CN102793595A - Wearable heavy material handling power-assisting bionic exoskeleton - Google Patents

Abstract

The invention discloses a bionic exoskeleton that can be worn on the limbs of a human body to carry heavy materials. The equipment can assist the human body to quickly complete the task of transporting heavy materials under harsh working conditions. The equipment is divided into an upper limb exoskeleton and a lower limb exoskeleton. . The upper extremity exoskeleton is a 7-DOF system, which consists of 3-DOF shoulder joint, 1-DOF elbow joint, 2-DOF wrist joint, 1-DOF hand and the motor drive system box on the back. The 7 DOFs are all driven by motors. The lower extremity exoskeleton is a 6-DOF system, consisting of a 3-DOF hip joint, a 1-DOF knee joint, a 2-DOF ankle joint, and an electro-hydraulic drive system box on the back. All 6 DOFs are hydraulically driven. After the human body wears a complete set of exoskeleton equipment, with the help of mechanical power such as motor or hydraulic pressure, the efficiency and flexibility of material handling can be greatly improved, saving time and effort.

Description

Wearable heavy material handling boosts bionic exoskeleton

technical field

The present invention relates to the field of material handling equipment, in particular to a wearable electro-hydraulic and electric hybrid-driven heavy-duty material handling bionic instrument suitable for assisting the human body to quickly and flexibly transport heavy materials under complex geographical environments and harsh working conditions. skeleton.

Background technique

Because purely mechanical automation equipment has high requirements on the working environment and lacks operational flexibility, in complex geographical environments and harsh working conditions, the handling of large quantities of heavy materials is generally completed by people. However, due to the limited physical capacity of the human body during transportation, this inefficient transportation method greatly delays the completion time of the task. Therefore, the handling of heavy materials under such conditions needs to be completed with the high-power mechanical power of the bionic exoskeleton and the flexibility of human activities.

Contents of the invention

The purpose of the present invention is to provide a wearable bionic exoskeleton for heavy-duty material handling according to the deficiencies of the prior art and based on the physiological structure of the human body and bionic technology.

The purpose of the present invention is achieved through the following technical solutions: a wearable bionic exoskeleton for heavy material handling, which includes an upper extremity exoskeleton, a lower extremity exoskeleton, and upper and lower extremity exoskeleton connecting plates; , the lower extremity exoskeleton connecting plate and the lower extremity exoskeleton are connected in series.

Further, the upper extremity exoskeleton includes a motor drive system box, a shoulder joint, an upper arm, an elbow joint, a forearm bar, a wrist joint, and a hand mechanism; Connection, motor drive system box, shoulder joint, upper arm rod, elbow joint, forearm rod, wrist joint and hand mechanism are sequentially connected in series; the upper arm rod is flexibly connected to the upper arm of the human body, the forearm rod is flexibly connected to the forearm of the human body, and the hand mechanism is connected to the human body Hand flex connection.

Further, the motor drive system box is used as the base of the upper extremity exoskeleton, and the shoulder joint is composed of a shoulder joint adduction/abduction rotation pair, a shoulder joint internal rotation/external rotation rotation pair, and a shoulder joint flexion/extension rotation pair, which are perpendicular to each other. The elbow joint is composed of the elbow joint flexion/extension rotation pair, the wrist joint is composed of the wrist joint flexion/extension rotation pair and the wrist joint adduction/abduction rotation pair vertically, the hand mechanism is composed of the hand grasping rotation joint and the V-shaped grasping Institutional connection composition.

Further, the shoulder joint adduction/abduction rotary pair is directly driven by the shoulder joint adduction/abduction motor, the shoulder joint internal rotation/external rotation rotary pair is directly driven by the shoulder joint internal rotation/external rotation motor, and the shoulder joint flexion The rotation pair is directly driven by the flexion/extension motor of the shoulder joint, the flexion/extension rotation pair of the elbow joint is directly driven by the flexion/extension motor of the elbow joint, and the flexion/extension rotation pair of the wrist joint is directly driven by the flexion/extension motor of the wrist joint. The adduction/abduction rotary pair is directly driven by the wrist adduction/abduction motor, and the hand grasping rotary pair is directly driven by the hand grasping motor.

Further, the lower extremity exoskeleton includes a lumbar support ring, an electro-hydraulic drive system box, a hip joint, a thigh bar, a knee joint, a calf bar, an ankle joint, and a plantar plate, etc.; the lumbar support ring and the electro-hydraulic drive system box are respectively It is tightly connected with the upper and lower extremity exoskeleton connection plates; the electro-hydraulic drive system box, hip joint, thigh bar, knee joint, calf bar, ankle joint and foot plate are connected in series in sequence; the waist support ring is flexibly connected with the human waist, and the thigh bar It is flexibly connected with the thigh of the human body, the calf rod is flexibly connected with the calf of the human body, and the sole plate is flexibly connected with the foot of the human body.

Further, the electro-hydraulic drive system box is used as the lower extremity exoskeleton base, and the sole plate is used as the sole base. The retraction/abduction rotation pairs are perpendicular to each other, the knee joint is composed of knee flexion/extension rotation pairs, and the ankle joint is composed of ankle dorsiflexion/toe flexion rotation pairs and ankle varus/valversion rotation pairs.

Further, the hip joint flexion/extension rotating pair is indirectly driven by the hip joint flexion/extension hydraulic cylinder through the hip joint flexion/extension three-bar mechanism, and the hip joint internal rotation/external rotation dynamic pair is driven by the hip joint internal rotation/external rotation hydraulic cylinder It is indirectly driven by the hip joint internal rotation/external rotation three-bar mechanism, the hip joint adduction/abduction rotation pair is indirectly driven by the hip joint adduction/abduction hydraulic cylinder through the hip joint adduction/abduction three-bar mechanism, The /extension rotation pair is indirectly driven by the knee joint flexion/extension hydraulic cylinder through the knee joint flexion/extension three-bar mechanism, and the ankle joint dorsiflexion/toe flexion rotation pair is driven by the ankle joint dorsiflexion/toe flexion hydraulic cylinder through the ankle joint dorsiflexion/toe flexion The three-bar mechanism is indirectly driven, and the ankle joint varus/valgus joint is indirectly driven by the ankle joint varus/valgus hydraulic cylinder through the ankle joint varus/valgus three-bar mechanism.

The beneficial effect of the present invention is that the upper limbs of the present invention are driven by motors to meet the requirements of fast movement and flexibility; the lower limbs are driven by electro-hydraulic and meet the requirements of high power and high rigidity. After the human body wears a complete set of exoskeleton, with the help of the mechanical power of the motor and electro-hydraulic, the handling strength and flexibility can be greatly improved during material handling, and the purpose of improving the handling efficiency can be achieved.

Description of drawings

Figure 1 is a schematic diagram of the structure of the bionic exoskeleton for heavy material handling;

Figure 2 is a schematic diagram of the driving principle of the bionic exoskeleton joint for heavy material handling;

In the figure, upper extremity exoskeleton base 1, shoulder joint adduction/abduction rotation pair 2, shoulder joint internal rotation/external rotation rotation pair 3, shoulder joint flexion/extension rotation pair 4, elbow joint flexion/extension rotation pair 5, Wrist joint flexion/extension revolving pair 6, wrist adduction/abduction revolving pair 7, hand grabbing revolving pair 8, V-shaped grabbing mechanism 9, motor drive system box 11, shoulder joint 12, upper arm rod 13, elbow Joint 14, forearm rod 15, wrist joint 16, hand mechanism 17, upper extremity exoskeleton 21, lower extremity exoskeleton 22, lower extremity exoskeleton base 31, hip flexion/extension rotation joint 32, hip internal rotation/external rotation Pair 33, hip adduction/abduction rotation 34, knee flexion/extension 35, ankle dorsiflexion/toe flexion 36, ankle varus/valgus 37, plantar base 38 , upper and lower extremity exoskeleton connecting plate 41, waist support ring 42, electro-hydraulic drive system box 43, hip joint 44, thigh bar 45, knee joint 46, calf bar 47, ankle joint 48, sole plate 49, hip joint flexion/ Extension three-bar mechanism 52, hip joint internal rotation/external rotation three-bar mechanism 53, hip joint adduction/abduction three-bar mechanism 54, knee joint flexion/extension three-bar mechanism 55, ankle joint dorsiflexion/toe flexion three-bar mechanism 56, Ankle joint varus/valgus three-bar mechanism 57, human upper arm 61, human forearm 62, human hand 63, human waist 64, human thigh 65, human calf 66, human foot 67, shoulder joint adduction/abduction motor 72. Shoulder joint internal rotation/external rotation motor 73, shoulder joint flexion/extension motor 74, elbow joint flexion/extension motor 75, wrist joint flexion/extension motor 76, wrist joint adduction/abduction motor 77, hand grasping Motor 78, hip joint flexion/extension hydraulic cylinder 82, hip joint internal rotation/external rotation hydraulic cylinder 83, hip joint adduction/abduction hydraulic cylinder 84, knee joint flexion/extension hydraulic cylinder 85, ankle dorsiflexion/toe flexion Hydraulic cylinder 86, ankle joint varus/valgus hydraulic cylinder 87.

Detailed ways

Further illustrate the present invention below in conjunction with accompanying drawing.

Referring to Figures 1 and 2, the wearable bionic exoskeleton for heavy material handling includes an upper extremity exoskeleton 21, a lower extremity exoskeleton 22, and upper and lower extremity exoskeleton connecting plates 41; It is connected in series with the lower extremity exoskeleton 22.

The connection relationship between each part is as follows:

Upper limb exoskeleton 21 includes motor drive system box 11, shoulder joint 12, upper arm bar 13, elbow joint 14, forearm bar 15, wrist joint 16, hand mechanism 17, etc.; motor drive system box 11 and upper and lower extremity exoskeleton connecting plates 41 is tightly connected, the motor drive system box 11, the shoulder joint 12, the upper arm bar 13, the elbow joint 14, the forearm bar 15, the wrist joint 16 and the hand mechanism 17 are sequentially connected in series; The rod 15 is flexibly connected to the forearm 62 of the human body, and the hand mechanism 17 is flexibly connected to the hand 63 of the human body.

The motor drive system box 11 is used as the upper extremity exoskeleton base 1, and the shoulder joint 12 is composed of the shoulder joint adduction/abduction rotation joint 2, the shoulder joint internal rotation/external rotation joint 3 and the shoulder joint flexion/extension rotation joint 4, which are perpendicular to each other , the elbow joint 14 is composed of the elbow joint flexion/extension rotation pair 5, the wrist joint 16 is composed of the wrist joint flexion/extension rotation pair 6 and the wrist joint adduction/abduction rotation pair 7, and the hand mechanism 17 is grasped by the hand The revolving pair 8 and the V-shaped grab mechanism 9 are connected to form.

Shoulder joint adduction/abduction revolving pair 2 is directly driven by shoulder joint adduction/abduction motor 72, shoulder joint internal rotation/external rotation rotating pair 3 is directly driven by shoulder joint internal rotation/external rotation motor 73, shoulder joint flexion/external rotation The extension rotation pair 4 is directly driven by the shoulder joint flexion/extension motor 74, the elbow joint flexion/extension rotation pair 5 is directly driven by the elbow joint flexion/extension motor 75, and the wrist joint flexion/extension rotation pair 6 is directly driven by the wrist joint flexion/extension motor 76. Directly driven, the wrist joint adduction/abduction revolving pair 7 is directly driven by the wrist joint adduction/abduction motor 77, and the hand grasping revolving pair 8 is directly driven by the hand grasping motor 78.

The lower extremity exoskeleton 22 includes a waist support ring 42, an electro-hydraulic drive system box 43, a hip joint 44, a thigh bar 45, a knee joint 46, a calf bar 47, an ankle joint 48, and a sole plate 49; the waist support ring 42, the electro-hydraulic drive system The system box 43 is tightly connected with the upper and lower extremity exoskeleton connecting plates 41 respectively; the electro-hydraulic drive system box 43, the hip joint 44, the thigh bar 45, the knee joint 46, the calf bar 47, the ankle joint 48 and the sole plate 49 are sequentially connected in series The waist support ring 42 is flexibly connected to the human waist 64, the thigh bar 45 is flexibly connected to the human thigh 65, the calf bar 47 is flexibly connected to the human calf 66, and the sole plate 49 is flexibly connected to the human foot 67.

The electro-hydraulic drive system box 43 is used as the lower extremity exoskeleton base 31, and the sole plate 49 is used as the sole base 38. The hip joint 44 is composed of the hip joint flexion/extension rotation pair 32, the hip joint internal rotation/external rotation rotation pair 33 and the hip joint. Joint adduction/abduction rotation pairs 34 are perpendicular to each other, knee joint 46 is composed of knee joint flexion/extension rotation pairs 35, ankle joint 48 is composed of ankle joint dorsiflexion/toe flexion rotation pairs 36 and ankle joint varus/valgus rotations Deputy 37 is composed vertically.

The hip joint flexion/extension rotary pair 32 is indirectly driven by the hip joint flexion/extension hydraulic cylinder 82 through the hip joint flexion/extension three-bar mechanism 52, and the hip joint internal rotation/external rotation dynamic pair 33 is driven by the hip joint internal rotation/external rotation hydraulic cylinder 83 Driven indirectly through the hip joint internal rotation/external rotation three-bar mechanism 53, the hip joint adduction/abduction rotation pair 34 is indirectly driven by the hip joint adduction/abduction hydraulic cylinder 84 through the hip joint adduction/abduction three-bar mechanism 54 , the knee joint flexion/extension rotation pair 35 is indirectly driven by the knee joint flexion/extension hydraulic cylinder 85 through the knee joint flexion/extension three-bar mechanism 55, and the ankle joint dorsiflexion/toe flexion rotation pair 36 is driven by the ankle joint dorsiflexion/toe flexion hydraulic cylinder 86 is indirectly driven by ankle joint dorsiflexion/toe flexion three-bar mechanism 56, ankle joint varus/valgus joint 37 is indirectly driven by ankle joint varus/valgus hydraulic cylinder 87 through ankle joint varus/valgus three-bar mechanism 57 drive.

Working process of the present invention is as follows:

After the human body enters the whole set of exoskeleton equipment, the upper arm 13 is flexibly connected to the upper arm 61 of the human body, the forearm rod 15 is flexibly connected to the forearm 62 of the human body, the hand mechanism 17 is flexibly connected to the hand 63 of the human body, and the waist support ring 42 is connected to the waist 64 of the human body. Flexible connection, the thigh bar 45 is flexibly connected to the human thigh 65, the calf bar 47 is flexibly connected to the human calf 66, and the sole plate 49 is flexibly connected to the human foot 67.

When the upper limbs of the human body need to carry materials, the shoulder joint adduction/abduction motor 72, the shoulder joint internal rotation/external rotation motor 73, the shoulder joint flexion/extension motor 74 jointly drive the shoulder joint 12, and the elbow joint flexion/extension motor 75 drives The elbow joint 14, the wrist joint flexion/extension motor 76, the wrist joint adduction/abduction motor 77 jointly drive the wrist joint 16, the hand grasping motor 78 drives the hand mechanism 17, and the material is grasped by the V-shaped grasping mechanism 9 .

When the lower limbs of the human body need to carry materials, the hip joint flexion/extension hydraulic cylinder 82, the hip joint internal rotation/external rotation hydraulic cylinder 83, and the hip joint adduction/abduction hydraulic cylinder 84 pass through the hip joint flexion/extension three-bar mechanism 52, Hip internal rotation/external rotation three-bar mechanism 53, hip joint adduction/abduction three-bar mechanism 54 jointly drive hip joint 44, knee joint flexion/extension hydraulic cylinder 85 drives knee joint 46 through knee joint flexion/extension three-bar mechanism 55 Ankle joint dorsiflexion/toe flexion hydraulic cylinder 86, ankle joint varus/valgus hydraulic cylinder 87 jointly drive ankle joint through ankle joint dorsiflexion/toe flexion three-bar mechanism 56 and ankle joint varus/valgus three-bar mechanism 57 respectively Joint 48.

The invention can greatly improve the efficiency and flexibility in material handling by means of mechanical power such as motor and hydraulic pressure, and achieve the purpose of saving time and labor.

Claims (7)

1. the bionical ectoskeleton of wearable heavy material handling power-assisted is characterized in that it comprises upper limb ectoskeleton (21), lower limb exoskeleton (22) and upper and lower limb ectoskeleton connecting plate (41) etc.; Upper limb ectoskeleton (21) is connected in series through upper and lower limb ectoskeleton connecting plate (41) and lower limb exoskeleton (22).

2. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 1; It is characterized in that said upper limb ectoskeleton (21) comprises motor driven systems case (11), shoulder joint (12), goes up armed lever (13), elbow joint (14), preceding armed lever (15), carpal joint (16) and hand organization (17) etc.; Said motor driven systems case (11) and upper and lower limb ectoskeleton connecting plate (41) are fastenedly connected, and motor driven systems case (11), shoulder joint (12), last armed lever (13), elbow joint (14), preceding armed lever (15), carpal joint (16) and hand organization (17) are connected in series successively; Last armed lever (13) and human body upper arm (61) flexibly connect, and preceding armed lever (15) and human body forearm (62) flexibly connect, and hand organization (17) and human hands (63) flexibly connect.

3. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 2; It is characterized in that; Said motor driven systems case (11) is as upper limb ectoskeleton pedestal (1); Shoulder joint (12) is by receipts/abduction revolute pair (2), shoulder joint internal/external rotations revolute pair (3) and shoulder joint flexion/extension revolute pair (4) in the shoulder joint mutual vertical composition; Elbow joint (14) is made up of elbow joint flexion/extension revolute pair (5), and carpal joint (16) is by receipts/abduction revolute pair (7) vertical composition in carpal joint flexion/extension revolute pair (6) and the carpal joint, and hand organization (17) is connected to form by hand extracting revolute pair (8) and V-type grasping mechanism (9).

4. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 3; It is characterized in that; Receipts/abduction revolute pair (2) is directly driven by receipts/abduction motor (72) in the shoulder joint in the said shoulder joint; Shoulder joint internal/external rotations revolute pair (3) is directly driven by shoulder joint internal/external rotations motor (73); Shoulder joint flexion/extension revolute pair (4) is directly driven by shoulder joint flexion/extension motor (74), and elbow joint flexion/extension revolute pair (5) is directly driven by elbow joint flexion/extension motor (75), and carpal joint flexion/extension revolute pair (6) is directly driven by carpal joint flexion/extension motor (76); Receipts/abduction revolute pair (7) is directly driven by receipts/abduction motor (77) in the carpal joint in the carpal joint, and hand grasps revolute pair (8) and directly driven by hand extracting motor (78).

5. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 1; It is characterized in that said lower limb exoskeleton (22) comprises lumbar support ring (42), electric liquid drive system case (43), hip joint (44), thigh bar (45), knee joint (46), shank bar (47), ankle joint (48) and foot plate (49) etc.; Said lumbar support ring (42), electric liquid drive system case (43) are fastenedly connected with upper and lower limb ectoskeleton connecting plate (41) respectively; Electricity liquid drive system case (43), hip joint (44), thigh bar (45), knee joint (46), shank bar (47), ankle joint (48) and foot plate (49) are connected in series successively; Lumbar support ring (42) and human body waist (64) flexibly connect, and thigh bar (45) and human body thigh (65) flexibly connect, and shank bar (47) and human body shank (66) flexibly connect, and foot plate (49) and human foot (67) flexibly connect.

6. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 5; It is characterized in that; Said electric liquid drive system case (43) is as lower limb exoskeleton pedestal (31); With foot plate (49) as vola pedestal (38); Hip joint (44) is by receipts/abduction revolute pair (34) in hip joint flexion/extension revolute pair (32), hip joint internal/external rotations revolute pair (33) and the hip joint vertical composition each other, and knee joint (46) is made up of knee joint flexion/extension revolute pair (35), and ankle joint (48) is by turning over/turn up revolute pair (37) vertical composition in ankle dorsal flexion/toe revolute pair (36) in the wrong and the ankle joint.

7. according to the bionical ectoskeleton of the said wearable heavy material handling power-assisted of claim 6; It is characterized in that; Said hip joint flexion/extension revolute pair (32) is driven through hip joint flexion/extension three linkages (52) by hip joint flexion/extension hydraulic cylinder (82) indirectly; Hip joint internal/external rotations revolute pair (33) is driven through hip joint internal/external rotations three linkages (53) by hip joint internal/external rotations hydraulic cylinder (83) indirectly; Receipts/abduction revolute pair (34) is driven through receipts/abduction three linkages (54) in the hip joint by receipts/abduction hydraulic cylinder (84) in the hip joint indirectly in the hip joint; Knee joint flexion/extension revolute pair (35) is driven through knee joint flexion/extension three linkages (55) by knee joint flexion/extension hydraulic cylinder (85) indirectly; Ankle dorsal flexion/toe is bent revolute pair (36) and is bent hydraulic cylinder (86) through the driving indirectly of ankle dorsal flexion/toe three linkages (56) in the wrong by ankle dorsal flexion/toe, turns over/turns up revolute pair (37) in the ankle joint and drive indirectly through turning over/turn up three linkages (57) in the ankle joint by turning over/turn up hydraulic cylinder (87) in the ankle joint.

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