Exoskeleton wearable device with constant torque output based on telecentric point and method of using the same

Abstract

The present invention discloses a telecentric constant torque output exoskeleton wearable device and its use method. It is very necessary to develop exoskeleton wearable tools to assist farmers in shoulder labor and lifting heavy objects. The present invention includes a wearable body, a constant torque output device, a gear-train shoulder joint, an upper arm and a forearm; the gear-train shoulder joint includes a first connecting frame, a second connecting frame and a third output gear; the rotation center line of the first connecting frame relative to the wearable body, the rotation center line of the second connecting frame relative to the first connecting frame and the rotation center line of the third output gear relative to the second connecting frame intersect at a point in space; the constant torque output device includes a mounting cage, a first output shaft, a second output shaft, a third output shaft, a drive assembly and an elastic force control mechanism. During the movement of the present invention, the center of the human shoulder joint remains stationary, thereby preventing the farmer's body from being pulled during operation and providing a good user experience; the constant torque output effectively avoids vibration and protects the motor from stable and reliable operation.

Description

Technical Field

[0001] The present invention belongs to the field of exoskeleton wearable devices, and in particular relates to an exoskeleton wearable device with constant torque output based on a telecentric point and a method of using the same. Background Art

[0002] In recent years, researchers have been researching various assistive tools to reduce farmers' workload. For example, when farmers handle crops (bagging fruit, picking, pruning, etc.) on sloping land or in densely planted areas, they must perform multiple reciprocating over-the-shoulder movements. This not only consumes energy and places a heavy burden on the body, but can also damage the farmer's shoulder joints. To address this issue, there is an urgent need for a wearable shoulder exoskeleton that can alleviate farmers' burden and be suitable for various complex environments, assisting farmers with frequent over-the-shoulder labor and heavy lifting. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies of the existing technology and to propose an exoskeleton wearable device that can drive limb movement with a motor, does not require the user to exert any force, and has a constant torque output from the motor, and a method for using the device.

[0004] The present invention is achieved by adopting the following technical solutions:

[0005] The present invention discloses a telecentric constant torque output exoskeleton wearable device, comprising a wearable body, a constant torque output device, a gear-train type shoulder joint, an upper arm part and a forearm part. The gear train shoulder joint includes a first connecting frame, a second connecting frame, a first driving gear, a second driving gear, a first gear transmission mechanism, a second gear transmission mechanism and a third output gear; the first driving gear, the second driving gear and the third output gear are all bevel gears; the first connecting frame and the second connecting frame are both arc-shaped; one end of the first connecting frame is hinged to the wearable body and the first driving gear, the second driving gear is hinged to the first driving gear, and the hinge axis of the first connecting frame and the wearable body, the hinge axis of the first connecting frame and the first driving gear, and the hinge axis of the second driving gear and the first driving gear are coaxially arranged; the other end of the first connecting frame is hinged to one end of the second connecting frame; the third output gear is hinged to the other end of the second connecting frame; the second driving gear transmits power to the second connecting frame through the first gear transmission mechanism, and the first driving gear transmits power to the third output gear through the second gear transmission mechanism; the rotation center line of the first connecting frame relative to the wearable body, the rotation center line of the second connecting frame relative to the first connecting frame and the rotation center line of the third output gear relative to the second connecting frame intersect at a point in space. The upper arm includes a rocker arm, a first setting frame and a forearm rotation driving member; the rocker arm is fixed on the third output gear; the first setting frame is fixed on the rocker arm; the forearm and the upper arm are connected through the forearm rotation driving member, and the forearm rotation driving member drives the forearm to rotate.

[0006] The constant torque output device includes a mounting cage, a first output shaft, a second output shaft, a third output shaft, a drive assembly and an elastic force control mechanism; the mounting cage is fixed on the wearable body; the first output shaft is supported in the mounting cage by a bearing, and the second output shaft is supported in the first output shaft by a bearing; one end of the third output shaft is supported in the second output shaft by a bearing, and the other end is supported on the cover plate by a bearing; the cover plate is fixed on the mounting cage; the end of the first connecting frame hinged with the first driving gear is fixed to the first output shaft; the first driving gear is fixed to the second output shaft; the second driving gear is fixed to the third output shaft; dynamic torque sensors are provided on the first output shaft, the second output shaft and the third output shaft; the drive assembly includes a worm gear, a worm and a reduction motor; the base of the reduction motor is fixed on the mounting cage, and the output shaft of the reduction motor is fixed to the worm gear; the worm gear is meshed with the worm gear; the drive assembly is provided with three; the worm gear spacing of the three drive assemblies The transmission gear of the present invention is a gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a

[0007] The reduction motor and the driving motor are both controlled by a controller, and the signal output end of the dynamic torque sensor is connected to the controller.

[0008] Furthermore, the wearable body includes a back plate, shoulder straps and a waist belt; the middle part of the shoulder straps is fixed to the back plate; the middle part of the waist belt is fixed to the shoulder straps.

[0009] Furthermore, the two ends of the shoulder strap are respectively pasted with the child and female surfaces of the Velcro, and the two ends of the waist belt are also respectively pasted with the child and female surfaces of the Velcro.

[0010] Furthermore, the back panel is made of metal, and the shoulder straps and waist belt are both made of cloth.

[0011] Furthermore, an integrally formed tooth insert is provided at the end of the first connecting frame hinged to the first driving gear, and the tooth insert of the first connecting frame is fixed to the integrally formed tooth insert on the first output shaft.

[0012] Furthermore, the first gear transmission mechanism includes a second intermediate gear and a fixed gear; the second intermediate gear and the fixed gear are both bevel gears; the second intermediate gear is hinged to the middle of the first connecting frame; the second intermediate gear is respectively meshed with the second driving gear and the fixed gear on both sides; the fixed gear and the second connecting frame are coaxially arranged relative to the rotation centerline of the first connecting frame, and are fixed on the second connecting frame.

[0013] Furthermore, the second gear transmission mechanism includes a first intermediate gear, a first output gear, a second output gear and a third intermediate gear; the first intermediate gear, the first output gear, the second output gear and the third intermediate gear are all bevel gears; the first output gear and the second output gear are fixed by a fixed shaft to form a double gear; the fixed shaft is hinged to the first connecting frame and is coaxial with the second connecting frame relative to the rotation center line of the first connecting frame; a portion of the fixed shaft passes through the outside of the first connecting frame; the second output gear is arranged outside the first connecting frame; the first intermediate gear is hinged to the middle of the first connecting frame, and its two sides are respectively meshed with the first output gear and the first driving gear; the third intermediate gear is hinged to the middle of the second connecting frame, and its two sides are respectively meshed with the third output gear and the second output gear.

[0014] Furthermore, the forearm rotation drive component includes a lifting rod and a harmonic motor; the lifting rod and the sliding groove of the rocker arm constitute a sliding pair, and the threaded hole of the lifting rod is connected to the bolt passing through the adjustment slot of the rocker arm; the base of the harmonic motor is fixed on the lifting rod, and the harmonic motor is controlled by the controller to drive the forearm to rotate.

[0015] Furthermore, the forearm portion includes a slide rod, a movable plate and a second setting frame; the slide rod is fixed to the output shaft of the harmonic motor; the movable plate and the slide groove of the slide rod constitute a sliding pair, and the threaded hole of the movable plate is connected to the bolt passing through the adjustment groove of the slide rod; the second setting frame is fixed on the movable plate.

[0016] The method of using the telecentric constant torque output exoskeleton wearable device is as follows:

[0017] When wearing the wearable body, the upper arm passes through the first setting frame of the upper arm, and the forearm is inserted into the forearm, and the center of the human shoulder joint is aligned with the intersection of the rotation center line of the first connecting frame relative to the back plate, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame; wherein, different upper arm lengths can be adapted by adjusting the position of the lifting and retracting rod on the rocker arm; and different forearm lengths can be adapted by adjusting the position of the movable plate on the slide rod. When the gear-train shoulder joint is working, the first output shaft of the constant torque output device drives the first connecting frame to rotate around the wearable body, the third output shaft of the constant torque output device drives the second driving gear to rotate, and the second output shaft of the constant torque output device drives the first driving gear to rotate; the second driving gear drives the second connecting frame to rotate relative to the first connecting frame through the first gear transmission mechanism, and the first driving gear drives the third output gear to rotate through the second gear transmission mechanism; the third output gear drives the upper arm to rotate, and the upper arm drives the forearm to rotate through the forearm rotation driving member; no matter what position the first connecting frame and the second connecting frame rotate to, the rotation center line of the first connecting frame relative to the back plate, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame intersect at a fixed point in space, so that the center of the human shoulder joint remains stationary during the process of the upper arm being driven by the upper arm and the forearm being driven by the forearm, thereby preventing the farmer's body from being pulled during operation.

[0018] The process of the constant torque output device outputting torque is specifically as follows: in the drive assembly, the reduction motor drives the worm to rotate, and the worm drives the worm wheel to rotate; the worm wheels of the three drive assemblies respectively drive the first output shaft, the second output shaft and the third output shaft to rotate; the first output shaft, the second output shaft and the third output shaft respectively drive the first connecting frame, the first driving gear and the second driving gear of the gear train shoulder joint to rotate; and the second driving gear drives the second connecting frame to rotate relative to the first connecting frame via the first gear transmission mechanism, and the first driving gear drives the third output gear to rotate via the second gear transmission mechanism, and the third output gear drives the upper arm to rotate; thus, the constant torque output device transmits the three torques to the first connecting frame, the second connecting frame and the upper arm respectively; The dynamic torque sensors on the first output shaft, the second output shaft and the third output shaft detect the torques acting on the first output shaft, the second output shaft and the third output shaft in real time, and transmit the torque signals to the controller; when the controller determines that the torque value obtained according to the torque signal is not equal to the preset torque value, the controller controls the drive motor to operate, the drive motor drives the drive gear to rotate, and the drive gear drives the drive ring to rotate, so that the inclined groove bar pushes the T-shaped slider to move along the radially arranged slide groove on the mounting cage, changes the center distance between the active roller and the driven roller, and thus changes the length of the elastic rope to control the elastic force of the elastic rope, so that the first connecting frame, the second connecting frame, the upper arm and the forearm maintain a constant torque output when the first connecting frame, the second connecting frame, the upper arm and the forearm are in different postures.

[0019] The present invention has the following beneficial effects:

[0020] The present invention's gear-train shoulder joint, upper arm, and forearm are all driven by a motor. Once the wearable is put on, the user can perform arm movements without exerting any force. The motor-driven mechanism is driven by a worm gear, which provides a self-locking mechanism to prevent the wearer from suddenly falling during power outages, which could pose a safety hazard.

[0021] 2. In the gear-train shoulder joint of the present invention, the rotation center line of the first connecting frame relative to the wearable body, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame intersect at a point in space, so that the center of the human shoulder joint remains stationary during the process in which the upper arm is driven by the upper arm and the forearm is driven by the forearm, thereby preventing the body from being pulled during the farmer's operation and providing a good user experience.

[0022] 3. The elastic force control mechanism of the present invention can control the elastic force of the elastic rope. Specifically, the controller controls the drive motor to adjust the radial position of the active roller relative to the drive ring based on the torque value detected by the dynamic torque sensor and the preset torque value, thereby achieving elastic force adjustment of the elastic rope. The dynamic adjustment of the elastic force of the elastic rope ensures that the first connecting frame, the second connecting frame, the upper arm, and the forearm maintain a constant torque output when the first connecting frame, the second connecting frame, and the upper arm are in different postures, effectively avoiding vibration and ensuring stable and reliable operation of the motor. The elastic force of the elastic rope (achieved by adjusting the preset torque value) can be set according to the weight of the extracted object, with a larger value set for heavier objects and a smaller value set for lighter objects.

[0023] 4. The present invention adopts multi-stage bevel gears for transmission, which makes the transmission route more compact and the structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention.

[0025] Figure 2 It is a structural stereogram of the constant torque output device in the present invention.

[0026] Figure 3 This is an exploded structural diagram of the constant torque output device in the present invention.

[0027] Figure 4 It is a structural stereogram of the elastic force control mechanism of the present invention.

[0028] Figure 5 It is a schematic diagram of the mechanism of the gear train shoulder joint in the present invention.

[0029] Figure 6This is a three-dimensional diagram of the assembly of the first connecting frame and the second connecting frame in the present invention.

[0030] Figure 7 It is a structural stereogram of the forearm portion in the present invention.

[0031] Figure 8 It is a structural stereogram of the upper arm in the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] like Figure 1 As shown, the exoskeleton wearable device based on the telecentric constant torque output includes a wearable body 1, a constant torque output device 2, a gear-train shoulder joint 3, an upper arm 4, and a forearm 5. The wearable body 1 includes a back plate 11, a shoulder strap 12, and a waist belt 13; the back plate 11 is made of metal; the middle part of the shoulder strap 12 is fixed to the back plate 11; the two ends of the shoulder strap 12 are respectively attached with the male and female surfaces of Velcro; the middle part of the waist belt 13 is fixed to the shoulder strap 12; the two ends of the waist belt 13 are respectively attached with the male and female surfaces of Velcro; the shoulder strap 12 and the waist belt 13 are both made of fabric. Figure 5 and 6 As shown, the gear train shoulder joint 3 includes a first connecting frame 31, a second connecting frame 32, a first driving gear 33, a second driving gear 34, a first gear transmission mechanism, a second gear transmission mechanism and a third output gear 39; the first driving gear 33, the second driving gear 34 and the third output gear 39 are all bevel gears; the first connecting frame 31 and the second connecting frame 32 are both arc-shaped; one end of the first connecting frame 31 is hinged to the back plate 11 and the first driving gear 33, the second driving gear 34 is hinged to the first driving gear 33, and the hinge axis of the first connecting frame 31 and the back plate 11, the hinge axis of the first connecting frame 31 and the first driving gear 33, the hinge axis of the second driving gear 34 and the first driving gear The hinge axis of the movable gear 33 is coaxially arranged; the other end of the first connecting frame 31 is hinged to one end of the second connecting frame 32; the third output gear 39 is hinged to the other end of the second connecting frame 32; the second driving gear 34 transmits power to the second connecting frame 32 through the first gear transmission mechanism, and the first driving gear 33 transmits power to the third output gear 39 through the second gear transmission mechanism; the rotation center line of the first connecting frame 31 relative to the back plate 11, the rotation center line of the second connecting frame 32 relative to the first connecting frame 31, and the rotation center line of the third output gear 39 relative to the second connecting frame 32 intersect at a point in space. When wearing the wearable body 1, align the center of the human shoulder joint with this intersecting point. Figure 8 As shown, the upper arm 4 includes a rocker arm 41, a first setting frame 43 and a forearm rotation driving member; the rocker arm 41 is fixed on the third output gear 39; the first setting frame 43 is fixed on the rocker arm 41; the forearm 5 is connected to the upper arm 4 through the forearm rotation driving member, and the forearm rotation driving member drives the forearm 5 to rotate.

[0034] like Figure 2 、 3 As shown in Figure 4, the constant torque output device 2 includes a mounting cage 21, a first output shaft 22, a second output shaft 23, a third output shaft 24, a drive assembly 25 and an elastic force control mechanism 26; the mounting cage 21 is fixed to the back plate 11; the first output shaft 22 is supported in the mounting cage 21 by a bearing, and the second output shaft 23 is supported in the first output shaft 22 by a bearing; one end of the third output shaft 24 is supported in the second output shaft 23 by a bearing, and the other end is supported on the cover plate 27 by a bearing; the cover plate 27 is fixed to the mounting cage 21; the end of the first connecting frame 31 hinged to the first driving gear 33 is provided with an integrally formed The tooth embedment 311 of the first connecting frame 31 is fixed to the tooth embedment integrally formed on the first output shaft 22; the first driving gear 33 is fixed to the second output shaft 23; the second driving gear 34 is fixed to the third output shaft 24; the first output shaft 22, the second output shaft 23 and the third output shaft 24 are all provided with a dynamic torque sensor to detect the torque; the driving assembly 25 includes a worm wheel, a worm and a reduction motor; the seat of the reduction motor is fixed to the mounting cage 21, and the output shaft of the reduction motor is fixed to the worm; the worm is meshed with the worm wheel; the driving assembly 25 is provided with three; the worm wheels of the three driving assemblies 25 are spaced apart The elastic force control mechanism 26 comprises a driving ring 261, an active roller 262, an elastic rope 263, a T-shaped slider 264, a driving gear 265, a driving motor 266 and a driven roller 268; the driving ring 261 and the mounting cage 21 form a rotating pair, and the inner wall of the driving ring 261 is provided with an inner tooth portion 2612; the driving gear 265 is fixed to the output shaft of the driving motor 266 and meshes with the inner tooth portion 2612; the base of the driving motor 266 is fixed to the mounting cage 21; the driving ring 261 is provided with an integrated Three oblique grooves 2611 are formed and evenly distributed along the circumference of the drive ring; each oblique groove 2611 forms a sliding pair with a circular shaft 267; a driving roller 262 is hinged at one end of the circular shaft 267, and a T-shaped slider 264 is fixed to the other end; the T-shaped slider 264 and the radially opened sliding groove on the mounting cage 21 form a sliding pair; each driving roller 262 is connected to a driven roller 268 by a ring-shaped elastic rope 263; three elastic force control mechanisms 26 are set at intervals, and the three driven rollers 268 of each elastic force control mechanism 26 are hinged to a worm gear of a drive assembly 25 at three hinge positions evenly distributed along the circumference.

[0035] like Figure 5As shown, the first gear transmission mechanism includes a second intermediate gear 352 and a fixed gear 37; the second intermediate gear 352 and the fixed gear 37 are both bevel gears; the second intermediate gear 352 is hinged to the middle of the first connecting frame 31; the second intermediate gear 352 is meshed with the second driving gear 34 and the fixed gear 37 on both sides respectively; the fixed gear 37 and the second connecting frame 32 are coaxially arranged relative to the rotation centerline of the first connecting frame 31, and are fixed to the second connecting frame 32.

[0036] like Figure 5 As shown, the second gear transmission mechanism includes a first intermediate gear 351, a first output gear 361, a second output gear 362 and a third intermediate gear 38; the first intermediate gear 351, the first output gear 361, the second output gear 362 and the third intermediate gear 38 are all bevel gears; the first output gear 361 and the second output gear 362 are fixed by a fixed shaft to form a double gear; the fixed shaft is hinged to the first connecting frame 31 and is coaxial with the second connecting frame 32 relative to the rotation center line of the first connecting frame 31; a portion of the fixed shaft passes through the outside of the first connecting frame 31; the second output gear 362 is arranged outside the first connecting frame 31; the first intermediate gear 351 is hinged to the middle of the first connecting frame 31, and its two sides are respectively meshed with the first output gear 361 and the first driving gear 33; the third intermediate gear 38 is hinged to the middle of the second connecting frame 32, and its two sides are respectively meshed with the third output gear 39 and the second output gear 362.

[0037] like Figure 8 As shown, the forearm rotation drive component includes a lifting rod 42 and a harmonic motor 6; the lifting rod 42 and the sliding groove of the rocker arm 41 form a sliding pair, and the threaded hole of the lifting rod 42 is connected to the bolt 44 passing through the adjustment groove of the rocker arm 41. After the lifting rod 42 is adjusted to the position, the bolt is tightened to fasten it to the rocker arm 41; the base of the harmonic motor 6 is fixed on the lifting rod 42, and the harmonic motor 6 drives the forearm 5 to rotate (the output shaft of the harmonic motor 6 is connected to the forearm 5).

[0038] like Figure 7 As shown, the forearm 5 includes a slide rod 51, a movable plate 52 and a second setting frame 53; the slide rod 51 is driven to rotate by the forearm rotation driving member; the movable plate 52 and the slide groove of the slide rod 51 constitute a sliding pair, and the threaded hole of the movable plate 52 is connected to the bolt passing through the adjustment groove of the slide rod 51. After the movable plate 52 is adjusted to the position, the bolt is tightened to fasten it to the slide rod 51; the second setting frame 53 is fixed on the movable plate 52.

[0039] The reduction motor, the drive motor 266 and the harmonic motor 6 are all controlled by a controller, and the signal output end of the dynamic torque sensor is connected to the controller.

[0040] The method of using the telecentric constant torque output exoskeleton wearable device is as follows:

[0041] When wearing the wearable body 1, the upper arm passes through the first setting frame 43 of the upper arm part 4, and the forearm is inserted into the forearm part 5 (through the second setting frame 53), and the center of the human shoulder joint is aligned as much as possible with the intersection of the rotation center line of the first connecting frame 31 relative to the back plate 11, the rotation center line of the second connecting frame 32 relative to the first connecting frame 31, and the rotation center line of the third output gear 39 relative to the second connecting frame 32; by adjusting the position of the lifting and retracting rod 42 on the rocker arm 41, different upper arm lengths can be adapted; by adjusting the position of the movable plate 52 on the slide rod 51, different forearm lengths can be adapted. When the gear-train shoulder joint 3 is in operation, the first output shaft 22 of the constant torque output device 2 drives the first connecting frame 31 to rotate around the wearable body 1, the third output shaft 24 of the constant torque output device 2 drives the second driving gear 34 to rotate, and the second output shaft 23 of the constant torque output device 2 drives the first driving gear 33 to rotate; the second driving gear 34 drives the second connecting frame 32 to rotate relative to the first connecting frame 31 via the first gear transmission mechanism, and the first driving gear 33 drives the third output gear 39 to rotate via the second gear transmission mechanism; the third output gear 39 drives the upper arm 4 to rotate, and the upper arm 4 drives the forearm 5 to rotate via the forearm rotation driver. Among them, no matter what position the first connecting frame 31 and the second connecting frame 32 rotate to, the rotation center line of the first connecting frame 31 relative to the back plate 11, the rotation center line of the second connecting frame 32 relative to the first connecting frame 31, and the rotation center line of the third output gear 39 relative to the second connecting frame 32 intersect at a fixed point in space, so that the center of the human shoulder joint remains stationary during the process in which the upper arm of the human body is driven by the upper arm 4 and the forearm is driven by the forearm 5, thereby avoiding the body being pulled during the farmer's operation and providing a good experience during use.

[0042] The process of the constant torque output device 2 outputting torque is specifically as follows: in the driving component 25, the reduction motor drives the worm to rotate, and the worm drives the worm wheel to rotate; the worm wheels of the three driving components 25 respectively drive the first output shaft 22, the second output shaft 23 and the third output shaft 24 to rotate; the first output shaft 22, the second output shaft 23 and the third output shaft 24 respectively drive the first connecting frame 31, the first driving gear 33 and the second driving gear 34 of the gear train shoulder joint 3 to rotate; and the second driving gear 34 drives the second connecting frame 32 to rotate relative to the first connecting frame 31 through the first gear transmission mechanism, and the first driving gear 33 drives the third output gear 39 to rotate through the second gear transmission mechanism, and the third output gear 39 drives the upper arm 4 to rotate; thus, the constant torque output device 2 transmits the three torques to the first connecting frame 31, the second connecting frame 32 and the upper arm 4 respectively; the first output shaft 22, the second output shaft 23 and the third output shaft 24 respectively drive the first connecting frame 31, the second driving gear 33 and the third output gear 39 The dynamic torque sensor on the three output shafts 24 detects the torque applied to the first output shaft 22, the second output shaft 23 and the third output shaft 24 in real time, and transmits the torque signal to the controller; when the controller determines that the torque value obtained according to the torque signal is not equal to the preset torque value, it controls the drive motor 266 to operate, and the drive motor 266 drives the drive gear 265 to rotate, and the drive gear 265 drives the drive ring 261 to rotate, so that the inclined groove bar 2611 pushes the T-shaped slider 264 to move along the radially arranged slide groove on the mounting cage 21, changing the center distance between the active roller 262 and the driven roller 268, thereby changing the length of the elastic rope 263 to control the elastic force of the elastic rope, so that when the first connecting frame 31, the second connecting frame 32, the upper arm 4 and the forearm 5 are in different postures, the first connecting frame 31, the second connecting frame 32 and the upper arm 4 all maintain a constant torque output, effectively avoiding vibration and protecting the motor from stable and reliable operation. Among them, the preset torque value can be set according to needs. For example, according to the weight of the extracted heavy object, it can be set to a larger value when the heavy object is heavier and to a smaller value when the heavy object is lighter.

Claims

1. A telecentric constant torque output exoskeleton wearable device comprising a wearable body, an upper arm portion, and a forearm portion, characterized in that: The invention also includes a constant torque output device and a gear-train shoulder joint; the gear-train shoulder joint includes a first connecting frame, a second connecting frame, a first driving gear, a second driving gear, a first gear transmission mechanism, a second gear transmission mechanism, and a third output gear; the first driving gear, the second driving gear, and the third output gear are all bevel gears; the first connecting frame and the second connecting frame are both arc-shaped; one end of the first connecting frame is hinged to the wearable body and the first driving gear, the second driving gear is hinged to the first driving gear, and the hinge axis between the first connecting frame and the wearable body, the hinge axis between the first connecting frame and the first driving gear, and the hinge axis between the second driving gear and the first driving gear are coaxially arranged; the other end of the first connecting frame is hinged to one end of the second connecting frame; The third output gear is hinged to the other end of the second connecting frame; the second driving gear transmits power to the second connecting frame through the first gear transmission mechanism, and the first driving gear transmits power to the third output gear through the second gear transmission mechanism; the rotation center line of the first connecting frame relative to the wearable body, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame intersect at a point in space; the upper arm portion includes a swing rod, a first setting frame and a forearm rotation driving member; the swing rod is fixed on the third output gear; the first setting frame is fixed on the swing rod; the forearm portion and the upper arm are connected through the forearm rotation driving member, and the forearm rotation driving member drives the forearm to rotate; The constant torque output device includes a mounting cage, a first output shaft, a second output shaft, a third output shaft, a drive assembly and an elastic force control mechanism; the mounting cage is fixed on the wearable body; the first output shaft is supported in the mounting cage by a bearing, and the second output shaft is supported in the first output shaft by a bearing; one end of the third output shaft is supported in the second output shaft by a bearing, and the other end is supported on the cover plate by a bearing; the cover plate is fixed on the mounting cage; the end of the first connecting frame hinged with the first driving gear is fixed to the first output shaft; the first driving gear is fixed to the second output shaft; the second driving gear is fixed to the third output shaft; dynamic torque sensors are provided on the first output shaft, the second output shaft and the third output shaft; the drive assembly includes a worm gear, a worm and a reduction motor; the base of the reduction motor is fixed on the mounting cage, and the output shaft of the reduction motor is fixed to the worm gear; the worm gear is meshed with the worm gear; the drive assembly is provided with three; the worm gear spacing of the three drive assemblies The transmission gear of the present invention is a gear which is connected with the transmission gear of the present invention to be connected with the transmission gear of the present invention; the gear is connected with the transmission gear of the present invention to be connected with the transmission gear of the present invention; the gear is connected with the transmission gear of the present invention to be connected with the transmission gear of the present invention; The reduction motor and the driving motor are both controlled by a controller, and the signal output end of the dynamic torque sensor is connected to the controller.

2. The telecentric constant torque output exoskeleton wearable device according to claim 1, characterized in that: The wearable body comprises a back plate, shoulder straps and a waist belt; the middle portion of the shoulder straps is fixed to the back plate; the middle portion of the waist belt is fixed to the shoulder straps.

3. The telecentric constant torque output exoskeleton wearable device according to claim 2, characterized in that: The two ends of the shoulder strap are respectively pasted with the male and female surfaces of the Velcro, and the two ends of the waist belt are also respectively pasted with the male and female surfaces of the Velcro.

4. The telecentric constant torque output exoskeleton wearable device according to claim 2 or 3, characterized in that: The back plate is made of metal, and the shoulder straps and waist belt are both made of cloth.

5. The telecentric constant torque output exoskeleton wearable device according to claim 1, characterized in that: An integrally formed tooth insert is provided on the end of the first connecting frame hinged to the first driving gear, and the tooth insert of the first connecting frame is fixed to the integrally formed tooth insert on the first output shaft.

6. The telecentric constant torque output exoskeleton wearable device according to claim 1, characterized in that: The first gear transmission mechanism includes a second intermediate gear and a fixed gear; the second intermediate gear and the fixed gear are both bevel gears; the second intermediate gear is hinged to the middle of the first connecting frame; the second intermediate gear is meshed with the second driving gear and the fixed gear on both sides respectively; the fixed gear and the second connecting frame are coaxially arranged relative to the rotation centerline of the first connecting frame, and are fixed to the second connecting frame.

7. The telecentric constant torque output exoskeleton wearable device according to claim 1, characterized in that: The second gear transmission mechanism includes a first intermediate gear, a first output gear, a second output gear and a third intermediate gear; the first intermediate gear, the first output gear, the second output gear and the third intermediate gear are all bevel gears; the first output gear and the second output gear are fixed by a fixed shaft to form a double gear; the fixed shaft is hinged to the first connecting frame and is coaxial with the second connecting frame relative to the rotation center line of the first connecting frame; a portion of the fixed shaft passes through the outside of the first connecting frame; the second output gear is arranged outside the first connecting frame; the first intermediate gear is hinged to the middle of the first connecting frame, and its two sides are respectively meshed with the first output gear and the first driving gear; the third intermediate gear is hinged to the middle of the second connecting frame, and its two sides are respectively meshed with the third output gear and the second output gear.

8. The telecentric constant torque output exoskeleton wearable device according to claim 2, characterized in that: The forearm rotation drive component includes a lifting rod and a harmonic motor; the lifting rod and the sliding groove of the rocker arm constitute a sliding pair, and the threaded hole of the lifting rod is connected to the bolt passing through the adjustment slot of the rocker arm; the base of the harmonic motor is fixed on the lifting rod, and the harmonic motor is controlled by a controller to drive the forearm to rotate.

9. The telecentric constant torque output exoskeleton wearable device according to claim 8, characterized in that: The forearm portion includes a slide rod, a movable plate and a second setting frame; the slide rod is fixed to the output shaft of the harmonic motor; the movable plate and the slide groove of the slide rod constitute a sliding pair, and the threaded hole of the movable plate is connected to the bolt passing through the adjustment groove of the slide rod; the second setting frame is fixed on the movable plate.

10. A method for using the telecentric constant torque output exoskeleton wearable device according to claim 9, characterized in that: The method is as follows: Wear the wearable body, pass the upper arm through the first setting frame of the upper arm, and put the forearm into the forearm, and align the center of the human shoulder joint with the intersection of the rotation center line of the first connecting frame relative to the back plate, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame; wherein, by adjusting the position of the lifting and retracting rod on the rocker rod, it can adapt to different upper arm lengths; by adjusting the position of the movable plate on the slide rod, it can adapt to different forearm lengths; when the gear train shoulder joint is working, the first output shaft of the fixed torque output device drives the first connecting frame to rotate around the wearable body, the third output shaft of the fixed torque output device drives the second driving gear to rotate, and the second output shaft of the fixed torque output device drives the first driving gear to rotate ; The second driving gear drives the second connecting frame to rotate relative to the first connecting frame through the first gear transmission mechanism, and the first driving gear drives the third output gear to rotate through the second gear transmission mechanism; the third output gear drives the upper arm to rotate, and the upper arm drives the forearm to rotate through the forearm rotation driving member; no matter what position the first connecting frame and the second connecting frame rotate to, the rotation center line of the first connecting frame relative to the back plate, the rotation center line of the second connecting frame relative to the first connecting frame, and the rotation center line of the third output gear relative to the second connecting frame intersect at a fixed point in space, so that the center of the human shoulder joint remains stationary during the process of the upper arm being driven by the upper arm and the forearm being driven by the forearm, thereby preventing the farmer's body from being pulled during operation; The process of the constant torque output device outputting torque is specifically as follows: in the drive assembly, the reduction motor drives the worm to rotate, and the worm drives the worm wheel to rotate; the worm wheels of the three drive assemblies respectively drive the first output shaft, the second output shaft and the third output shaft to rotate; the first output shaft, the second output shaft and the third output shaft respectively drive the first connecting frame, the first driving gear and the second driving gear of the gear train shoulder joint to rotate; and the second driving gear drives the second connecting frame to rotate relative to the first connecting frame via the first gear transmission mechanism, and the first driving gear drives the third output gear to rotate via the second gear transmission mechanism, and the third output gear drives the upper arm to rotate; thus, the constant torque output device transmits the three torques to the first connecting frame, the second connecting frame and the upper arm respectively; The dynamic torque sensors on the first output shaft, the second output shaft and the third output shaft detect the torques acting on the first output shaft, the second output shaft and the third output shaft in real time, and transmit the torque signals to the controller; when the controller determines that the torque value obtained according to the torque signal is not equal to the preset torque value, the controller controls the drive motor to operate, the drive motor drives the drive gear to rotate, and the drive gear drives the drive ring to rotate, so that the inclined groove bar pushes the T-shaped slider to move along the radially arranged slide groove on the mounting cage, changes the center distance between the active roller and the driven roller, and thus changes the length of the elastic rope to control the elastic force of the elastic rope, so that the first connecting frame, the second connecting frame, the upper arm and the forearm maintain a constant torque output when the first connecting frame, the second connecting frame, the upper arm and the forearm are in different postures.

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