Exoskeleton structure for measuring introversion angle of big arm

Abstract

The utility model provides an exoskeleton structure for measuring the introversion angle of a big arm. The exoskeleton structure comprises an exoskeleton big arm; the positioning bottom plate is arranged at the middle section of the exoskeleton big arm; the sliding part is arranged on one side surface of the positioning bottom plate in a sliding manner; the joint rotation part is connected with the sliding part and used for being attached to a human body big arm joint; the transmission part is in gear transmission connection with the joint rotation part; and the detection device is arranged on the joint rotation part, is connected with the transmission part and is used for feeding back the rotation angle of the large arm turning inwards. According to the device, the introversion angle of the large / small arm is enlarged in a gear transmission mode, the sensitivity during rotation is improved, it can be guaranteed that the extremely small angle of the large / small arm during introversion can be captured by the exoskeleton, meanwhile, the fixing area of the exoskeleton on the large / small arm is increased, and the pressure of the binding belt on muscles of the large and small arms is reduced; and the discomfort when the exoskeleton is worn is relieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an exoskeleton structure for measuring the angle of the large arm varus. BACKGROUND

[0002] With the continuous development of manufacturing industry, the intelligent level of manufacturing industry is continuously improved, and the use of robots and other intelligent equipment to replace human beings to carry out complex, heavy and repetitive labor has become a trend in manufacturing industry. The unmanned and automation of manufacturing lines reduces the overloading work of workers and reduces the harmfulness of workers working in a dusty and toxic gas environment to a certain extent. The new generation of intelligent manufacturing technology emphasizes the human-machine integration manufacturing, that is, fully combines the wisdom of human beings in the field of intelligent decision-making and logical reasoning in unstructured environment and the performance of robots in reliability, accuracy and strength, and forms complementary advantages. Therefore, the development of digital remote operation manufacturing and the promotion of intelligent equipment upgrading and optimization have become a hot spot in the field of robots.

[0003] Under this background, the use of remote operation input device to control industrial robots can fully exert the intelligent decision-making role of human beings in the loop, and remote operation allows the operator not to enter the actual production operation space, which can ensure the safety of human beings to a certain extent. Master-slave remote operation is a technology that establishes the mapping relationship between the master operator and the slave robot arm to drive the slave robot arm to move and operate, and is widely used in the fields of remote medical treatment, special industry, anti-terrorism and explosion prevention, deep space and deep sea, etc.

[0004] At present, handle, operating rod, data glove and wearable exoskeleton are the mainstream schemes for realizing the pose mapping between the master operator and the slave robot arm. The wearable exoskeleton has the advantages of high control accuracy, simple mapping relationship and high restoration degree of human-like motion compared with the former motion capture scheme. At present, the joints of the wearable exoskeleton and the joints of the human body cannot be completely coincident (there is the thickness of clothes when wearing), which leads to the deviation of the exoskeleton in capturing the angle of human body motion, especially when the large arm and the small arm are varus, the muscle is pressed and the muscle power is constrained due to the fixing of the exoskeleton binding belt on the muscle of the large arm and the small arm, which causes the sliding and rubbing between the human body and the exoskeleton, reduces the efficiency, and further increases the error, so it is urgent to develop a configuration to solve the problem of large deviation of the large arm and the small arm varus angle. CONTENT OF THE UTILITY MODEL

[0005] In view of the defects in the prior art, the purpose of the present application is to provide an exoskeleton structure for measuring the angle of the large arm varus, which solves the problem that the joints of the exoskeleton do not coincide when the large arm and the small arm are varus when wearing, causing the large error of the varus angle collected by the exoskeleton, the sliding and rubbing between the exoskeleton and the wearing part when varus, and the discomfort caused by the squeezing of the muscle of the large arm and the small arm when wearing.

[0006] In one aspect of the present application, an exoskeleton structure for measuring the angle of the humerus varus is provided, comprising:

[0007] an exoskeleton humerus;

[0008] a positioning base plate arranged at the middle section of the exoskeleton humerus;

[0009] a sliding part arranged at one side of the positioning base plate;

[0010] a joint rotation part connected with the sliding part for fitting the joint of the humerus;

[0011] a transmission part in gear transmission connection with the joint rotation part;

[0012] a detection device arranged on the joint rotation part and connected with the transmission part for feeding back the rotation angle of the humerus varus.

[0013] Further, the joint rotation part comprises:

[0014] a humerus positioning ring having one end connected with one end of the sliding part for fixing the joint of the humerus;

[0015] a humerus gear ring rotatable relative to the humerus positioning ring;

[0016] a pressing plate connected with the other end of the humerus positioning ring for limiting the humerus gear ring and the transmission part on the humerus positioning ring;

[0017] wherein the outer wall of one end of the humerus gear ring is provided with outwardly protruding first transmission teeth in gear transmission connection with the transmission part;

[0018] the detection device is arranged on the humerus positioning ring.

[0019] Further, the sliding part comprises:

[0020] a slide rail arranged at one side of the positioning base plate for adjusting the length of the exoskeleton humerus;

[0021] a positioning plate sleeved on the outside of the slide rail, the positioning plate being provided with a positioning groove, the slide rail being arranged in the positioning groove, the positioning groove limiting the position of the slide rail, one end of the positioning plate being connected with one end of the humerus positioning ring;

[0022] a sliding block arranged on the slide rail and slidable along the slide rail, the sliding block being provided with a locking plate for fixing the position of the sliding block.

[0023] Further, the outer wall of the other end of the humerus positioning ring is provided with a mounting part in the middle part, the mounting part being integrally formed with the humerus positioning ring.

[0024] The large arm positioning ring is a semi-circular ring structure, and the angle of the semi-circular ring structure is greater than 180 degrees.

[0025] The bottom plate is integrally formed with the large arm positioning ring and the mounting portion, and has the same shape as the large arm positioning ring and the mounting portion.

[0026] Further, the other end of the large arm positioning ring is provided with a gear ring positioning groove, and the mounting portion is provided with a mounting groove.

[0027] The gear ring positioning groove is in communication with the mounting groove, the first transmission gear is located in the gear ring positioning groove, and the transmission portion is arranged in the mounting groove.

[0028] The detection device is arranged on the mounting portion and located on the outer wall of the mounting groove.

[0029] Further, the transmission portion includes a pinion, a first bearing and a second bearing.

[0030] The pinion is rotatably arranged in the mounting groove, is engaged with the first transmission gear, and rotates with the first transmission gear.

[0031] One end of the pinion is connected with the detection device.

[0032] Further, the bottom of the mounting groove is provided with a bearing positioning hole penetrating through the mounting groove, the first bearing is arranged in the bearing positioning hole, and one end of the pinion abuts against the first bearing.

[0033] The bottom plate is provided with a positioning shaft, and the second bearing is arranged on the positioning shaft.

[0034] Further, the middle part of one end of the pinion is provided with a rotating shaft, the rotating shaft can extend into the first bearing and extend to the outside of the bearing mounting hole, and is connected with the detection device.

[0035] Further, the outer wall of the mounting groove is provided with a fixing seat located above the bearing mounting hole, and the detection device is arranged on the fixing seat.

[0036] The detection device includes an encoder, and the encoder is fixed on the fixing seat by a screw.

[0037] One end of the encoder is connected with the rotating shaft, and is used to obtain the rotation angle of the pinion.

[0038] Further, the middle part of the rotating shaft has a connecting hole, and the encoder is provided with an encoder shaft.

[0039] The encoder shaft can extend into the connecting hole and is fixed by a set screw.

[0040] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0041] The present application provides an exoskeleton structure for measuring the angle of the large / small arm varus, reduces the misalignment of the joints when the exoskeleton is worn and the large / small arm is varus, causes the error of the varus angle collected by the exoskeleton to be too large, improves the comfort of the exoskeleton when worn, and reduces the extrusion of the exoskeleton on the human body mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0042] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0043] Figure 1 It is an explosion view of an exoskeleton structure for measuring the angle of the large arm varus in an embodiment of the present application.

[0044] Figure 2 It is a structure schematic view of the joint rotation part, transmission part and detection device in an embodiment of the present application.

[0045] Figure 3 It is a sectional view of D-D in an embodiment of the present application. Figure 2

[0046] Figure 4 It is a structure view of the large arm positioning ring in an embodiment of the present application.

[0047] Figure 5 It is a structure schematic view when worn in an embodiment of the present application.

[0048] In the figure: 1, exoskeleton large arm; 2, positioning base plate; 3, sliding part; 31, sliding rail; 32, positioning plate; 321, positioning groove; 33, sliding block; 331, locking plate; 4, joint rotation part; 41, large arm positioning ring; 411, mounting part; 4111, mounting groove; 4112, bearing positioning hole; 412, gear ring positioning groove; 42, large arm gear ring; 421, first transmission tooth; 43, pressing plate; 431, positioning shaft; 44, fixed seat; 5, transmission part; 51, pinion; 511, rotating shaft; 5111, connecting hole; 52, first bearing; 53, second bearing; 6, detection device; 61, encoder; 611, encoder shaft; 7, small arm connecting shaft position; 100, small arm structure part; 200, small arm positioning ring; 300, small arm encoder. DETAILED DESCRIPTION

[0049] ​The application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made. These all belong to the protection scope of the application.

[0050] Referring to Figure 1 As shown in the figure, it is an exoskeleton structure for measuring the angle of the large arm varus in an embodiment of the application, comprising: an exoskeleton large arm 1; a positioning base plate 2 arranged at the middle segment of the exoskeleton large arm 1; a sliding part 3 arranged on one side of the positioning base plate 2; a joint rotary part 4 connected with the sliding part 3, used for fitting the human large arm joint; a transmission part 5 in gear transmission connection with the joint rotary part 4; and a detection device 6 arranged on the joint rotary part 4 and connected with the transmission part 5, used for feeding back the rotation angle of the large arm varus.

[0051] The application amplifies the angle of the large / small arm varus by adopting the gear transmission mode, improves the sensitivity during rotation, can ensure that the very small angle during the large / small arm varus can be captured by the exoskeleton, at the same time, increases the area of the exoskeleton fixed on the large / small arm, reduces the pressure of the binding belt on the large / small arm muscle, and reduces the discomfort when wearing the exoskeleton.

[0052] Referring to Figure 2 As shown in the figure, in some specific embodiments, the joint rotary part 4 comprises: a large arm positioning ring 41, one end of which is connected with one end of the sliding part 3, used for fixing the human large arm joint; a large arm gear ring 42, which is rotatable relative to the large arm positioning ring 41; and a pressing plate 43, connected with the other end of the large arm positioning ring 41, used for limiting the large arm gear ring 42 and the transmission part 5 on the large arm positioning ring 41.

[0053] Among them, the outer wall of one end of the large arm gear ring 42 is provided with a first transmission tooth 421 protruding outward, which is in gear transmission connection with the transmission part 5.

[0054] In the application, the gear transmission ratio is 4:1, that is, the rotation ratio between the large arm gear ring 42 and the pinion 51, that is, if the large arm gear ring 42 rotates 1 turn, the pinion 51 rotates 4 turns.

[0055] Among them, the detection device 6 is arranged on the large arm positioning ring 41.

[0056] Referring to Figure 1As shown, in some specific embodiments, the sliding part 3 comprises: a sliding rail 31 arranged on one side of the positioning base plate 2, used to adjust the length of the exoskeleton upper arm 1; a positioning plate 32 sleeved outside the sliding rail 31, the positioning plate 32 is provided with a positioning groove 321, the sliding rail 31 is arranged in the positioning groove 321, and the positioning groove 321 limits the position of the sliding rail 31; one end of the positioning plate 32 is connected to one end of the upper arm positioning ring 41; a sliding block 33 is arranged on the sliding rail 31 and can slide along the sliding rail 31; the sliding block 33 is provided with a locking plate 331 for fixing the position of the sliding block 33.

[0057] Specifically, first, the middle segment of the exoskeleton upper arm 1 is provided with an arc-shaped positioning base plate 2 which is large in area and fits the upper arm, the back of the positioning base plate 2 is provided with a sliding rail 31, the sliding rail 31 is used to adjust the length of the upper arm, so that the joint rotation part 4 of the exoskeleton fits the rotation axis 511 of the human joint more closely, reduces the data error of joint rotation, and by sleeving a positioning plate 32 outside the sliding rail 31 and arranging a positioning groove 321 on the positioning plate 32, the sliding rail 31 is located in the positioning groove 321, the position of the sliding rail 31 is limited during installation, and movement of the sliding rail 31 is prevented.

[0058] Referring to Figure 4 As shown, the other end of the upper arm positioning ring 41 is provided with a mounting portion 411 on the middle part of the outer wall, and the mounting portion 411 is integrally formed with the upper arm positioning ring 41; the upper arm positioning ring 41 is a semi-circular ring structure, and the angle of the semi-circular ring structure is greater than 180 degrees; the shape of the pressing plate 43 after being integrally formed with the upper arm positioning ring 41 and the mounting portion 411 is the same.

[0059] In the application, the upper arm positioning ring 41 is arranged in a semi-circular ring structure, so that it can fit the upper arm of the human body, and the angle of the semi-circular ring structure is greater than 180 degrees, so that the upper arm can be better protected.

[0060] Specifically, the other end of the upper arm positioning ring 41 is provided with a gear ring positioning groove 412, and the mounting portion 411 is provided with a mounting groove 4111; the gear ring positioning groove 412 is in communication with the mounting groove 4111, the first transmission gear 421 is located in the gear ring positioning groove 412, and the transmission part 5 is arranged in the mounting groove 4111; the detection device 6 is arranged on the mounting portion 411 and located on the outer wall of the mounting groove 4111.

[0061] By arranging the rotatable upper arm gear ring 42, when measuring the varus angle, the upper arm gear ring 42 rotates when the upper arm is turned inwards, the upper arm gear ring 42 drives the transmission part 5, and the detection device 6 measures the varus angle through the transmission part 5.

[0062] Referring to Figure 3As shown in some possible embodiments, the transmission part 5 comprises a pinion 51, a first bearing 52 and a second bearing 53; the pinion 51 is rotatably arranged in the mounting groove 4111 and engaged with the first transmission teeth 421 to rotate with the first transmission teeth 421; one end of the pinion 51 is connected with the detection device 6.

[0063] By arranging the pinion 51 of the transmission part 5 in the mounting groove 4111 and realizing rotation in the mounting groove 4111 through the first bearing 52 and the second bearing 53, the transmission effect is achieved, and the retraction angle of the large arm / small arm is enlarged through gear transmission, wherein the inner diameter of the first transmission teeth 421 on the large arm gear ring 42 is larger than the inner diameter of the pinion 51, so that when retracted, the detection device 6 can detect the smallest angle.

[0064] Referring to Figure 4 As shown in some specific embodiments, the bottom of the mounting groove 4111 is provided with a bearing positioning hole 4112 penetrating through the mounting groove 4111, the first bearing 52 is arranged in the bearing positioning hole 4112, and one end of the pinion 51 abuts against the first bearing 52; the pressing plate 43 is provided with a positioning shaft 431, and the second bearing 53 is arranged on the positioning shaft 431.

[0065] Specifically, the middle part of one end of the pinion 51 is provided with a rotating shaft 511, the rotating shaft 511 can extend into the first bearing 52 and extend to the outside of the bearing mounting hole to be connected with the detection device 6.

[0066] By arranging the positioning shaft 431 on the pressing plate 43, arranging the bearing positioning hole 4112 at the bottom of the mounting groove 4111, arranging the pinion 51 between the first bearing 52 and the second bearing 53 to realize rotation, and connecting the rotating shaft 511 with the detection device 6 to realize the acquisition of the retraction angle through the rotation of the pinion 51.

[0067] Wherein, the outer wall of the mounting groove 4111 is provided with a fixed seat 44 above the bearing mounting hole, and the detection device 6 is arranged on the fixed seat 44.

[0068] In some possible embodiments, the detection device 6 comprises an encoder 61, and the encoder 61 is fixed on the fixed seat 44 through a screw; one end of the encoder 61 is connected with the rotating shaft 511 for acquiring the rotation angle of the pinion.

[0069] Wherein, the middle part of the rotating shaft 511 has a connecting hole 5111, and the encoder 61 is provided with an encoder shaft 611; the encoder shaft 611 can extend into the connecting hole 5111 and be fixed through a set screw.

[0070] Specifically, the semi-circular ring structure of the boom positioning ring 41 has a gear ring positioning groove 412 for positioning the boom gear ring 42. The bearing positioning hole 4112 for positioning the pinion 51 is arranged along the central axis of the gear ring positioning groove 412. Above the bearing positioning hole 4112 is a mounting seat 44 for the encoder 61. The pinion 51 is precisely positioned by the bearing positioning hole 4112 on the boom positioning ring 41 through the first bearing 52 and the second bearing 53. The encoder 61 is fixed to the mounting seat 44 of the boom positioning ring 41 by screws. The encoder shaft 611 of the encoder 61 is inserted into the connecting hole 5111 of the pinion 51 and fixed with a set screw to prevent rotation between the encoder shaft 611 and the pinion 51. This allows the pinion 51 to drive the encoder shaft 611 to rotate, thereby obtaining the flip angle through the encoder 61.

[0071] The boom gear ring 42 precisely meshes with the pinion 51 through the inner gear ring positioning groove 412 and mounting groove 4111 of the boom positioning ring 41. When the boom gear ring 42 rotates, it drives the pinion 51 to rotate, which in turn transmits the rotational power to the encoder 61. The encoder 61 then provides feedback on the boom rotation angle. Because the boom gear ring 42 and the pinion 51 have a transmission ratio, even a small rotation of the boom is amplified by the transmission ratio. This allows the encoder 61 to record the small rotation angle of the boom, making data acquisition more accurate. A pressure plate is positioned above the boom gear ring 42, precisely positioning the pinion 51 and the boom gear ring 42 on the boom positioning ring 41.

[0072] like Figure 5 The diagram shown illustrates the wearing of the upper / lower arm inversion structure. The upper arm exoskeleton structure is connected via the lower arm connecting shaft 7. The inversion angle of the lower arm is measured through the arm structure component 100, the lower arm positioning ring 200, and the lower arm encoder 300. This application uses gear transmission to amplify the inversion angle of the upper / lower arm, improves the sensitivity during rotation, and ensures that even the smallest angle during upper / lower arm inversion can be captured by the exoskeleton. At the same time, it increases the area of ​​the exoskeleton fixed on the upper / lower arm, reduces the pressure of the restraint straps on the upper and lower arm muscles, and alleviates the discomfort when wearing the exoskeleton.

[0073] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. An exoskeleton structure for measuring the inversion angle of the upper arm, characterized in that, include: Exoskeleton upper arm; A positioning base plate is located in the middle section of the exoskeleton's upper arm; A sliding part is slidably disposed on one side of the positioning base plate; The joint rotation part is connected to the sliding part and is used to fit the human upper arm joint; The transmission unit is connected to the joint rotary unit via gear transmission; A detection device is installed on the joint rotation part and connected to the transmission part to provide feedback on the rotation angle of the upper arm inward.

2. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 1, characterized in that, The joint rotation section includes: The upper arm positioning ring is connected at one end to one end of the sliding part and is used to fix the upper arm joint of the human body. The boom gear ring is rotatable relative to the boom positioning ring; A pressure plate is connected to the other end of the boom positioning ring and is used to restrict the boom gear ring and the transmission part on the boom positioning ring. The outer wall of one end of the large arm gear ring is provided with an outwardly protruding first transmission tooth, which is connected to the gear transmission of the transmission part. The detection device is mounted on the boom positioning ring.

3. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 2, characterized in that, The sliding part includes: A slide rail, located on one side of the positioning base plate, is used to adjust the length of the exoskeleton's upper arm; A positioning plate is sleeved on the outside of the slide rail. The positioning plate has a positioning groove, and the slide rail is disposed in the positioning groove. The positioning groove restricts the position of the slide rail. One end of the positioning plate is connected to one end of the boom positioning ring. A slider is mounted on the slide rail and can slide along the slide rail; the slider is provided with a locking plate for fixing the position of the slider.

4. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 3, characterized in that, The other end of the boom positioning ring has a mounting part on the middle of its outer wall, and the mounting part is integrally formed with the boom positioning ring. The upper arm positioning ring is a semi-circular ring structure, and the angle of the semi-circular ring structure is greater than 180 degrees. The base plate has the same shape as the boom positioning ring and the mounting part after being integrally formed.

5. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 4, characterized in that, The other end of the boom positioning ring is provided with a toothed positioning groove, and the mounting part is provided with a mounting groove. The gear ring positioning groove is connected to the mounting groove, the first transmission tooth is located in the gear ring positioning groove, and the transmission part is disposed in the mounting groove. The detection device is mounted on the mounting part and located on the outer wall of the mounting groove.

6. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 5, characterized in that, The transmission unit includes a pinion, a first bearing, and a second bearing; The pinion is rotatably disposed in the mounting groove, meshes with the first transmission gear, and rotates with the first transmission gear; One end of the pinion is connected to the detection device.

7. An exoskeleton structure for measuring the inversion angle of the upper arm according to claim 6, characterized in that, The bottom of the mounting groove is provided with a bearing positioning hole that penetrates the mounting groove, the first bearing is disposed in the bearing positioning hole, and one end of the pinion abuts against the first bearing; The base plate is provided with a positioning shaft, and the second bearing is mounted on the positioning shaft.

8. The exoskeleton structure for measuring the inversion angle of the upper arm according to claim 7, characterized in that, The pinion has a rotating shaft at the middle of one end, which can extend into the first bearing and out of the bearing mounting hole, and is connected to the detection device.

9. An exoskeleton structure for measuring the inversion angle of the upper arm according to claim 8, characterized in that, A fixing seat is provided on the outer wall of the mounting groove, located above the bearing mounting hole, and the detection device is mounted on the fixing seat; The detection device includes an encoder, which is fixed to the mounting base by screws; One end of the encoder is connected to the rotating shaft and is used to obtain the rotation angle of the pinion.

10. An exoskeleton structure for measuring the inversion angle of the upper arm according to claim 9, characterized in that, The rotating shaft has a connecting hole in the middle, and the encoder is provided with an encoder shaft; The encoder shaft can extend into the connection hole and be fixed by a set screw.

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