder internal and external rotation joint rotation axis and the shoulder abduction and adduction joint rotation axis are 60°±5° to each other, and through the coupled movement of the shoulder extension and retraction joint rotation axis, the shoulder internal and external rotation joint rotation axis and the shoulder abduction and adduction joint rotation axis, the equivalent axis of human shoulder internal and external rotation movement is matched.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention concentrates the power unit of the elbow joint on the shoulder, designs a lightweight force amplification mechanism and arranges it in the middle of the shoulder and elbow joint, realizes the separation of the drive and the actuator through the tendon transmission method, and transmits the motion and power to the elbow joint; the design method of rear-placed power unit and front-placed force amplification mechanism effectively reduces the motion inertia of the distal joint mechanism, realizes the lightweight design of the exoskeleton, and improves the joint movement flexibility and the safety of interpersonal interaction; at the same time, it solves the problem of low joint stiffness caused by the tendon's own expansion and contraction characteristics in the tendon transmission scheme, and improves the system movement stability.

[0018] 2. The present invention is based on the analysis of human upper limb anatomy and bionics. The shoulder joint assembly adopts a series of three-axis non-orthogonal rotation joint assemblies to be equivalent to the human shoulder joint, wherein the shoulder extension and retraction joint rotation axis is perpendicular to the shoulder abduction and adduction joint rotation axis, and the shoulder internal and external rotation joint rotation axis is at an angle of 60°±5° to the shoulder extension and retraction joint rotation axis and the shoulder abduction and adduction joint rotation axis. This solves the problem that traditional exoskeletons cannot achieve large-range abduction movements, effectively avoids interference in human-machine shoulder movement, and improves the human shoulder movement range and human-machine movement compatibility.

[0019] 3. The present invention innovatively designs a tendon-transmitted force feedback exoskeleton mechanism. The low-inertia design method can effectively reduce the energy density of the power unit and reduce the load of the transmission system. It is expected to realize force perception at the mechanism end through the current loop, reduce the complexity of the existing mechanism end mechanism, and reduce costs.

[0020] 4. The present invention has a compact structure and strong control flexibility, and can be widely used in remote diagnosis and treatment, emergency treatment, remote motion reproduction, force feedback and other remote operation technology fields; at the same time, it can be used for upper limb daily life movement assistance and rehabilitation training for patients with upper limb motor dysfunction such as stroke and hemiplegia, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2A A three-dimensional structural diagram of the elbow joint assembly of the present invention

[0023] Figure 2B It is a structural front view of the elbow joint assembly of the present invention;

[0024] Figure 3A It is one of the three-dimensional structural schematic diagrams of the shoulder joint assembly of the present invention;

[0025] Figure 3B The second schematic diagram of the three-dimensional structure of the shoulder joint assembly of the present invention;

[0026] Among them: 1000 includes forearm grip;

[0027] 2000 is an elbow joint assembly, 2001 is an elbow rotation unit, 2002 is an elbow joint position encoder, 2003 is a shoulder-elbow link, 2004 is a tendon A, 2005 is a tendon B, 2006 is a force amplification pulley block, 2007 is a fixed pulley block, 2008 is a guide unit, 2009 is a power winch A, 2010 is a remote power unit, and 2011 is a tendon C;

[0028] 3000 is a shoulder joint assembly, 3100 is a shoulder extension and retraction joint assembly, 3200 is a shoulder internal and external rotation joint assembly, 3300 is a shoulder abduction and adduction joint assembly, 3001 is a shoulder extension and retraction joint rotating frame, 3002 is a shoulder extension and retraction-internal and external rotation connecting rod, 3003 is a shoulder internal and external rotation-abduction and adduction connecting rod, 3004 is a shoulder abduction and adduction base, 3005 is a rotating capstan, 3006 is a power capstan B, 3007 is a tendon reversing wheel, 3008 is a tendon D, 3009 is a tendon E, 3010 is a shoulder joint position encoder, and 3011 is a shoulder power unit;

[0029] 4000 is the upper arm strap assembly;

[0030] J1 is the joint rotation axis, J2 is the shoulder extension and retraction joint rotation axis, J3 is the shoulder internal and external rotation joint rotation axis, and J4 is the shoulder abduction and adduction joint rotation axis. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figure 1As shown, the present invention includes a forearm grip 1000, an elbow joint assembly 2000, a shoulder joint assembly 3000 and an upper arm strap assembly 4000, wherein the shoulder joint assembly 3000 includes a shoulder extension and retraction joint assembly 3100, a shoulder internal rotation and external rotation joint assembly 3200 and a shoulder abduction and adduction joint assembly 3300, the shoulder abduction and adduction joint assembly 3300 is installed on a carrying system or a platform, the rotational freedom outputted from the output end of the shoulder abduction and adduction joint assembly 3300 rotates around the shoulder abduction and adduction joint rotation axis J4, the shoulder internal rotation and external rotation joint assembly 3200 is connected to the output end of the shoulder abduction and adduction joint assembly 3300, and the shoulder internal rotation and external rotation joint assembly 3300 is installed on a carrying system or a platform, and the rotational freedom outputted from the output end of the shoulder abduction and adduction joint assembly 3300 rotates around the shoulder abduction and adduction joint rotation axis J4. The rotational freedom outputted from the output end of the shoulder joint assembly 3200 rotates around the shoulder internal rotation and external rotation joint rotation axis J3, the shoulder extension and retraction joint assembly 3100 is connected to the output end of the shoulder internal rotation and external rotation joint assembly 3200, and the rotational freedom outputted from the output end of the shoulder extension and retraction joint assembly 3100 rotates around the shoulder extension and retraction joint rotation axis J2; one end of the elbow joint assembly 2000 is connected to the output end of the shoulder extension and retraction joint assembly 3100, and the other end is the output end, and the rotational freedom outputted from the output end of the elbow joint assembly 2000 rotates around the joint rotation axis J1; one end of the forearm grip 1000 is connected to the output end of the elbow joint assembly 2000, and the other end is the hand grip end. A large arm strap assembly 4000 is fixedly installed between the elbow joint assembly 2000 and the shoulder joint assembly 3000. The joint rotation axis J1 of the present invention matches the equivalent axis of human elbow joint motion; the shoulder extension and retraction joint rotation axis J2, the shoulder internal and external rotation joint rotation axis J3 and the shoulder abduction and adduction joint rotation axis J4 are equivalent to the three-degree-of-freedom joint motion of the human shoulder; the shoulder extension and retraction joint rotation axis J2 matches the equivalent axis of human shoulder extension and retraction motion; the shoulder abduction and adduction joint rotation axis J4 matches the equivalent axis of human shoulder abduction and adduction motion. The shoulder extension and retraction joint rotation axis J2 is orthogonal to the shoulder abduction and adduction joint rotation axis J4, the shoulder internal rotation and external rotation joint rotation axis J3 is 60°±5° to the shoulder extension and retraction joint rotation axis J2 and the shoulder abduction and adduction joint rotation axis J4, and through the coupled motion of the shoulder extension and retraction joint rotation axis J2, the shoulder internal rotation and external rotation joint rotation axis J3 and the shoulder abduction and adduction joint rotation axis J4, the equivalent axis of the human shoulder internal rotation and external rotation motion is matched.

[0033] like Figure 1 , Figure 2A and Figure 2BAs shown, the elbow joint assembly 2000 of this embodiment includes an elbow rotating disk 2001, an elbow joint position encoder 2002, a shoulder-elbow connecting rod 2003, a tendon A 2004, a tendon B 2005, a force amplification pulley block 2006, a fixed pulley block 2007, a guide unit 2008, a power winch A 2009, a remote power unit 2010 and a tendon C 2011. The elbow rotating disk 2001 is rotatably connected to one end of the shoulder-elbow connecting rod 2003 through a bearing. The other end of the rod 2003 is connected to the output end of the shoulder extension and retraction joint assembly 3100 (i.e., the shoulder extension and retraction joint rotating frame 3001); the remote power unit 2010 is fixedly installed on the output end of the shoulder extension and retraction joint assembly 3100, and the output end of the remote power unit 2010 is connected to the power winch A2009; each side of the shoulder-elbow connecting rod 2003 is provided with a force amplifying pulley block 2006 and a fixed pulley block 2007, and the wheel seat of the fixed pulley block 2007 is fixed Connected to the shoulder-elbow link 2003, the wheel seat of the force amplifying pulley block 2006 is slidably connected to the side of the shoulder-elbow link 2003 through the guide unit 2008. The guide unit 2008 of this embodiment can be a slider, which is slidably connected to the slide rail installed on the side of the shoulder-elbow link 2003; one end of the tendon B2005 and the tendon C2011 are respectively wound around the power winch A2009 in opposite directions, and the other ends of the tendons B2005 and C2011 are respectively fixed by the pulley blocks on both sides. The fixed pulley in 2007 and the pulley in the force amplifying pulley block 2006 are fixed to the wheel seat of the fixed pulley block 2007 after passing through, and the tendons B2005 and C2011 are synchronously moved in opposite directions by the drive of the remote power unit 2010; there are two tendons A2004, which are symmetrically arranged on both sides of the shoulder-elbow connecting rod 2003, and one end of each tendon A2004 is connected to the wheel seat in the force amplifying pulley block 2006 on the same side, and the other end is connected to the same side of the elbow rotating disk 2001. The power winch A2009 forms a closed-loop force amplification mechanism through the fixed pulley block 2007, tendons B2005, tendons C2011, force amplifying pulley block 2006 and tendons A2004, and the remote power unit 2010 transmits motion and power to the elbow rotating disk 2001 through the closed-loop force amplification mechanism. The elbow joint position encoder 2002 is fixedly connected to the shoulder-elbow connecting rod 2003 and is used to detect the rotation angle of the elbow motion disk 2001 relative to the shoulder-elbow connecting rod 2003.

[0034] like Figure 1 , Figure 3A and Figure 3BAs shown, the shoulder extension and retraction joint assembly 3100 includes a shoulder extension and retraction joint rotating frame 3001, a shoulder extension and retraction-internal rotation and external rotation connecting rod 3002, a shoulder power unit 3011, a power winch B3006, a tendon reversing wheel 3007, a tendon D3008, a tendon E3009 and a shoulder joint position encoder 3010. One end of the shoulder extension and retraction-internal rotation and external rotation connecting rod 3002 is connected to the output end of the shoulder internal rotation and external rotation joint assembly 3200, and the shoulder extension and retraction joint rotating frame 3001 is rotatably connected to the other end of the shoulder internal rotation and external rotation joint assembly 3200 through a bearing. The shoulder extension and retraction joint rotating frame 3001 serves as the output end of the shoulder extension and retraction joint assembly 3100. The remote power unit 2010 and the shoulder in the elbow joint assembly 2000 are The elbow link 2003 is respectively fixedly connected to the shoulder extension and retraction joint rotating frame 3001; the shoulder power unit 3011 is fixedly installed on the shoulder extension and retraction-internal rotation and external rotation connecting rod 3002 by bolts, and the output end is connected to the power winch B3006. The tendon reversing wheel 3007 is rotatably installed on the shoulder extension and retraction-internal rotation and external rotation connecting rod 3002 through a bearing. The power winch B3006 is connected to one side of the shoulder extension and retraction joint rotating frame 3001 through the tendon D3008, and is connected to the other side of the shoulder extension and retraction joint rotating frame 3001 through the tendon E3009 and the tendon reversing wheel 3007. The winding directions of the tendon D3008 and the tendon E3009 on the power winch B3006 are opposite, and the tendon E3009 reverses after bypassing the tendon reversing wheel 3007. The shoulder joint position encoder 3010 is fixedly mounted on the shoulder extension and retraction-internal rotation and external rotation connecting rod 3002 to indirectly detect the rotation angle of the shoulder extension and retraction joint assembly 3100.

[0035] The shoulder internal rotation and external rotation joint assembly 3200 includes a shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003, a rotating capstan 3005, a shoulder power unit 3011, a power capstan B3006, a tendon reversing wheel 3007, a tendon D3008, a tendon E3009 and a shoulder joint position encoder 3010. One end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003 is connected to the output end of the shoulder abduction and adduction joint assembly 3300, and the rotating capstan 3005 is rotatably connected to the other end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003 through a bearing. The rotating capstan 3005 serves as the output end of the shoulder internal rotation and external rotation joint assembly 3200 and is connected to the shoulder extension and retraction joint assembly 3100 (specifically the shoulder anterior extension and retraction joint assembly 3100). The shoulder power unit 3011 is fixedly mounted on the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003 by bolts, and the output end is connected with the power winch B3006. The tendon reversing wheel 3007 is rotatably mounted on the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003 through a bearing. The power winch B3006 is connected to one side of the rotating winch 3005 through the tendon D3008, and is connected to the other side of the rotating winch 3005 through the tendon E3009 and the tendon reversing wheel 3007. The winding directions of the tendon D3008 and the tendon E3009 on the power winch B3006 are opposite, and the tendon E3009 reverses after bypassing the tendon reversing wheel 3007. The shoulder joint position encoder 3010 is fixedly mounted on the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3003 to indirectly detect the rotation angle of the shoulder internal rotation and external rotation joint assembly 3200.

[0036] The shoulder abduction and adduction joint assembly 3300 includes a shoulder abduction and adduction base 3004, a rotating winch 3005, a shoulder power unit 3011, a power winch B 3006, a tendon reversing wheel 3007, a tendon D 3008, a tendon E 3009 and a shoulder joint position encoder 3010. The shoulder abduction and adduction base 3004 is installed on a carrying system or a platform. The rotating winch 3005 is rotatably installed on the shoulder abduction and adduction base 3004 through a bearing. The rotating winch 3005 serves as an output end of the shoulder abduction and adduction joint assembly 3300 and is connected to the shoulder internal rotation and external rotation joint assembly 3200 (specifically, the shoulder internal rotation and external rotation-abduction and adduction connecting rod 3010). 003); the shoulder power unit 3011 is fixedly installed on the shoulder abduction and adduction base 3004 by bolts, and the output end is connected to the power winch B3006, and the tendon reversing wheel 3007 is rotatably installed on the shoulder abduction and adduction base 3004 through a bearing. The power winch B3006 is connected to one side of the rotating winch 3005 through the tendon D3008, and is connected to the other side of the rotating winch 3005 through the tendon E3009 and the tendon reversing wheel 3007. The tendon D3008 and the tendon E3009 are wound in opposite directions on the power winch B3006, and the tendon E3009 changes direction after bypassing the tendon reversing wheel 3007. The shoulder joint position encoder 3010 is fixedly installed on the shoulder abduction and adduction base 3004 to indirectly detect the rotation angle of the shoulder abduction and adduction joint assembly 3300.

[0037] The present invention is bilaterally symmetrical and can form a double-arm structure. The remote power unit 2010 and the shoulder power unit 3011 of the present invention are both prior art and can be a driving motor. The upper arm strap assembly 4000 of the present invention is prior art and will not be described in detail here.

[0038] The working principle of the present invention is:

[0039] The shoulder power unit 3011 in the shoulder abduction and adduction joint assembly 3300 works, driving the power winch B3006 to rotate forward or reversely, and driving the rotating winch 3005 to rotate around the shoulder abduction and adduction joint rotation axis J4 through the tendons D3008 and E3009, thereby driving the shoulder internal and external rotation joint assembly 3200, the shoulder extension and retraction joint assembly 3100, the elbow joint assembly 2000 and the forearm handle 1000 to rotate.

[0040] The shoulder power unit 3011 in the shoulder internal and external rotation joint assembly 3200 works to drive the power winch B3006 to rotate forward or reversely, and drives the rotating winch 3005 to rotate around the shoulder internal and external rotation joint rotation axis J3 through the tendons D3008 and E3009, thereby driving the shoulder extension and retraction joint assembly 3100, the elbow joint assembly 2000 and the forearm handle 1000 to rotate.

[0041] The shoulder power unit 3011 in the shoulder extension and retraction joint assembly 3100 works to drive the power winch B3006 to rotate forward or reversely, and drives the shoulder extension and retraction joint rotating frame 3001 to rotate around the shoulder extension and retraction joint rotation axis J2 through the tendons D3008 and E3009, thereby driving the elbow joint assembly 2000 and the forearm handle 1000 to rotate.

[0042] The remote power unit 2010 works to drive the power winch A2009 to rotate forward or reversely, and drives the elbow rotating disk 2001 to rotate around the joint rotation axis J1 through the closed-loop force amplification mechanism, thereby driving the forearm handle 1000 to rotate.

Claims

1. A tendon-transmitted force feedback shoulder and elbow exoskeleton, characterized in that: It comprises a forearm grip, an elbow joint assembly, a shoulder joint assembly and an upper arm strap assembly, wherein the shoulder joint assembly comprises a shoulder extension and retraction joint assembly, a shoulder internal rotation and external rotation joint assembly and a shoulder abduction and adduction joint assembly, the shoulder abduction and adduction joint assembly is installed on a carrying system or a platform, the rotational degree of freedom outputted by the output end of the shoulder abduction and adduction joint assembly rotates around the shoulder abduction and adduction joint rotation axis, the shoulder internal rotation and external rotation joint assembly is connected to the output end of the shoulder abduction and adduction joint assembly, the rotational degree of freedom outputted by the output end of the shoulder internal rotation and external rotation joint assembly rotates around the shoulder internal rotation and external rotation joint rotation axis, the shoulder extension and retraction joint assembly is connected to the output end of the shoulder internal rotation and external rotation joint assembly, the rotational degree of freedom outputted by the output end of the shoulder extension and retraction joint assembly rotates around the shoulder extension and retraction joint rotation axis; one end of the elbow joint assembly is connected to the output end of the shoulder extension and retraction joint assembly, and the other end is the output end, and the rotational degree of freedom outputted by the output end of the elbow joint assembly rotates around the joint rotation axis; One end of the forearm grip is connected to the output end of the elbow joint assembly, and the other end is a hand grip end; an upper arm strap assembly is fixedly installed between the elbow joint assembly and the shoulder joint assembly; The elbow joint assembly includes an elbow rotating disk, a shoulder-elbow connecting rod, a tendon A, a tendon B, a force amplifying pulley block, a fixed pulley block, a guide unit, a power winch A, a remote power unit and a tendon C. The elbow rotating disk is rotatably connected to one end of the shoulder-elbow connecting rod through a bearing, and the other end of the shoulder-elbow connecting rod is connected to the output end of the shoulder extension and retraction joint assembly; the remote power unit is fixedly mounted on the output end of the shoulder extension and retraction joint assembly, and the output end of the remote power unit is connected to the power winch A; each side of the shoulder-elbow connecting rod is provided with a force amplifying pulley block and a fixed pulley block, and the wheel seat of the fixed pulley block is fixedly connected to the shoulder-elbow connecting rod. The wheel seat of the force amplifying pulley group is slidingly connected to the side of the shoulder-elbow connecting rod through a guide unit; one end of the tendon B and the tendon C are respectively wound on the power winch A in opposite directions, and the other ends of the tendon B and the tendon C are respectively passed by the fixed pulleys in the fixed pulley groups and the pulleys in the force amplifying pulley groups on both sides and then fixedly connected to the wheel seat of the fixed pulley group, and the tendon B and the tendon C are synchronously moved in opposite directions by the drive of the remote power unit; there are two tendons A, which are symmetrically arranged on both sides of the shoulder-elbow connecting rod, one end of the tendon A on each side is connected to the wheel seat in the force amplifying pulley group on the same side, and the other end is connected to the same side of the elbow rotating disk.

2. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 1, characterized in that: An elbow joint position encoder for detecting the rotation angle of the elbow rotating disk relative to the shoulder-elbow connecting rod is installed on the shoulder-elbow connecting rod.

3. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 1, characterized in that: The shoulder extension and retraction joint assembly includes a shoulder extension and retraction joint rotating frame, a shoulder extension and retraction-internal rotation and external rotation connecting rod, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. One end of the shoulder extension and retraction-internal rotation and external rotation connecting rod is connected to the output end of the shoulder internal rotation and external rotation joint assembly. The shoulder extension and retraction joint rotating frame is rotatably connected to the other end of the shoulder internal rotation and external rotation joint assembly through a bearing. The shoulder extension and retraction rotating frame serves as the output end of the shoulder extension and retraction joint assembly. Used to connect with the elbow joint assembly; the shoulder power unit is fixed on the shoulder extension and retraction-internal rotation and external rotation connecting rod, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder extension and retraction-internal rotation and external rotation connecting rod through a bearing. The power winch B is connected to one side of the shoulder extension and retraction joint rotating frame through the tendon D, and is connected to the other side of the shoulder extension and retraction joint rotating frame through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

4. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 3, characterized in that: The shoulder extension and retraction-internal rotation and external rotation connecting rod is equipped with a shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder extension and retraction joint assembly.

5. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 1, characterized in that: The shoulder internal rotation and external rotation joint assembly includes a shoulder internal rotation and external rotation-abduction and adduction connecting rod, a rotating winch, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. One end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod is connected to the output end of the shoulder abduction and adduction joint assembly. The rotating winch is rotatably connected to the other end of the shoulder internal rotation and external rotation-abduction and adduction connecting rod through a bearing. The rotating winch is connected to the shoulder extension and retraction joint assembly as the output end of the shoulder internal rotation and external rotation joint assembly; the shoulder power unit is fixed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod through a bearing. The power winch B is connected to one side of the rotating winch through the tendon D, and is connected to the other side of the rotating winch through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

6. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 5, characterized in that: A shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder internal rotation and external rotation joint assembly is installed on the shoulder internal rotation and external rotation-abduction and adduction connecting rod.

7. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 1, characterized in that: The shoulder abduction and adduction joint assembly includes a shoulder abduction and adduction base, a rotating winch, a shoulder power unit, a power winch B, a tendon reversing wheel, a tendon D and a tendon E. The shoulder abduction and adduction base is installed on a carrying system or a platform. A rotating winch is rotatably installed on the shoulder abduction and adduction base through a bearing. The rotating winch is connected to the shoulder internal and external rotation joint assembly as the output end of the shoulder abduction and adduction joint assembly; the shoulder power unit is fixed on the shoulder abduction and adduction base, and the output end is connected to the power winch B. The tendon reversing wheel is rotatably installed on the shoulder abduction and adduction base through a bearing. The power winch B is connected to one side of the rotating winch through the tendon D, and is connected to the other side of the rotating winch through the tendon E and the tendon reversing wheel. The winding directions of the tendon D and the tendon E on the power winch B are opposite.

8. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 7, characterized in that: A shoulder joint position encoder for indirectly detecting the rotation angle of the shoulder abduction and adduction joint assembly is installed on the shoulder abduction and adduction base.

9. The tendon-transmitted force feedback shoulder and elbow exoskeleton according to claim 1, characterized in that: The joint rotation axis matches the equivalent axis of human elbow joint movement, and the shoulder extension and retraction joint rotation axis, shoulder internal and external rotation joint rotation axis and shoulder abduction and adduction joint rotation axis are equivalent to the three-degree-of-freedom joint movement of the human shoulder; the shoulder extension and retraction joint rotation axis matches the equivalent axis of human shoulder extension and retraction movement, the shoulder abduction and adduction joint rotation axis matches the equivalent axis of human shoulder abduction and adduction movement, the shoulder extension and retraction joint rotation axis is orthogonal to the shoulder abduction and adduction joint rotation axis, the shoulder internal and external rotation joint rotation axis and the shoulder abduction and adduction joint rotation axis are 60°±5° to each other, and through the coupled movement of the shoulder extension and retraction joint rotation axis, the shoulder internal and external rotation joint rotation axis and the shoulder abduction and adduction joint rotation axis, the equivalent axis of human shoulder internal and external rotation movement is matched.

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