Big arm structure of teleoperation exoskeleton convenient for fine operation

Abstract

The utility model relates to the technical field of exoskeleton mechanical equipment, in particular to a teleoperation exoskeleton big arm structure convenient for fine operation, which comprises a waist support assembly, a back support assembly, shoulder joints, big arm joints, elbow joints and a forearm fixing assembly, the waist support assembly is connected with a second fixing plate in the back support assembly through a limiting plate; the back supporting assembly is connected with a shoulder joint through a limiting block, the shoulder joint is specifically installed on one side of a big arm joint, an elbow joint is arranged on one side of the big arm joint, and a forearm fixing assembly is arranged on one side of the elbow joint; the adjustable damping type hinge is adopted, the damping of the adjustable damping type hinge is adjusted according to different joint parts and operation types after wearing, so that the hinge can be kept hovering at any position, the output of an operator during wearing is reduced, the fatigue feeling of the operator is relieved, and the safety of the operator is improved. Interference of tiny jittering of a large arm on the multi-axis mechanical arm / humanoid robot is filtered out, and fine operation is facilitated.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of exoskeleton mechanical devices, in particular to a large-arm structure of a teleoperation exoskeleton facilitating fine operation. BACKGROUND

[0002] An exoskeleton is an external support structure, which can be divided into biological exoskeletons and artificial exoskeletons. An artificial exoskeleton in modern technology is a wearable device that enhances human body capacity or assists movement through mechanical, electronic and sensor technologies, and is mainly applied in the fields of medical rehabilitation, military and industry.

[0003] In the prior art, a three-degree-of-freedom exoskeleton upper limb is disclosed in Chinese Patent No. CN202110573711.8, which is provided with mechanical limiters at three rotation angle limit positions to ensure the safety of the wearer. The three-degree-of-freedom exoskeleton upper limb is simple and compact in overall design, and the non-imitative three-degree-of-freedom configuration can greatly simplify the upper limb structure, reduce the weight of the upper limb, and facilitate human-machine collaborative control. Compared with a hydraulic drive, the servo motor drive system is light in structure and has a more rapid control response, which can greatly reduce the complexity of the upper limb structure under the premise of meeting the structural strength, rigidity and operation requirements, and the control method is relatively simple. The large-arm body and the small-arm body are cavity structures with wiring cavities, which are beneficial to the realization of structural lightweight. The servo motor or servo hydraulic system can match the human upper limb movement to the greatest extent, but the relatively complex structure leads to an excessive self-weight of the upper limb, the wearer cannot use it alone without protective equipment, and the upper limb exoskeleton has a low assist efficiency. The adaptability and safety of the wearer are also less considered, and the exoskeleton upper limb cannot meet the use requirements in complex working conditions.

[0004] The applicant finds that the prior art has the following problems in the process of implementing the application: the wearable exoskeleton can restore human action to a greater extent, and the action capture scheme has the advantages of high control precision, simple mapping relationship and high restoration degree of imitative action compared with the former. However, the human body is prone to fatigue and joint shaking during long-time same posture and load operation, which causes shaking and misoperation of the mechanical arm. Therefore, the patent proposes a large-arm structure of a teleoperation exoskeleton facilitating fine operation. Content of the utility model

[0005] The purpose of the application is to provide a large-arm structure of a teleoperation exoskeleton facilitating fine operation.

[0006] The large-arm structure of a teleoperation exoskeleton facilitating fine operation provided by the application adopts the following technical scheme:

[0007] The large arm configuration of the teleoperation exoskeleton convenient for fine operation comprises a waist support assembly, a back support assembly, a shoulder joint, a large arm joint, an elbow joint and a small arm fixing assembly, the waist support assembly comprises a first fixing plate and a counterweight module, the side end face of the first fixing plate is provided with the counterweight module, the first fixing plate is connected with a limiting plate through a rotating seat, the back support assembly comprises a second fixing plate and a limiting shaft, the side end face of the second fixing plate is provided with the limiting shaft, the second fixing plate is connected with a third fixing plate through the limiting shaft, the side end face of the second fixing plate is provided with a limiting column, and the contact surface of the limiting column and the third fixing plate is provided with an arc-shaped groove, the waist support assembly is connected with the second fixing plate in the back support assembly through the limiting plate, one corner of the third fixing plate is provided with a limiting block, the back support assembly is connected with the shoulder joint through the limiting block, and the shoulder joint is specifically installed on one side of the large arm joint, the side, away from the shoulder joint, of the large arm joint is provided with the elbow joint, and the side, away from the large arm joint, of the elbow joint is provided with the small arm fixing assembly, and the waist support assembly, the back support assembly, the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly are symmetrically arranged.

[0008] By adopting the technical scheme, the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly are supported through the waist support assembly and the back support assembly, and the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly are also conveniently limited, thereby guaranteeing the stability of the device, the first fixing plate, the counterweight module, the rotating seat and the limiting plate in the waist support assembly support the back support assembly, the rotating seat rotates with the first fixing plate, the limiting plate slides with the second fixing plate in the back support assembly, the second fixing plate slides with the arc-shaped groove dug in the third fixing plate through the limiting shaft and the limiting column, and the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly are conveniently moved.

[0009] The shoulder joint comprises a joint shaft and a shoulder connecting pivot, one side of the joint shaft is provided with the shoulder connecting pivot, the side end face of the joint shaft is provided with a shoulder abduction joint encoder, one side of the shoulder abduction joint encoder is connected with a shoulder abduction joint mandrel, and the joint shaft is rotatably connected with a shoulder abduction joint support.

[0010] By adopting the technical scheme, the shoulder joint is connected with the back support assembly through the shoulder connecting pivot, the shoulder connecting pivot in the shoulder joint is rotatably arranged around the joint shaft and the shoulder abduction joint mandrel as the center, the rotation position change of the joint shaft and the shoulder abduction joint mandrel is detected through the shoulder abduction joint encoder, and the shoulder joint is limited with the large arm joint through the shoulder abduction joint support.

[0011] The large arm joint comprises a first turnover shaft and a large arm varus joint encoder, one side of the first turnover shaft is provided with the large arm varus joint encoder, the first turnover shaft is rotationally connected with a large arm support, a side end surface of the large arm support is provided with a large arm length adjusting mechanism, and a side of the large arm length adjusting mechanism away from the large arm support is provided with a large arm upper connecting plate, a side of the large arm support away from the large arm length adjusting mechanism is provided with a large arm elastic restraint belt, and the large arm length adjusting mechanism comprises a large arm length adjusting optical shaft, a large arm length adjusting sliding block and a large arm length adjusting locking nut, and a large arm varus joint mandrel is installed at the center of the first turnover shaft.

[0012] By adopting the above technical scheme, the large arm joint constitutes a rotating structure with the shoulder abduction joint support in the shoulder joint through the first turnover shaft, and the rotating position change of the first turnover shaft and the large arm varus joint mandrel is detected through the large arm varus joint encoder, the large arm support is limitingly connected with the external device through the large arm elastic restraint belt, and the large arm support constitutes a sliding structure with the large arm upper connecting plate through the large arm length adjusting optical shaft, the large arm length adjusting sliding block and the large arm length adjusting locking nut in the large arm length adjusting mechanism, so as to adjust the length of the large arm support and the large arm upper connecting plate, thereby facilitating the adjustment of the large arm support and the large arm upper connecting plate.

[0013] The elbow joint comprises a second turnover shaft and an elbow rotation joint encoder mandrel, the elbow rotation joint encoder mandrel is installed at the center of the second turnover shaft, and the outer diameter surface of the second turnover shaft is provided with a small arm connecting shaft.

[0014] By adopting the above technical scheme, the elbow joint constitutes a rotating structure with the small arm connecting shaft through the second turnover shaft and the elbow rotation joint encoder mandrel, and the small arm connecting shaft is limitingly connected with the small arm fixing assembly.

[0015] The small arm fixing assembly comprises a connecting frame and a fourth fixing plate, the connecting frame is installed on one side of the fourth fixing plate, and one side of the fourth fixing plate is connected with a mounting frame through a slide rail.

[0016] By adopting the above technical scheme, the small arm fixing assembly is limitingly connected with the small arm connecting shaft through the connecting frame, and the fourth fixing plate slides with the mounting frame through the slide rail, thereby facilitating the stability of the holding device.

[0017] The first turnover shaft comprises a first torque adjusting nut and a first upper friction ring, the first torque adjusting nut is provided below the first upper friction ring, a first rotary ring is arranged on the side of the first upper friction ring away from the first torque adjusting nut, a first lower friction ring is arranged on the side of the first rotary ring away from the first upper friction ring, a first fixed ring is arranged on the side of the first lower friction ring away from the first rotary ring, a first butterfly spring is arranged on the side of the first fixed ring away from the first lower friction ring, and a first hollow core shaft is arranged on the side of the first butterfly spring away from the first fixed ring.

[0018] By adopting the above technical scheme, the damping effect of the hinge is adjustable through the first torque adjusting nut, the first upper friction ring, the first rotary ring, the first lower friction ring, the first fixed ring, the first butterfly spring and the first hollow core shaft in the first turnover shaft, the first turnover shaft is made of the adjustable damping type hinge, the damping of the adjustable damping type hinge is adjusted according to different joint positions and operation types after wearing, the hinge can be kept hovering at any position, the output of the operator during wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, and some fine operations are facilitated.

[0019] The second turnover shaft comprises a second torque adjusting nut and a second upper friction ring, the second torque adjusting nut is provided below the second upper friction ring, a second rotary ring is arranged on the side of the second upper friction ring away from the second torque adjusting nut, a second lower friction ring is arranged on the side of the second rotary ring away from the second upper friction ring, a second fixed ring is arranged on the side of the second lower friction ring away from the second rotary ring, a second butterfly spring is arranged on the side of the second fixed ring away from the second lower friction ring, and a second hollow core shaft is arranged on the side of the second butterfly spring away from the second fixed ring.

[0020] By adopting the above technical scheme, the damping effect of the hinge is adjustable through the second torque adjusting nut, the second upper friction ring, the second rotary ring, the second lower friction ring, the second fixed ring, the second butterfly spring and the second hollow core shaft in the second turnover shaft, the second turnover shaft is made of the adjustable damping type hinge, the damping of the adjustable damping type hinge is adjusted according to different joint positions and operation types after wearing, the hinge can be kept hovering at any position, the output of the operator during wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, and some fine operations are facilitated.

[0021] The joint shaft is connected with the shoulder abduction joint support through the shoulder abduction joint core shaft, the shoulder abduction joint support and the shoulder connecting shaft constitute a rotating structure with the joint shaft as the center, and the shoulder connecting shaft and the limiting block in the back support assembly constitute a snap-fit structure.

[0022] By adopting the above technical scheme, the shoulder joint can be moved and rotated, the fatigue of the operator during long-time wearing of the exoskeleton can be reduced, the interference on the multi-axis robot caused by shaking of the large arm can be filtered out, and long-time fine operation can be performed after wearing.

[0023] The large arm support and the shoulder abduction joint support constitute a rotating structure around the first flip shaft as the center, and the large arm support and the large arm upper connecting plate constitute a sliding structure through the large arm length adjustment optical shaft, the large arm length adjustment sliding block and the large arm length adjustment locking nut in the large arm length adjustment mechanism.

[0024] By adopting the above technical scheme, the large arm support and the shoulder joint are snap-fit connected through the first flip shaft and the large arm inversion joint encoder, the length change between the large arm support and the large arm upper connecting plate is adjusted through the large arm length adjustment optical shaft, the large arm length adjustment sliding block and the large arm length adjustment locking nut in the large arm length adjustment mechanism, the large arm support is fixed through the large arm elastic restraint belt, the fatigue of the operator during long-time wearing of the exoskeleton can be reduced, the interference on the multi-axis robot caused by shaking of the large arm can be filtered out, and long-time fine operation can be performed after wearing.

[0025] The large arm upper connecting plate and the small arm connecting shaft constitute a rotating structure around the second flip shaft as the center, the small arm connecting shaft and the connecting frame in the small arm fixing assembly constitute a snap-fit structure, and the fourth fixing plate and the mounting frame constitute a sliding structure through the slide rail.

[0026] By adopting the above technical scheme, the large arm upper connecting plate rotates with the second flip shaft, the elbow rotation joint encoder core shaft and the small arm connecting shaft, so that the small arm rotates, the connecting frame in the elbow joint and the small arm fixing assembly constitute a snap-fit structure, the fourth fixing plate slides with the mounting frame through the slide rail, the length between the fourth fixing plate and the mounting frame is adjusted, the fatigue of the operator during long-time wearing of the exoskeleton can be reduced, the interference on the multi-axis robot caused by shaking of the large arm can be filtered out, and long-time fine operation can be performed after wearing.

[0027] To sum up, the present application includes at least one of the following beneficial technical effects:

[0028] Compared with the prior art, the large arm structure of the remote operation exoskeleton convenient for fine operation supports the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly by using the waist support assembly and the back support assembly during use, and also facilitates the limiting of the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly, thereby ensuring the stability of the device, and the first fixing plate, the counterweight module, the rotating seat and the limiting plate in the waist support assembly support the back support assembly, the rotating seat rotates with the first fixing plate, the limiting plate slides with the second fixing plate in the back support assembly, and the second fixing plate slides with the arc-shaped groove excavated on the third fixing plate through the limiting shaft and the limiting column, thereby facilitating the movement of the shoulder joint, the large arm joint, the elbow joint and the small arm fixing assembly, wherein the first flip shaft is made of an adjustable damping hinge, and after wearing, the damping of the adjustable damping hinge is adjusted according to different joint positions and operation types, so that the hinge can hover at any position, reducing the output of the operator when wearing and reducing the fatigue of the operator, filtering out some small shaking of the large arm to interfere with the multi-axis mechanical arm / robot, and being conducive to some fine operations.

[0029] Compared with the prior art, the large arm structure of the remote operation exoskeleton convenient for fine operation, wherein the shoulder joint is connected to the back support assembly through the shoulder connecting shaft, and the shoulder joint in the shoulder connecting shaft rotates around the joint shaft and the shoulder abduction joint shaft as the center, and the shoulder abduction joint encoder detects the change in the rotation position of the joint shaft and the shoulder abduction joint shaft, and the shoulder joint is connected to the large arm joint through the shoulder abduction joint support, wherein the large arm joint is connected to the shoulder abduction joint support in the shoulder joint through the first flip shaft to form a rotating structure, and the large arm joint is connected to the large arm joint through the large arm joint encoder to detect the change in the rotation position of the first flip shaft and the large arm joint shaft, and the large arm support is connected to the external device through the large arm elastic restraint belt, and the large arm support is connected to the large arm upper connecting plate through the large arm length adjustment optical shaft, the large arm length adjustment sliding block and the large arm length adjustment locking nut in the large arm length adjustment mechanism to form a sliding structure, so as to adjust the length of the large arm support and the large arm upper connecting plate, thereby facilitating the adjustment of the large arm support and the large arm upper connecting plate, wherein the elbow joint is connected to the small arm connecting shaft through the second flip shaft and the elbow rotation joint encoder shaft, and the small arm connecting shaft is connected to the small arm fixing assembly, wherein the small arm fixing assembly is connected to the small arm connecting shaft through the connecting frame, and the fourth fixing plate is connected to the mounting frame through the sliding rail, thereby facilitating the stability of the device.

[0030] Compared with the prior art, the large arm structure of the remote operation exoskeleton convenient for fine operation can adjust the damping effect of the hinge through the first torque adjusting nut, the first upper friction ring, the first rotating ring, the first lower friction ring, the first fixed ring, the first butterfly spring and the first hollow shaft in the first flip shaft, the first flip shaft is made of an adjustable damping type hinge, and after wearing, the damping of the adjustable damping type hinge is adjusted according to different joint positions and operation types, so that the hinge can be kept hovering at any position, the output of the operator when wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, and some fine operations are facilitated. The damping effect of the hinge is adjusted through the second torque adjusting nut, the second upper friction ring, the second rotating ring, the second lower friction ring, the second fixed ring, the second butterfly spring and the second hollow shaft in the second flip shaft, the second flip shaft is made of an adjustable damping type hinge, and after wearing, the damping of the adjustable damping type hinge is adjusted according to different joint positions and operation types, so that the hinge can be kept hovering at any position, the output of the operator when wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, and some fine operations are facilitated. The back support assembly is connected and limited through the limiting block and the shoulder connecting shaft in the shoulder joint, so that the shoulder joint can move and rotate, the fatigue of the operator when wearing the exoskeleton for a long time is reduced, the interference of the multi-axis mechanical arm / robot caused by the shaking of the large arm is filtered out, and fine operation can be performed for a long time after wearing. The large arm support is connected and buckled with the shoulder joint through the first flip shaft and the large arm inversion joint encoder, and the length change between the large arm support and the upper connecting plate of the large arm is adjusted through the large arm length adjustment optical axis, the large arm length adjustment sliding block and the large arm length adjustment locking nut in the large arm length adjustment mechanism, and the large arm support is fixed through the large arm elastic restraint belt, so that the large arm support is finally fixed. The upper connecting plate of the large arm rotates with the small arm through the second flip shaft, the elbow rotation joint encoder shaft and the small arm connecting shaft, so that the small arm rotates, and the connecting frame in the elbow joint and the small arm fixing assembly forms a buckling structure, and the fourth fixing plate slides with the mounting frame through the slide rail, so that the length between the fourth fixing plate and the mounting frame can be adjusted. The fatigue of the operator when wearing the exoskeleton for a long time is reduced, the interference of the multi-axis mechanical arm / robot caused by the shaking of the large arm is filtered out, and fine operation can be performed for a long time after wearing. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a perspective structural schematic diagram of the waist support assembly of the embodiment of the present application.

[0032] Figure 2is a perspective structural schematic diagram of a shoulder joint of an embodiment of the present application;

[0033] Figure 3 is a perspective structural schematic diagram of an elbow rotary joint encoder mandrel of an embodiment of the present application;

[0034] Figure 4 is an exploded structural schematic diagram of a first turnover shaft of an embodiment of the present application;

[0035] Figure 5 is an exploded structural schematic diagram of a second turnover shaft of an embodiment of the present application;

[0036] BRIEF DESCRIPTION OF THE DRAWINGS: 1, waist support assembly; 11, first fixed plate; 12, counterweight module; 13, rotating seat; 14, limiting plate; 2, back support assembly; 21, second fixed plate; 22, limiting shaft; 23, third fixed plate; 24, limiting column; 25, arc-shaped groove; 26, limiting block; 3, shoulder joint; 31, joint shaft; 32, shoulder connecting pivot; 33, shoulder abduction joint encoder; 34, shoulder abduction joint mandrel; 35, shoulder abduction joint support; 4, upper arm joint; 41, first turnover shaft; 411, first torque adjusting nut; 412, first upper layer friction ring; 413, first rotating ring; 414, first lower layer friction ring; 415, first fixed ring; 416, first butterfly spring; 417, first hollow mandrel; 42, upper arm inversion joint encoder; 43, upper arm support; 44, upper arm arm length adjusting mechanism; 45, upper arm upper connecting plate; 405, upper arm elastic restraint belt; 46, upper arm arm length adjusting optical axis; 47, upper arm arm length adjusting sliding block; 48, upper arm arm length adjusting locking nut; 49, upper arm inversion joint mandrel; 5, elbow joint; 51, second turnover shaft; 511, second torque adjusting nut; 512, second upper layer friction ring; 513, second rotating ring; 514, second lower layer friction ring; 515, second fixed ring; 516, second butterfly spring; 517, second hollow mandrel; 52, elbow rotary joint encoder mandrel; 53, small arm connecting pivot; 6, small arm fixed assembly; 61, connecting frame; 62, fourth fixed plate; 63, sliding rail; 64, mounting frame. DETAILED DESCRIPTION

[0037] The following will be described in detail below in combination with the accompanying Figure 1 - the accompanying Figure 5 The present application will be further described in detail.

[0038] The embodiment discloses a large arm configuration of a teleoperation exoskeleton convenient for fine operation, which comprises a waist supporting assembly 1, a back supporting assembly 2, a shoulder joint 3, a large arm joint 4, an elbow joint 5 and a small arm fixing assembly 6. The waist supporting assembly 1 comprises a first fixing plate 11 and a counterweight module 12. The side end surface of the first fixing plate 11 is provided with the counterweight module 12. The first fixing plate 11 is connected with a limiting plate 14 through a rotating seat 13. The back supporting assembly 2 comprises a second fixing plate 21 and a limiting shaft 22. The side end surface of the second fixing plate 21 is provided with the limiting shaft 22. The second fixing plate 21 is connected with a third fixing plate 23 through the limiting shaft 22. The side end surface of the second fixing plate 21 is provided with a limiting column 24. The contact surface of the limiting column 24 and the third fixing plate 23 is provided with an arc-shaped groove 25. The waist supporting assembly 1 is connected with the second fixing plate 21 in the back supporting assembly 2 through the limiting plate 14. One corner of the third fixing plate 23 is provided with a limiting block 26. The back supporting assembly 2 is connected with the shoulder joint 3 through the limiting block 26. The shoulder joint 3 is specifically installed on one side of the large arm joint 4. The large arm joint 4, away from the shoulder joint 3, is provided with the elbow joint 5. The elbow joint 5, away from the large arm joint 4, is provided with the small arm fixing assembly 6. The waist supporting assembly 1, the back supporting assembly 2, the shoulder joint 3, the large arm joint 4, the elbow joint 5 and the small arm fixing assembly 6 are symmetrically arranged. The shoulder joint 3, the large arm joint 4, the elbow joint 5 and the small arm fixing assembly 6 are supported by the waist supporting assembly 1 and the back supporting assembly 2. Meanwhile, the shoulder joint 3, the large arm joint 4, the elbow joint 5 and the small arm fixing assembly 6 are conveniently limited, so that the stability of the device is ensured. Meanwhile, the first fixing plate 11, the counterweight module 12, the rotating seat 13 and the limiting plate 14 in the waist supporting assembly 1 support the back supporting assembly 2. The rotating seat 13 rotates with the first fixing plate 11. The limiting plate 14 and the second fixing plate 21 in the back supporting assembly 2 slide. The second fixing plate 21 slides with the limiting shaft 22, the limiting column 24 and the arc-shaped groove 25 in the third fixing plate 23. The shoulder joint 3, the large arm joint 4, the elbow joint 5 and the small arm fixing assembly 6 are conveniently moved.

[0039] The shoulder joint 3 comprises a joint shaft 31 and a shoulder connecting pivot 32, one side of the joint shaft 31 is provided with the shoulder connecting pivot 32, and the side end surface of the joint shaft 31 is provided with a shoulder abduction joint encoder 33, one side of the shoulder abduction joint encoder 33 is connected with a shoulder abduction joint arbor 34, the joint shaft 31 is rotationally connected with a shoulder abduction joint bracket 35, the large arm joint 4 comprises a first turnover shaft 41 and a large arm varus joint encoder 42, one side of the first turnover shaft 41 is provided with the large arm varus joint encoder 42, the first turnover shaft 41 is rotationally connected with a large arm bracket 43, the side end surface of the large arm bracket 43 is provided with a large arm length adjusting mechanism 44, and one side of the large arm length adjusting mechanism 44 away from the large arm bracket 43 is provided with a large arm upper connecting plate 45, one side of the large arm bracket 43 away from the large arm length adjusting mechanism 44 is provided with a large arm elastic restraint band 405, the large arm length adjusting mechanism 44 is composed of a large arm length adjusting optical shaft 46, a large arm length adjusting sliding block 47 and a large arm length adjusting locking nut 48, the center of the first turnover shaft 41 is provided with a large arm varus joint arbor 49, the elbow joint 5 comprises a second turnover shaft 51 and an elbow rotary joint encoder arbor 52, the center of the second turnover shaft 51 is provided with the elbow rotary joint encoder arbor 52, the outer diameter surface of the second turnover shaft 51 is provided with a small arm connecting pivot 53, the small arm fixing assembly 6 comprises a connecting frame 61 and a fourth fixing plate 62, the connecting frame 61 is installed on one side of the fourth fixing plate 62, and one side of the fourth fixing plate 62 is connected with a mounting frame 64 through a slide rail 63, the shoulder joint 3 is snap-fit connected with the back supporting assembly 2 through the shoulder connecting pivot 32, and the shoulder connecting pivot 32 in the shoulder joint 3 is rotationally arranged around the center of the joint shaft 31 and the shoulder abduction joint arbor 34, and the shoulder abduction joint encoder 33 is used for detecting the rotational position change of the joint shaft 31 and the shoulder abduction joint arbor 34, the shoulder joint 3 is limitingly connected with the large arm joint 4 through the shoulder abduction joint bracket 35, the large arm joint 4 is rotationally arranged with the shoulder abduction joint bracket 35 in the shoulder joint 3 through the first turnover shaft 41, the large arm varus joint encoder 42 is used for detecting the rotational position change of the first turnover shaft 41 and the large arm varus joint arbor 49, the large arm bracket 43 is limitingly connected with the external device through the large arm elastic restraint band 405, the large arm bracket 43 is slidingly arranged with the large arm upper connecting plate 45 through the large arm length adjusting optical shaft 46, the large arm length adjusting sliding block 47 and the large arm length adjusting locking nut 48 in the large arm length adjusting mechanism 44, so as to adjust the length of the large arm bracket 43 and the large arm upper connecting plate 45, and then the large arm bracket 43 and the large arm upper connecting plate 45 are adjusted, the elbow joint 5 is rotationally arranged with the small arm connecting pivot 53 through the second turnover shaft 51 and the elbow rotary joint encoder arbor 52, and the small arm connecting pivot 53 is limitingly connected with the small arm fixing assembly 6, the small arm fixing assembly 6 is limitingly connected with the small arm connecting pivot 53 through the connecting frame 61, and the fourth fixing plate 62 is slidingly arranged with the mounting frame 64 through the slide rail 63.Convenient to keep the stability of the device,

[0040] The first turnover shaft 41 comprises a first torque adjusting nut 411 and a first upper friction ring 412, the first torque adjusting nut 411 is installed below the first upper friction ring 412, and a first rotary ring 413 is installed on the side of the first upper friction ring 412 away from the first torque adjusting nut 411, a first lower friction ring 414 is arranged on the side of the first rotary ring 413 away from the first upper friction ring 412, a first fixed ring 415 is arranged on the side of the first lower friction ring 414 away from the first rotary ring 413, a first butterfly spring 416 is arranged on the side of the first fixed ring 415 away from the first lower friction ring 414, and a first hollow core shaft 417 is arranged on the side of the first butterfly spring 416 away from the first fixed ring 415, the second turnover shaft 51 comprises a second torque adjusting nut 511 and a second upper friction ring 512, the second torque adjusting nut 511 is installed below the second upper friction ring 512, and a second rotary ring 513 is installed on the side of the second upper friction ring 512 away from the second torque adjusting nut 511, a second lower friction ring 514 is arranged on the side of the second rotary ring 513 away from the second upper friction ring 512, a second fixed ring 515 is arranged on the side of the second lower friction ring 514 away from the second rotary ring 513, a second butterfly spring 516 is arranged on the side of the second fixed ring 515 away from the second lower friction ring 514, and a second hollow core shaft 517 is arranged on the side of the second butterfly spring 516 away from the second fixed ring 515, the first torque adjusting nut 411, the first upper friction ring 412, the first rotary ring 413, the first lower friction ring 414, the first fixed ring 415, the first butterfly spring 416 and the first hollow core shaft 417 in the first turnover shaft 41 are used to adjust the damping effect of the hinge, the first turnover shaft 41 is made of the adjustable damping type hinge, after wearing, the damping of the adjustable damping type hinge is adjusted according to different joint parts and operation types, the hinge can be kept hovering at any position, the output of the operator when wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, which is beneficial to some fine operation, the second torque adjusting nut 511, the second upper friction ring 512, the second rotary ring 513, the second lower friction ring 514, the second fixed ring 515, the second butterfly spring 516 and the second hollow core shaft 517 in the second turnover shaft 51 are used to adjust the damping effect of the hinge, the second turnover shaft 51 is made of the adjustable damping type hinge, after wearing, the damping of the adjustable damping type hinge is adjusted according to different joint parts and operation types, the hinge can be kept hovering at any position, the output of the operator when wearing is reduced, the fatigue of the operator is reduced, some small shaking of the large arm is filtered out to interfere with the multi-axis mechanical arm / robot, which is beneficial to some fine operation;

[0041] The joint shaft 31 is connected with the shoulder abduction joint support 35 through the shoulder abduction joint core shaft 34, the shoulder abduction joint support 35 and the shoulder joint 3 constitute a rotating structure with the joint shaft 31 as the center through the shoulder abduction joint core shaft 34 and the joint shaft 31, the shoulder joint 3 and the back support assembly 2 constitute a clamping structure through the shoulder connecting shaft 32 and the limiting block 26, the large arm support 43 and the shoulder abduction joint support 35 constitute a rotating structure with the first flip shaft 41 as the center through the first flip shaft 41 and the large arm inversion joint core shaft 49, the back support assembly 2 is limitedly connected through the limiting block 26 and the shoulder connecting shaft 32 of the shoulder joint 3, which is convenient for the shoulder joint 3 to move and rotate, the large arm support 43 and the large arm upper connecting plate 45 constitute a sliding structure through the large arm length adjustment optical shaft 46, the large arm length adjustment sliding block 47 and the large arm length adjustment locking nut 48 in the large arm length adjustment mechanism 44, the large arm support 43 and the shoulder joint 3 are clamped and connected through the first flip shaft 41 and the large arm inversion joint encoder 42, the length between the large arm support 43 and the large arm upper connecting plate 45 is adjusted through the large arm length adjustment optical shaft 46, the large arm length adjustment sliding block 47 and the large arm length adjustment locking nut 48 in the large arm length adjustment mechanism 44, and the large arm support 43 is fixed through the large arm elastic restraint belt 405, the large arm upper connecting plate 45 and the small arm connecting shaft 53 constitute a rotating structure with the second flip shaft 51 as the center through the second flip shaft 51 and the elbow rotation joint encoder core shaft 52, the small arm connecting shaft 53 and the connecting frame 61 in the small arm fixing assembly 6 constitute a clamping structure, the fourth fixed plate 62 and the mounting frame 64 constitute a sliding structure through the slide rail 63, the large arm upper connecting plate 45 rotates through the second flip shaft 51, the elbow rotation joint encoder core shaft 52 and the small arm connecting shaft 53, so that the small arm rotates, and the fourth fixed plate 62 and the mounting frame 64 slide through the slide rail 63, the length between the fourth fixed plate 62 and the mounting frame 64 is adjusted, which can reduce the fatigue of the operator when wearing the exoskeleton for a long time, can filter out the interference on the multi-axis robot caused by the large arm shaking, and can perform long-time fine operation after wearing.

[0042] The implementation principle of the embodiment of the application is as follows: the waist supporting assembly 1 and the back supporting assembly 2 are used to support the shoulder joint 3, the upper arm joint 4, the elbow joint 5 and the lower arm fixing assembly 6, and the shoulder joint 3, the upper arm joint 4, the elbow joint 5 and the lower arm fixing assembly 6 are also conveniently limited, the first fixing plate 11, the counterweight module 12, the rotating seat 13 and the limiting plate 14 in the waist supporting assembly 1 support the back supporting assembly 2, the rotating seat 13 rotates with the first fixing plate 11, the limiting plate 14 slides with the second fixing plate 21 in the back supporting assembly 2, the second fixing plate 21 slides with the third fixing plate 23 through the limiting shaft 22 and the limiting column 24 and the arc-shaped groove 25 dug on the third fixing plate 23, the shoulder joint 3 is connected with the back supporting assembly 2 through the shoulder connecting rotating shaft 32, the shoulder connecting rotating shaft 32 in the shoulder joint 3 rotates around the joint shaft 31 and the shoulder abduction joint mandrel 34 as the center, the shoulder abduction joint encoder 33 detects the change of the rotating position of the joint shaft 31 and the shoulder abduction joint mandrel 34, the shoulder joint 3 is limitedly connected with the upper arm joint 4 through the shoulder abduction joint support 35, the upper arm joint 4 is connected with the shoulder abduction joint support 35 in the shoulder joint 3 through the first flip shaft 41 to form a rotating structure, the change of the rotating position of the first flip shaft 41 and the upper arm inversion joint mandrel 49 is detected through the upper arm inversion joint encoder 42, the upper arm support 43 is limitedly connected with the external device through the upper arm elastic restraint belt 405, the upper arm support 43 is connected with the upper arm upper connecting plate 45 through the upper arm length adjusting mechanism 44, the upper arm length adjusting optical shaft 46, the upper arm length adjusting sliding block 47 and the upper arm length adjusting locking nut 48 to form a sliding structure, the length of the upper arm support 43 and the upper arm upper connecting plate 45 is adjusted, and then the upper arm support 43 and the upper arm upper connecting plate 45 are adjusted, the elbow joint 5 is connected with the lower arm connecting rotating shaft 53 through the second flip shaft 51 and the elbow rotation joint encoder mandrel 52 to form a rotating structure, the lower arm connecting rotating shaft 53 is conveniently limitedly connected with the lower arm fixing assembly 6, the lower arm fixing assembly 6 is limitedly connected with the lower arm connecting rotating shaft 53 through the connecting frame 61, the fourth fixing plate 62 slides with the mounting frame 64 through the sliding rail 63, the first torque adjusting nut 411, the first upper layer friction ring 412, the first rotating ring 413, the first lower layer friction ring 414, the first fixing ring 415, the first butterfly spring 416 and the first hollow mandrel 417 in the first flip shaft 41 are used to adjust the damping effect of the hinge, the hinge of the first flip shaft 41 is made of the adjustable damping type, after wearing, the damping of the adjustable damping type hinge is adjusted according to different joint positions and operation types, the hinge can be kept hovering at any position, the output of the operator when wearing is reduced, the fatigue of the operator is reduced, some small shaking of the upper arm is filtered out to interfere with the multi-axis mechanical arm / humanoid robot, which is conducive to some fine operations,The damping effect of the hinge is adjustable by the second torque adjusting nut 511, the second upper layer friction ring 512, the second rotating ring 513, the second lower layer friction ring 514, the second fixed ring 515, the second butterfly spring 516 and the second hollow core shaft 517 in the second turnover shaft 51. The second turnover shaft 51 is made of an adjustable damping type hinge. The back support assembly 2 is connected by limiting block 26 and shoulder joint 3 through the shoulder connecting shaft 32. The shoulder joint 3 moves and rotates, which can reduce the fatigue of the operator when wearing the exoskeleton for a long time. It can filter out the interference to the multi-axis robot caused by the shaking of the large arm. It can be worn for a long time after fine operation. The large arm support 43 is connected with the shoulder joint 3 through the first turnover shaft 41 and the large arm inversion joint encoder 42. The length of the large arm support 43 and the large arm upper connecting plate 45 is adjusted by the large arm length adjustment optical axis 46, the large arm length adjustment sliding block 47 and the large arm length adjustment locking nut 48 in the large arm length adjustment mechanism 44. The large arm support 43 is fixed by the large arm elastic restraint band 405. Finally, the large arm support 43 is fixed. The large arm upper connecting plate 45 rotates through the second turnover shaft 51, the elbow rotation joint encoder shaft 52 and the small arm connecting shaft 53, so that the small arm rotates. The connecting frame 61 in the elbow joint 5 and the small arm fixing assembly 6 forms a snap-fit structure. The fourth fixed plate 62 slides with the mounting frame 64 through the slide rail 63, thereby adjusting the length between the fourth fixed plate 62 and the mounting frame 64. It can reduce the fatigue of the operator when wearing the exoskeleton for a long time. It can filter out the interference to the multi-axis robot caused by the shaking of the large arm. It can be worn for a long time after fine operation.

[0043] The embodiments of the specific implementation are the preferred embodiments of the application, not limited by the protection scope of the application, wherein the same parts are indicated by the same reference numerals. Therefore: any equivalent changes made according to the structure, shape, principle of the application should be covered by the protection scope of the application.

Claims

1. A large arm configuration of a teleoperated exoskeleton facilitating fine manipulation, comprising a waist support assembly (1), a back support assembly (2), a shoulder joint (3), a large arm joint (4), an elbow joint (5) and a small arm fixation assembly (6), characterized in that: The waist support assembly (1) comprises a first fixed plate (11) and a counterweight module (12), the side end face of the first fixed plate (11) is provided with the counterweight module (12), the first fixed plate (11) is connected with a limiting plate (14) through a rotating seat (13), the back support assembly (2) comprises a second fixed plate (21) and a limiting shaft (22), the side end face of the second fixed plate (21) is provided with the limiting shaft (22), and the second fixed plate (21) is connected with a third fixed plate (23) through the limiting shaft (22), the side end face of the second fixed plate (21) is provided with a limiting column (24), and the contact surface of the limiting column (24) and the third fixed plate (23) is provided with an arc-shaped groove (25), the waist support assembly (1) is connected with the second fixed plate (21) in the back support assembly (2) through the limiting plate (14), one corner of the third fixed plate (23) is provided with a limiting block (26), the back support assembly (2) is connected with a shoulder joint (3) through the limiting block (26), and the shoulder joint (3) is specifically installed on one side of a large arm joint (4), one side, away from the shoulder joint (3), of the large arm joint (4) is provided with an elbow joint (5), and one side, away from the large arm joint (4), of the elbow joint (5) is provided with a small arm fixed assembly (6), the waist support assembly (1), the back support assembly (2), the shoulder joint (3), the large arm joint (4), the elbow joint (5) and the small arm fixed assembly (6) are symmetrically arranged.

2. A large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 1, characterized in that: The shoulder joint (3) comprises a joint shaft (31) and a shoulder connecting rotating shaft (32), one side of the joint shaft (31) is provided with the shoulder connecting rotating shaft (32), and the side end face of the joint shaft (31) is provided with a shoulder abduction joint encoder (33), one side of the shoulder abduction joint encoder (33) is connected with a shoulder abduction joint mandrel (34), and the joint shaft (31) is rotatably connected with a shoulder abduction joint support (35).

3. A large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 2, characterized in that: The large arm joint (4) comprises a first turnover shaft (41) and a large arm inversion joint encoder (42), one side of the first turnover shaft (41) is provided with the large arm inversion joint encoder (42), the first turnover shaft (41) is rotatably connected with a large arm support (43), the side end face of the large arm support (43) is provided with a large arm length adjusting mechanism (44), one side, away from the large arm support (43), of the large arm length adjusting mechanism (44) is provided with a large arm upper connecting plate (45), one side, away from the large arm support (43), of the large arm support (43) is provided with a large arm elastic restraint belt (405), the large arm length adjusting mechanism (44) is composed of a large arm length adjusting optical axis (46), a large arm length adjusting sliding block (47) and a large arm length adjusting locking nut (48), and the center of the first turnover shaft (41) is provided with a large arm inversion joint mandrel (49).

4. A large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 3, characterized in that: The elbow joint (5) comprises a second turnover shaft (51) and an elbow rotary joint encoder mandrel (52), the center of the second turnover shaft (51) is provided with the elbow rotary joint encoder mandrel (52), and the outer diameter surface of the second turnover shaft (51) is provided with a small arm connecting shaft (53).

5. A large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 4, characterized in that: The small arm fixing assembly (6) comprises a connecting frame (61) and a fourth fixed plate (62), the connecting frame (61) is installed on one side of the fourth fixed plate (62), and one side of the fourth fixed plate (62) is connected with a mounting frame (64) through a slide rail (63).

6. A large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 5, characterized in that: The first turnover shaft (41) comprises a first torque adjusting nut (411) and a first upper friction ring (412), the first torque adjusting nut (411) is installed below the first upper friction ring (412), a first rotary ring (413) is installed on the side, away from the first torque adjusting nut (411), of the first upper friction ring (412), a first lower friction ring (414) is arranged on the side, away from the first upper friction ring (412), of the first rotary ring (413), a first fixed ring (415) is arranged on the side, away from the first rotary ring (413), of the first lower friction ring (414), a first butterfly spring (416) is arranged on the side, away from the first fixed ring (415), of the first lower friction ring (414), and a first hollow mandrel (417) is arranged on the side, away from the first fixed ring (415), of the first butterfly spring (416).

7. The large arm configuration of a teleoperated exoskeleton for delicate operations according to claim 5, characterized in that: The second turnover shaft (51) comprises a second torque adjusting nut (511) and a second upper friction ring (512), the second torque adjusting nut (511) is installed below the second upper friction ring (512), a second rotary ring (513) is installed on the side, away from the second torque adjusting nut (511), of the second upper friction ring (512), a second lower friction ring (514) is arranged on the side, away from the second upper friction ring (512), of the second rotary ring (513), a second fixed ring (515) is arranged on the side, away from the second rotary ring (513), of the second lower friction ring (514), a second butterfly spring (516) is arranged on the side, away from the second lower friction ring (514), of the second fixed ring (515), and a second hollow mandrel (517) is arranged on the side, away from the second fixed ring (515), of the second butterfly spring (516).

8. The large arm configuration of a teleoperated exoskeleton for delicate operations of claim 5, wherein: The joint shaft (31) is connected with the shoulder abduction joint bracket (35) through the shoulder abduction joint mandrel (34), the shoulder abduction joint bracket (35) and the shoulder connecting shaft (32) constitute a rotating structure with the joint shaft (31) as the center through the shoulder abduction joint mandrel (34) and the joint shaft (31), and the shoulder connecting shaft (32) and the limiting block (26) in the back supporting assembly (2) constitute a clamping structure.

9. The large arm configuration of a teleoperated exoskeleton for delicate operations of claim 5, wherein: The large arm support (43) and the shoulder abduction joint support (35) constitute a rotating structure rotating around the first overturning shaft (41) through the first overturning shaft (41) and the large arm inversion joint mandrel (49), and the large arm support (43) and the large arm upper connecting plate (45) constitute a sliding structure through the large arm arm length adjustment optical shaft (46), the large arm arm length adjustment sliding block (47) and the large arm arm length adjustment locking nut (48) in the large arm arm length adjustment mechanism (44).

10. The large arm configuration of a teleoperated exoskeleton for facilitating delicate operations according to claim 5, characterized in that: The large arm upper connecting plate (45) and the small arm connecting shaft (53) constitute a rotating structure rotating around the second overturning shaft (51) through the second overturning shaft (51) and the elbow rotation joint encoder mandrel (52), the small arm connecting shaft (53) and the connecting frame (61) in the small arm fixed assembly (6) constitute a buckling structure, and the fourth fixed plate (62) and the mounting frame (64) constitute a sliding structure through the slide rail (63).

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