Exoskeleton mechanical arm and exoskeleton device

Abstract

The invention provides an exoskeleton mechanical arm and an exoskeleton device. The exoskeleton mechanical arm comprises a shoulder blade assembly, a shoulder inward-rotation and outward-turning assembly, a shoulder backward-stretching and forward-bending assembly, a shoulder adduction and abduction assembly, an elbow joint assembly and a wrist joint assembly. One end of the shoulder inward-turning and outward-turning assembly is in sliding connection with the scapular assembly, and the other end of the shoulder inward-turning and outward-turning assembly is rotationally connected with the first end of the shoulder backward-stretching and forward-bending assembly; one end of the shoulder adduction and abduction assembly is rotationally connected with the second end of the shoulder backward extension and forward flexion assembly, and the other end of the shoulder adduction and abduction assembly is rotationally connected with the first end of the elbow joint assembly; the first end of the wrist joint assembly is rotationally connected with the second end of the elbow joint assembly; the length of the elbow joint assembly and the length of the wrist joint assembly can be adjusted. The exoskeleton device comprises a fixed mounting base and two exoskeleton mechanical arms symmetrically mounted on the fixed mounting base. According to the invention, through mutual cooperation of all the components, multi-degree-of-freedom flexible movement can be realized so as to simulate natural actions of upper limbs of a human hand, and the operation flexibility and accuracy are improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, to an exoskeleton robot arm and an exoskeleton device. Background Art

[0002] In high-risk or special environments such as nuclear waste disposal, aerospace, disaster relief, and anti-terrorism operations, direct intervention is extremely risky due to the limitations of human physiological conditions. With the continuous advancement of robotics technology, there are currently a small number of autonomous robots that can perform specific tasks in specific environments. However, in many cases, robots face unstructured environments and uncertain conditions. With the current level of autonomous intelligence, it is still a great challenge for robots to make correct decisions and respond to unknown problems during operations. Therefore, it is crucial to deeply study the host-end human-computer interaction technology in teleoperation, because it is a dual node of control and feedback.

[0003] The main existing teleoperation technologies include teleoperation hands, data gloves, and virtual reality devices. Although these devices are easy to use and can achieve a certain degree of visual and tactile information interaction, it is still difficult to achieve natural integration between humans and machines. However, when the teleoperation hands are used for complex tasks, operators need to undergo special training to use these systems proficiently, and the operation interface may not be intuitive enough, which increases the learning curve. Currently, data gloves cannot provide sufficient tactile feedback, which means that users cannot feel the texture and weight of remote objects. The lack of tactile feedback limits the realism and accuracy of the operation. Although virtual reality technology can make the operator feel as if they are in the scene, it cannot feed back the load on the end of the robotic arm to the operator, reducing the accuracy of the operation.

[0004] To solve this problem, exoskeleton robots that can provide a highly immersive experience have been introduced into the field of teleoperation. Such devices not only enhance the operator's sense of presence, but also improve the quality of human-computer interaction, making remote operation more intuitive and efficient. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide an exoskeleton manipulator and an exoskeleton device to solve the technical problems existing in the prior art: with the increasing demand for teleoperation technology, how to achieve accurate force feedback teleoperation, so that the operator can obtain stronger telepresence perception ability, while taking into account the actual needs of dexterous operation. That is, the teleoperation exoskeleton should have a high degree of adaptability and match the body structure of different operators to the greatest extent, so that the exoskeleton can fit the operator's limbs to serve the teleoperation.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an exoskeleton mechanical arm, including a scapula assembly, a shoulder internal rotation and valgus assembly, a shoulder extension and flexion assembly, a shoulder adduction and abduction assembly, an elbow joint assembly and a wrist joint assembly; the first end of the shoulder internal rotation and valgus assembly is slidingly connected to the scapula assembly; the first end of the shoulder extension and flexion assembly is rotatably connected to the second end of the shoulder internal rotation and valgus assembly; the first end of the shoulder adduction and abduction assembly is rotatably connected to the second end of the shoulder extension and flexion assembly; the first end of the elbow joint assembly is rotatably connected to the second end of the shoulder adduction and abduction assembly; the length of the elbow joint assembly can be telescopically adjusted; the first end of the wrist joint assembly is rotatably connected to the second end of the elbow joint assembly; the length of the wrist joint assembly can be telescopically adjusted.

[0007] Furthermore, the shoulder blade assembly includes a drive mounting seat, a first rotation driving member and a slide rail; the first rotation driving member is installed on the drive mounting seat; and the side surface of one end of the slide rail is connected to the first rotation driving member.

[0008] Furthermore, the shoulder internal rotation and external rotation assembly includes a slider and a first swing arm; the slider is slidably connected to the slide rail; and the first end of the first swing arm is connected to the slider.

[0009] Furthermore, the shoulder extension and flexion assembly includes a second rotary drive member and a second swing arm; the second rotary drive member is installed at the second end of the first swing arm; and the first end side of the second swing arm is connected to the second rotary drive member.

[0010] Furthermore, the shoulder adduction and abduction assembly includes a third rotation driving member and a third swing arm; the third rotation driving member is installed on the second end of the second swing arm; and the first end side of the third swing arm is connected to the third rotation driving member.

[0011] Furthermore, the elbow joint assembly includes a fourth rotation driving member, a boom swing rod, a boom moving rod, a boom six-dimensional force sensor, a boom seat and a boom strap; the fourth rotation driving member is installed on the second end of the third swing arm; the side wall of the first end of the boom swing rod is connected to the fourth rotation driving member; the first end of the boom moving rod is slidably connected to the second end of the boom swing rod; the boom six-dimensional force sensor is installed on the boom swing rod; the boom seat is installed on the boom six-dimensional force sensor; the two ends of the boom strap are respectively detachably connected to the boom seat.

[0012] Furthermore, the rotation axes of the second rotation driving member, the third rotation driving member, and the fourth rotation driving member intersect at one point.

[0013] Further, the wrist joint assembly includes a fifth rotary drive member, a forearm swing rod, a forearm moving rod, a forearm six-dimensional force sensor, a forearm seat and a forearm strap; the fifth rotary drive member is installed at the second end of the upper arm moving rod; the side wall of the first end of the forearm swing rod is connected to the fifth rotary drive member; the first end of the forearm moving rod is slidably connected to the second end of the forearm swing rod; the forearm six-dimensional force sensor is installed on the forearm moving rod; the forearm seat is installed on the forearm six-dimensional force sensor; and the two ends of the forearm strap are respectively detachably connected to the forearm seat.

[0014] Furthermore, the second end of the forearm moving rod has an arc-shaped sliding groove; the exoskeleton mechanical arm also includes an arc-shaped sliding block, a connecting plate and a handle; the arc-shaped sliding block is slidingly connected to the arc-shaped sliding groove; the first end of the connecting plate is rotatably connected to the arc-shaped sliding block; one end of the handle is fixedly connected to one end of the connecting plate.

[0015] The present application also provides an exoskeleton device, comprising a fixed mounting seat and two of the above-mentioned exoskeleton mechanical arms, wherein the exoskeleton mechanical arms are mounted on the fixed mounting seat, and the two exoskeleton mechanical arms are symmetrically arranged.

[0016] The beneficial effects of the exoskeleton mechanical arm and the exoskeleton device provided by the present application are: compared with the prior art, in the present application, through the mutual cooperation of various components, flexible movement with multiple degrees of freedom can be achieved to simulate the natural movements of the human hand and upper limbs, so as to adapt to the body structure and operation requirements of different operators. The sequential connection of the scapular assembly, the shoulder internal rotation and external rotation assembly, the shoulder extension and flexion assembly, and the shoulder adduction and abduction assembly constitute a complex and delicate movement mechanism of the shoulder, so that the exoskeleton mechanical arm can simulate various natural movements of the human shoulder, providing higher operational flexibility and accuracy. At the same time, the length of the elbow joint assembly and the wrist joint assembly can be telescopically adjusted, which further enhances the flexibility and adaptability of the mechanical arm, allowing the operator to more accurately control the mechanical arm to perform various operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic diagram of the three-dimensional structure of an exoskeleton mechanical arm provided in an embodiment of the present application;

[0019] Figure 2A schematic diagram of the three-dimensional structure of a shoulder blade assembly in an exoskeleton mechanical arm provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the assembly of the shoulder internal rotation and external rotation component, the shoulder extension and flexion component, and the shoulder adduction and abduction component in the exoskeleton mechanical arm provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the three-dimensional structure of the elbow joint assembly in the exoskeleton mechanical arm provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the assembly of an elbow joint assembly and a wrist joint assembly in an exoskeleton mechanical arm provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the three-dimensional structure of the wrist joint assembly in the exoskeleton mechanical arm provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of the exploded structure of the wrist dorsiflexion and palmar flexion assembly in the exoskeleton mechanical arm provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the three-dimensional structure of the exoskeleton device provided in an embodiment of the present application.

[0026] Among them, the reference numerals in the figure are:

[0027] 10-fixed mounting seat; 20-exoskeleton device;

[0028] 100-scapular assembly; 101-driving mounting seat; 102-first rotating driving member; 103-slide rail;

[0029] 200-shoulder internal rotation and external rotation assembly; 201-sliding block; 202-first swing arm;

[0030] 300-shoulder extension and flexion assembly; 301-second rotary drive member; 302-second swing arm;

[0031] 400-shoulder adduction and abduction assembly; 401-third rotary drive member; 402-third swing arm;

[0032] 500-elbow joint assembly; 501-fourth rotating drive member; 502-big arm swing rod; 521-big arm slide; 522-first big arm limit hole; 503-big arm moving rod; 531-second big arm limit hole; 504-big arm six-dimensional force sensor; 505-big arm seat; 506-big arm limit rod;

[0033] 600- wrist joint assembly; 601- fifth rotary drive member; 602- forearm swing rod; 621- forearm slide slot; 622- first forearm limit hole; 603- forearm moving rod; 631- second forearm limit hole; 632- arc sliding slot; 604- forearm six-dimensional force sensor; 605- forearm seat; 606- forearm limit rod;

[0034] 700- wrist dorsiflexion and palmar flexion assembly; 701- arc-shaped sliding block; 711- bearing seat; 702- connecting plate; 721- columnar structure; 722- long hole; 703- handle; 731- threaded structure; 704- ball; 705- bearing; 706- first retaining spring; 707- second retaining spring; 708- nut. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In response to the problems faced by the prior art, the embodiments of the present invention propose a force feedback exoskeleton robot arm solution that combines active and passive joints. The core of this solution is to promote the realization of remote control and skill learning with the help of human practical experience and intelligence in unstructured environments. By capturing the motion data of the operator's upper limbs on both sides, this bilateral exoskeleton mechanical device can guide the remote robot to complete unpredicted tasks, and at the same time, instantly transmit the remote interactive force information back to the operator, thereby providing a highly realistic on-site operation experience.

[0040] Please also read Figure 1 and Figure 8 , the exoskeleton mechanical arm 20 provided by the embodiment of the present application is now described. The exoskeleton mechanical arm 20 includes a scapula component 100, a shoulder internal rotation and external rotation component 200, a shoulder extension and flexion component 300, a shoulder adduction and abduction component 400, an elbow joint component 500 and a wrist joint component 600; the first end of the shoulder internal rotation and external rotation component 200 is slidably connected to the scapula component 100; the first end of the shoulder extension and flexion component 300 is rotatably connected to the second end of the shoulder internal rotation and external rotation component 200; the first end of the shoulder adduction and abduction component 400 is rotatably connected to the second end of the shoulder extension and flexion component 300; the first end of the elbow joint component 500 is rotatably connected to the second end of the shoulder adduction and abduction component 400; the length of the elbow joint component 500 can be telescopically adjusted; the first end of the wrist joint component 600 is rotatably connected to the second end of the elbow joint component 500; the length of the wrist joint component 600 can be telescopically adjusted.

[0041] Compared with the prior art, the exoskeleton mechanical arm 20 provided by the present application can realize flexible movement with multiple degrees of freedom through the mutual cooperation of various components in the embodiment of the present application to simulate the natural movements of the upper limbs of the human hand, so as to adapt to the body structure and operation requirements of different operators. The sequential connection of the scapula component 100, the shoulder internal rotation and external rotation component 200, the shoulder extension and flexion component 300, and the shoulder adduction and abduction component 400 constitute a complex and delicate movement mechanism of the shoulder, so that the exoskeleton mechanical arm 20 can simulate various natural movements of the human shoulder, providing higher operational flexibility and accuracy. At the same time, the lengths of the elbow joint component 500 and the wrist joint component 600 can be telescopically adjusted, which further enhances the flexibility and adaptability of the mechanical arm, so that the operator can more accurately control the mechanical arm to perform various operations.

[0042] In one embodiment of the present application, please refer to Figure 1 and Figure 2 The shoulder blade assembly 100 includes a driving mounting seat 101, a first rotating driving member 102 and a slide rail 103; the first rotating driving member 102 is installed on the driving mounting seat 101; and the side surface of one end of the slide rail 103 is connected to the first rotating driving member 102.

[0043] In one embodiment of the present application, please refer to Figure 2 and Figure 3 The shoulder internal rotation and external rotation assembly 200 includes a slider 201 and a first swing arm 202 ; the slider 201 is slidably connected to the slide rail 103 ; and the first end of the first swing arm 202 is connected to the slider 201 .

[0044] In this embodiment, the sliding of the slider 201 on the slide rail 103, in conjunction with the driving of the first rotating drive member 102, enables the shoulder internal rotation and external rotation assembly 200 to flexibly perform internal rotation and external rotation movements, further increasing the range of motion and adaptability of the exoskeleton robotic arm 20.

[0045] In one embodiment of the present application, please refer to Figure 1 and Figure 3 The shoulder extension and flexion assembly 300 includes a second rotating driving member 301 and a second swing arm 302; the second rotating driving member 301 is installed at the second end of the first swing arm 202; the first end side of the second swing arm 302 is connected to the second rotating driving member 301.

[0046] Driven by the second rotary drive member 301, the second swing arm 302 can perform extension and flexion movements relative to the first swing arm 202, thereby simulating the extension and flexion movements of the human shoulder.

[0047] In one embodiment of the present application, please refer to Figure 1 and Figure 3 The shoulder adduction and abduction assembly 400 includes a third rotation driving member 401 and a third swing arm 402; the third rotation driving member 401 is installed at the second end of the second swing arm 302; the first end side of the third swing arm 402 is connected to the third rotation driving member 401.

[0048] In this embodiment, the driving of the third rotating driving member 401 enables the third swing arm 402 to perform adduction and abduction movements relative to the second swing arm 302, further enriching the shoulder movement function of the exoskeleton robot arm 20.

[0049] In one embodiment of the present application, please refer to Figure 4 and Figure 5 The elbow joint assembly 500 includes a fourth rotary drive member 501, a big arm swing rod 502, a big arm moving rod 503, a big arm six-dimensional force sensor 504, a big arm seat 505 and a big arm strap (not shown); Figure 3As shown, the fourth rotating driving member 501 is installed at the second end of the third swing arm 402; the side wall of the first end of the upper arm swing rod 502 is connected to the fourth rotating driving member 501; the first end of the upper arm moving rod 503 is slidingly connected to the second end of the upper arm swing rod 502; the upper arm six-dimensional force sensor 504 is installed on the upper arm swing rod 502; the upper arm seat 505 is installed on the upper arm six-dimensional force sensor 504; the two ends of the upper arm strap are respectively detachably connected to the upper arm seat 505.

[0050] In this embodiment, the fourth rotary drive member 501, the upper arm swing rod 502, the upper arm moving rod 503, the upper arm six-dimensional force sensor 504, the upper arm seat 505 and the upper arm strap work together to achieve flexible movement of the elbow joint. The sliding connection between the upper arm swing rod 502 and the upper arm moving rod 503 allows the length of the elbow joint assembly 500 to be telescopically adjusted to adapt to the arm length and operation requirements of different operators. The upper arm six-dimensional force sensor 504 can sense and feedback the force on the elbow joint in real time, thereby enhancing the operator's on-the-spot perception ability.

[0051] In this embodiment, please refer to Figure 4 The boom swing rod 502 is provided with a boom slide groove 521, and the boom moving rod 503 can slide in the boom slide groove 521; the boom swing rod 502 is provided with a plurality of first boom limiting holes 522, and the first boom limiting holes 522 pass through the side wall of the boom slide groove 521; the boom moving rod 503 is provided with a plurality of second boom limiting holes 531; the elbow joint assembly 500 also includes a boom limiting rod 506; after the relative positions of the boom swing rod 502 and the boom moving rod 503 are adjusted, the axes of the first boom limiting hole 522 and the second boom limiting hole 531 are aligned, and the boom limiting rod 506 passes through the first boom limiting hole 522 and the second boom limiting hole 531 in sequence to fix the relative positions of the boom swing rod 502 and the boom moving rod 503, thereby ensuring the stability and accuracy of the elbow joint assembly 500.

[0052] In one embodiment of the present application, see Figure 3 The rotation axes of the second rotary drive member 301, the third rotary drive member 401, and the fourth rotary drive member 501 intersect at one point. The kinematic relationship thereof coincides with the equivalent functional motion axes of the human shoulder flexion and extension, external rotation and internal rotation, and abduction and adduction within the motion range.

[0053] In one embodiment of the present application, please refer to Figure 4 and Figure 5The wrist joint assembly 600 includes a fifth rotating drive member 601, a forearm swing rod 602, a forearm moving rod 603, a forearm six-dimensional force sensor 604, a forearm seat 605 and a forearm strap (not shown); the fifth rotating drive member 601 is installed at the second end of the upper arm moving rod 503; the side wall of the first end of the forearm swing rod 602 is connected to the fifth rotating drive member 601; the first end of the forearm moving rod 603 is slidably connected to the second end of the forearm swing rod 602; the forearm six-dimensional force sensor 604 is installed on the forearm moving rod 603; the forearm seat 605 is installed on the forearm six-dimensional force sensor 604; the two ends of the forearm strap are respectively detachably connected to the forearm seat 605.

[0054] In this embodiment, the sliding connection between the forearm swing rod 602 and the forearm moving rod 603 enables the length of the wrist joint assembly 600 to be telescopically adjusted. The forearm six-dimensional force sensor 604 can sense and feedback the force on the wrist joint in real time, providing the operator with more accurate force feedback.

[0055] In this embodiment, please refer to Figure 6 The forearm swing rod 602 is provided with a forearm slide groove 621, and the forearm moving rod 603 can slide in the forearm slide groove 621; the forearm swing rod 602 is provided with a plurality of first forearm limiting holes 622, and the first forearm limiting holes 622 pass through the side wall of the forearm slide groove 621; the forearm moving rod 603 is provided with a plurality of second forearm limiting holes 631; the wrist joint assembly 600 also includes a forearm limiting rod 606; after the relative positions of the forearm swing rod 602 and the forearm moving rod 603 are adjusted, the axes of the first forearm limiting hole 622 and the second forearm limiting hole 631 are aligned, and the forearm limiting rod 606 passes through the first forearm limiting hole 622 and the second forearm limiting hole 631 in sequence to fix the relative positions of the forearm swing rod 602 and the forearm moving rod 603, thereby ensuring the stability and accuracy of the wrist joint assembly 600.

[0056] In one embodiment of the present application, please refer to Figure 6 and Figure 7 The second end of the forearm moving rod 603 has an arc-shaped sliding groove 632; the exoskeleton mechanical arm 20 also includes an arc-shaped sliding block 701, a connecting plate 702 and a handle 703; the arc-shaped sliding block 701 is slidably connected to the arc-shaped sliding groove 632; the first end of the connecting plate 702 is rotatably connected to the arc-shaped sliding block 701; one end of the handle 703 is fixedly connected to one end of the connecting plate 702. The arc-shaped sliding block 701, the connecting plate 702 and the handle 703 constitute a wrist dorsiflexion and palmar flexion assembly 700.

[0057] In this embodiment, the sliding of the arc-shaped sliding block 701 in the arc-shaped sliding groove 632, in conjunction with the driving of each rotating driving member, enables the wrist of the exoskeleton mechanical arm 20 to flexibly perform various complex movements, further enhancing the flexibility and adaptability of the exoskeleton mechanical arm 20. The provision of the connecting plate 702 and the grip 703 facilitates the operator to hold, thereby improving the convenience and comfort of operation.

[0058] It is understandable that the arc-shaped sliding groove 632 is an arc-shaped structure, and the axis of the arc-shaped structure intersects at one point with the rotation axis of the fifth rotary drive member 601. Its kinematic relationship coincides with the equivalent functional motion axis of the human wrist dorsiflexion, palmar flexion, pronation and supination within the motion range.

[0059] In this embodiment, please refer to Figure 7 The side wall of the arc-shaped sliding block 701 is inlaid with a plurality of balls 704, and the arc-shaped sliding block 701 slides in the arc-shaped sliding groove 632 through the balls 704. This design reduces the friction between the arc-shaped sliding block 701 and the arc-shaped sliding groove 632, making the sliding smoother and prolonging the service life.

[0060] In this embodiment, please refer to Figure 7 One end of the arc-shaped sliding block 701 forms a bearing seat 711, and a bearing 705 is arranged in the bearing seat 711, and the bearing 705 is fixed in the bearing seat 711 by a first retaining spring 706; one end of the connecting plate 702 has a raised columnar structure 721, and the columnar structure 721 is fixed in the inner ring of the bearing 705 by a second retaining spring 707. Such a design not only ensures the stability of the rotational connection between the connecting plate 702 and the arc-shaped sliding block 701, but also can withstand greater force and torque, thereby ensuring the stability and durability of the exoskeleton robot arm 20.

[0061] In this embodiment, please refer to Figure 7 A long hole 722 is provided on the connecting plate 702, and one end of the handle 703 has a threaded structure 731. The threaded structure 731 passes through the long hole 722. The handle 703 and the connecting plate 702 are fixed by screwing a nut 708 on the threaded structure 731. The design of the long hole 722 can adjust the installation position of the handle 703 on the connecting plate 702.

[0062] In this embodiment, the first rotary drive member 102, the second rotary drive member 301, the third rotary drive member 401, the fourth rotary drive member 501 and the fifth rotary drive member 601 all use quasi-direct drive joint motors with low transmission ratios to achieve high-precision motion control. Such motors have smaller transmission errors and higher transmission efficiency, which can ensure the stability and accuracy of the exoskeleton mechanical arm 20 during movement. At the same time, the use of quasi-direct drive joint motors also reduces the complexity and weight of the transmission chain, making the entire exoskeleton mechanical arm 20 more lightweight and flexible.

[0063] In one embodiment of the present application, the first rotary drive member 102, the second rotary drive member 301, the third rotary drive member 401, the fourth rotary drive member 501 and the fifth rotary drive member 601 are all equipped with encoders to monitor and feedback the rotation angle and speed of the drive member in real time. The encoder can convert the motion state of the rotary drive member into an electrical signal and transmit it to the control system. The control system accurately controls and adjusts each rotary drive member according to the received signal to achieve the precise movement of the exoskeleton mechanical arm 20. The control system of the exoskeleton mechanical arm 20 is also equipped with functions such as overload protection, emergency stop and collision detection.

[0064] In this embodiment, the main components of the scapula assembly 100, the shoulder internal rotation and external rotation assembly 200, the shoulder extension and flexion assembly 300, the shoulder adduction and abduction assembly 400, the elbow joint assembly 500 and the wrist joint assembly 600 are all made of a lightweight and high-strength carbon fiber polylactic acid composite material, which not only has high strength and rigidity, but also has good corrosion resistance and wear resistance, and can operate stably for a long time in a harsh working environment. In addition, the carbon fiber polylactic acid composite material has a low density, which helps to reduce the weight of the entire exoskeleton mechanical arm 20 and improve the comfort and maneuverability of the operator.

[0065] In the specific implementation process, the operator can wear the exoskeleton robot arm 20 and use the exoskeleton robot arm 20 for remote operation. The operator's motion data is captured and transmitted to the control system, and the control system controls the exoskeleton robot arm 20 to perform corresponding movements based on these data. At the same time, the exoskeleton robot arm 20 transmits the remote interactive force information back to the operator in real time, providing the operator with a highly realistic on-site operation experience. This force feedback exoskeleton robot arm 20 solution that combines active and passive joints not only improves the accuracy and efficiency of remote operation, but also promotes the realization of remote control and skill learning, providing strong support for remote operations in unstructured environments.

[0066] This application also provides an exoskeleton device, see Figure 8The exoskeleton device includes a fixed mounting seat 10 and the two exoskeleton mechanical arms 20 mentioned above. The exoskeleton mechanical arms 20 are installed on the fixed mounting seat 10, and the two exoskeleton mechanical arms 20 are symmetrically arranged.

[0067] In this embodiment, the fixed mounting base 10 of the exoskeleton device is designed to be stable and can ensure the stability and safety of the exoskeleton mechanical arm 20 after installation. The symmetrical arrangement of the two exoskeleton mechanical arms 20 not only conforms to the principle of ergonomics, but also ensures that the exoskeleton mechanical arms 20 on both sides can maintain balance and coordination when the operator performs bilateral operations, thereby improving the stability and accuracy of the operation.

[0068] Specifically, the driving mount 101 is mounted on the fixed mount 10 by bolts; the position of the driving mount 101 on the fixed mount 10 can be adjusted, thereby adjusting the distance between the two exoskeleton mechanical arms 20 to adapt to the shoulder width and body shape of different operators, thereby improving the adaptability and comfort of the exoskeleton device.

[0069] The exoskeleton mechanical arm and exoskeleton device provided in the embodiments of the present application have the following advantages:

[0070] (1) Multi-degree-of-freedom joint design: This application adopts a multi-degree-of-freedom joint design, each joint is equipped with an independent motor drive and a high-precision encoder, which can achieve flexible movement in multiple directions. This design enables the exoskeleton to simulate the natural movements of human hands and limbs, providing higher operational flexibility and precision.

[0071] (2) Lightweight and high-strength materials: This application uses lightweight and high-strength carbon fiber polylactic acid composite materials, which significantly reduces the weight of the exoskeleton while ensuring structural strength. This not only reduces the burden on the user, but also improves the overall performance of the exoskeleton device.

[0072] (3) Adaptive adjustment mechanism: The present application is designed with an adaptive adjustment mechanism, which can adjust the fit of the exoskeleton according to the user's body shape and movement habits. Through the upper arm six-dimensional force sensor 504 and the lower arm six-dimensional force sensor 604, the exoskeleton can monitor the user's body posture in real time and automatically adjust the support force and position of each part to ensure comfortable wearing and easy operation.

[0073] (4) Modular design: The present application includes more than one module, including a scapula component 100, a shoulder internal rotation and external rotation component 200, a shoulder extension and flexion component 300, a shoulder adduction and abduction component 400, an elbow joint component 500, and a wrist joint component 600. The modular design allows each component to be replaced and maintained independently, greatly improving the reliability and maintainability of the exoskeleton device. This design not only facilitates daily maintenance, but also allows users to select the appropriate module combination according to different task requirements, thereby enhancing the adaptability of the exoskeleton device.

[0074] (5) Integrated safety mechanisms: This application integrates a variety of safety mechanisms, including overload protection, emergency stop, and collision detection. The exoskeleton can monitor various parameters during operation in real time. Once an abnormal situation is detected, protective measures will be taken immediately to ensure the safety of the user.

[0075] (6) Gravity compensation system: The exoskeleton arm 20 uses a low-gear ratio quasi-direct drive joint motor, and uses a gravity compensation algorithm to reduce the load on the operator due to the gravity of the exoskeleton arm 20. This design not only improves the response speed of the exoskeleton device, but also reduces the burden on the operator.

[0076] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An exoskeleton robot arm, characterized in that: include: Scapular component; A shoulder internal rotation and external rotation component, wherein a first end of the shoulder internal rotation and external rotation component is slidably connected to the scapular component; A shoulder extension and flexion assembly, wherein a first end of the shoulder extension and flexion assembly is rotatably connected to a second end of the shoulder internal rotation and external rotation assembly; A shoulder adduction and abduction assembly, wherein a first end of the shoulder adduction and abduction assembly is rotatably connected to a second end of the shoulder extension and flexion assembly; An elbow joint assembly, wherein the first end of the elbow joint assembly is rotatably connected to the second end of the shoulder adduction and abduction assembly; the length of the elbow joint assembly can be telescopically adjusted; Wrist joint assembly; the first end of the wrist joint assembly is rotatably connected to the second end of the elbow joint assembly; the length of the wrist joint assembly can be telescopically adjusted.

2. The exoskeleton mechanical arm according to claim 1, characterized in that: The shoulder blade assembly comprises: Drive mount; a first rotary drive member, the first rotary drive member being mounted on the drive mounting seat; A slide rail, wherein a side surface of one end of the slide rail is connected to the first rotating driving member.

3. The exoskeleton mechanical arm according to claim 2, characterized in that: The shoulder internal rotation and external rotation component comprises: A slider, the slider being slidably connected to the slide rail; A first swing arm, wherein a first end of the first swing arm is connected to the sliding block.

4. The exoskeleton mechanical arm according to claim 3, characterized in that: The shoulder extension and flexion component comprises: a second rotation driving member, the second rotation driving member being mounted on a second end of the first swing arm; A second swing arm, wherein a first end side surface of the second swing arm is connected to the second rotation driving member.

5. The exoskeleton mechanical arm according to claim 4, characterized in that: The shoulder adduction and abduction component comprises: a third rotation driving member, the third rotation driving member being mounted on the second end of the second swing arm; A third swing arm, wherein the first end side surface of the third swing arm is connected to the third rotation driving member.

6. The exoskeleton mechanical arm according to claim 5, characterized in that: The elbow joint assembly comprises: a fourth rotation driving member, the fourth rotation driving member being mounted on the second end of the third swing arm; A boom swing rod, wherein a side wall of a first end of the boom swing rod is connected to the fourth rotary drive member; A boom moving rod, a first end of which is slidably connected to a second end of the boom swing rod; A six-dimensional force sensor for the upper arm, wherein the six-dimensional force sensor for the upper arm is installed on the swing rod of the upper arm; A big arm support seat, wherein the big arm support seat is mounted on the big arm six-dimensional force sensor; An upper arm strap, wherein both ends of the upper arm strap are detachably connected to the upper arm seat.

7. The exoskeleton mechanical arm according to claim 6, characterized in that: The rotation axes of the second rotation driving member, the third rotation driving member, and the fourth rotation driving member intersect at one point.

8. The exoskeleton mechanical arm according to claim 6, characterized in that: The wrist joint assembly comprises: a fifth rotary drive member, the fifth rotary drive member being mounted on the second end of the boom moving rod; A forearm swing rod, wherein a side wall of a first end of the forearm swing rod is connected to the fifth rotation driving member; A forearm moving rod, a first end of the forearm moving rod being slidably connected to a second end of the forearm swing rod; A six-dimensional force sensor for the forearm, wherein the six-dimensional force sensor for the forearm is installed on the forearm moving rod; A forearm support seat, the forearm support seat is mounted on the forearm six-dimensional force sensor; A forearm strap, wherein both ends of the forearm strap are detachably connected to the forearm support seat.

9. The exoskeleton mechanical arm according to claim 8, characterized in that: The second end of the forearm moving rod has an arc-shaped sliding groove; the exoskeleton mechanical arm also includes: An arc-shaped sliding block, wherein the arc-shaped sliding block is slidably connected to the arc-shaped sliding groove; A connecting plate, a first end of which is rotatably connected to the arc-shaped sliding block; A handle, one end of which is fixedly connected to one end of the connecting plate.

10. An exoskeleton device, characterized in that: It comprises a fixed mounting seat and two exoskeleton mechanical arms as described in any one of claims 1 to 9, wherein the exoskeleton mechanical arms are mounted on the fixed mounting seat, and the two exoskeleton mechanical arms are symmetrically arranged.

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