CN110181482A - A kind of modularization seven freedom upper limb exoskeleton robot - Google Patents

Abstract

The invention discloses a modular seven-degree-of-freedom upper limb exoskeleton robot, which includes a load-carrying mobile platform, a shoulder motion mechanism, a large arm telescopic mechanism, a large arm swing motion mechanism, an elbow motion mechanism, a forearm telescopic mechanism, and a small arm swing mechanism. Movement mechanism and wrist movement mechanism; one end of the shoulder movement mechanism is fixed on the top of the carrying mobile platform, and the other end is connected with the boom telescopic mechanism, and then the shoulder movement mechanism, the boom telescoping mechanism, the boom swing mechanism, and the elbow movement mechanism , the forearm telescopic mechanism, the forearm gyration mechanism, and the wrist motion mechanism are successively connected along the route of the upper limb of the human body. The present invention expands the working space for control, improves the sense of immersion in remote operation; expands the working space for shoulder movement; improves the coincidence degree of the rotation axis, improves the man-machine compatibility; improves the degree of man-machine coupling and wearing comfort; Improves the degree of suppleness and force sense immersion; it can adapt to the force requirements of different force feedback, and improves the degree of personalization; the degree of versatility is high.

Description

A modular seven-degree-of-freedom upper limb exoskeleton robot

technical field

The invention relates to a modular seven-degree-of-freedom upper limb exoskeleton robot, which belongs to the technical field of robots and human-computer interaction.

Background technique

Special extreme environments such as on-orbit service, planetary exploration, telemedicine, nuclear processing, high-voltage live work, and ocean development have brought great challenges to human on-site operations. Remote operation technology remotely controls the slave system at a remote site through the local master device, monitors and manages the process, and makes evaluation and response, which is an excellent way to solve special environmental operations. Among them, the master-end teleoperation robot is used to obtain the operator's control input and feed back the information from the slave end to the operator, which is the key development direction in the field of robotics and human-computer interaction. Traditionally, the exoskeleton robot is integrated with the upper limbs of the human body to conduct human-computer interaction more intuitively, expand the working space of the operator during teleoperation, and greatly enhance the sense of immersion.

At present, the technologies for obtaining the pose data of human upper limbs during teleoperation mainly include motion capture devices. Typical products include Kinect, Vicon, Motion Analysis using optical measurement methods, and Xsens based on inertial measurement. However, these devices do not have the force feedback function, and cannot provide force information when there is a contact phenomenon at the slave end. The main-end teleoperated robot based on the robot configuration can provide effective force feedback information, which is usually divided into non-wearable serial force feedback main hand and parallel force feedback main hand. The main representatives are the desktop PHANTOM series force feedback master controller of Sensable Company of the United States, and the Delta/Omega force feedback master controller of Force Dimension Company. This type of main hand is usually fixed on the workbench, with 3-7 degrees of freedom, and is operated by the operator holding the end of the main hand with force feedback. However, the working space of the force feedback main hand is smaller than that of the upper limbs of the human body, and the operator is not intuitive. Moreover, the force feedback master hand can only apply feedback force to people at the end, and cannot be applied to other parts of the upper limb.

The upper limb exoskeleton teleoperation robot is worn on the upper limb of the human body, and by matching the joints and arm length of the human upper limb, it greatly expands the working space of the operator's upper limb teleoperation, and has a relatively similar displacement, speed and force to the human upper limb performance range, which is extremely important for large-scale, touch-sensitive scenarios such as assembly and picking. Among them, there have been some cases of upper limb exoskeleton robots in sports rehabilitation and transportation assistance, such as ARMin, IntelliArm, ETS-MARSE, etc. The upper limb exoskeleton teleoperation robot, as the main-end interactive device, has special requirements in terms of range of motion, force immersion, and modular reconfigurability in addition to some requirements for rehabilitation and assistance. Currently, EXARM can be worn on the upper limbs of the human body. , to achieve remote operation. However, the configuration and joint configuration of the robot make it easy for the robot to interfere with the human body, reducing the working space; at the same time, the six-dimensional force sensor is usually installed at the end, which does not have the torque perception ability at the joint level and has low compliance; in addition, each Compared with the shoulder, elbow and wrist joints of the upper limbs of the human body, the driving and control capabilities that the robot should possess are weaker in load capacity, lower in force feedback capabilities, and do not have the characteristics of modularization. The adaptability of the left and right upper limbs And robot reconstruction interchangeability is weak.

Contents of the invention

The purpose of the present invention is to provide a modular seven-degree-of-freedom upper limb exoskeleton robot to solve the problems in the prior art that the configuration and joint configuration of the robot are easy to interfere with the human body, the joint compliance is low, and the force feedback ability is low. And it does not have problems such as modularization.

In order to solve the above technical problems, a modular seven-degree-of-freedom upper limb exoskeleton robot of the present invention can be worn on the right upper limb of the human body or on the left upper limb of the human body, including a mobile platform, a shoulder motion mechanism, a large Arm telescopic mechanism, big arm rotary motion mechanism, elbow motion mechanism, forearm telescopic mechanism, small arm rotary motion mechanism and wrist motion mechanism; one end of the shoulder motion mechanism is fixed on the top of the carrying mobile platform, and the other end is telescopic with the large arm Mechanisms are connected, and then the shoulder motion mechanism, the large arm telescopic mechanism, the large arm swing mechanism, the elbow motion mechanism, the forearm telescopic mechanism, the small arm swing mechanism, and the wrist motion mechanism are connected successively along the route of the upper limbs of the human body.

The carrying mobile platform includes a pushable and lockable mobile chassis and a vertically telescopic support rod. The movable chassis that can be pushed and locked provides horizontal forward, backward, left, right and rotational motion, and is composed of four driven wheels and a friction brake locking device. The vertically telescopic support rod is composed of an outer sleeve and an inner sliding rod. The inner sliding rod moves relative to each other in the vertical direction and can be fixed in position by bolts.

Further, the working range of the carrying mobile platform can make the rotation center of the shoulder motion mechanism coincide with the rotation center of the shoulder joint of the human body.

The shoulder motion mechanism includes a shoulder connection flange, a shoulder extension joint, a shoulder angle connecting rod, and a shoulder flexion and extension joint. The shoulder extension joint is connected with the top of the carrying mobile platform through the shoulder connection flange. The shoulder extension joint is connected with the shoulder flexion and extension joint through the shoulder angle connecting rod. The rotation axis of the shoulder flexion-extension joint and the rotation axis of the shoulder extension joint intersect at one point, which is the rotation center of the shoulder kinematic mechanism.

Furthermore, the rotation axis of the shoulder extension joint is parallel to the horizontal plane, and forms a certain angle α with the sagittal plane of the human body. The horizontal plane is at an angle γ. Due to the existence of α, β and γ angles, when the exoskeleton and the upper limbs of the human body are stretching, the shoulder motion mechanism can go around the back of the human head and neck, thereby avoiding collision interference and increasing the range of motion of the exoskeleton shoulder.

The boom telescoping mechanism includes a boom telescoping slide bar, a boom telescoping slider and boom telescoping locking bolts and nuts. The boom telescopic slide bar is long, with grooves on both sides as guide rails. The boom telescopic slider is a concave structure and can move along the groove of the boom telescopic slide rod. The locking bolt penetrates from one side of the telescopic sliding rod of the boom, and is locked with a nut on the other side of the telescopic sliding block of the boom. The telescopic sliding rod of the boom and the telescopic sliding block of the boom can relatively move along the axial direction of the boom. According to the length of the upper arm of the human body, by adjusting the relative distance between the telescopic slide bar of the large arm and the telescopic slide block of the large arm, the telescopic mechanism of the large arm of the exoskeleton is adapted to the large arm of the operator, and fixed by locking bolts and nuts.

The swing motion mechanism of the boom includes a boom link, a swing joint of the boom, an output gear of the swing joint of the boom, a hollow gear of the boom, a first output flange, a fixed first support structure and a first gear baffle. The output shaft of the boom swivel joint is coaxially connected with the boom swivel joint output gear through the first output flange, and the boom swivel joint output gear is meshed with the boom hollow gear for transmission. The upper arm of the human body can pass through the inner hole of the hollow gear of the upper arm, and the axis of the inner hole coincides with the rotation axis of the upper arm of the human body.

The elbow kinematic mechanism includes a shoulder-elbow link and an elbow joint. One end of the shoulder-elbow link is connected with the big arm swing mechanism, and the other end is connected with the input flange of the elbow joint. The output flange of the elbow joint is connected with the forearm rotary motion mechanism. The rotation axis of the elbow joint coincides with the rotation axis of the human upper limb elbow joint.

The forearm telescopic mechanism comprises a forearm telescopic slide bar, a forearm telescopic slider, and a telescopic locking bolt and nut for the forearm. The forearm telescopic slide bar is long, with grooves on both sides as guide rails. The forearm telescopic slider has a concave structure and can move along the groove of the forearm telescopic slide bar. The locking bolt passes through one side of the telescopic slider of the forearm, and is locked with a nut on the other side of the telescopic slider of the forearm. The forearm telescopic slide bar and the forearm telescopic slide block can relatively move along the axial direction of the forearm. According to the length of the forearm of the upper limb of the human body, by adjusting the relative distance between the forearm telescopic slider and the forearm telescopic slider, the exoskeleton forearm telescopic mechanism is adapted to the operator's forearm, and fixed with the forearm telescopic locking bolt and nut .

The forearm gyratory mechanism includes a forearm connecting rod, a forearm gyratory joint, an output gear of the forearm gyratory joint, a hollow gear of the forearm, a second output flange, a fixed second support structure and a second gear baffle. The output shaft of the forearm revolving joint is coaxially connected with the joint output gear through the second output flange, and the joint output gear is meshed with the forearm hollow gear for transmission. The forearm of the human upper limb can pass through the inner hole of the hollow gear of the forearm, and the axis of the inner hole coincides with the rotation axis of the forearm of the human upper limb.

The wrist motion mechanism includes a wrist-elbow link, a wrist extension joint, a wrist link, a wrist flexion-extension joint, and a handle structure. The wrist extension joint is connected with the forearm rotary motion mechanism through the wrist-elbow link, the wrist extension joint is connected with the wrist flexion and extension joint through the wrist link, and the handle structure is connected with the wrist flexion and extension joint. Human hands can hold the handle. Human upper limb wrist joints can be equivalent to ball joints. The rotation axes of the wrist extension joint and the wrist flexion-extension joint coincide with the extension, flexion-extension rotation axes of the equivalent ball joint respectively, and the center of the ball coincides.

Furthermore, the shoulder flexion and extension joints, shoulder extension joints, upper arm rotator joints, elbow joints, forearm rotator joints, wrist extension joints, and wrist flexion and extension joints are all modular joints, including motors, reducers, Holding brake, power supply and drive board, bearing, encoder, output flange and front end cover, and integrate a matching torque sensor in each joint.

Furthermore, the modular joints have consistent mechanical and electrical interface forms, and the output torque and power of each joint can be configured according to the force feedback force requirements of human upper limb teleoperation.

Furthermore, the modular seven-degree-of-freedom upper limb exoskeleton robot can be worn on both the right upper limb and the left upper limb of the human body. By adjusting the position and orientation of the load-bearing mobile platform, the initial angle of the shoulder connecting flange installed on the inner slide bar on the load-bearing mobile platform, the initial angle of the shoulder angle-type link installed on the shoulder extension joint, and the installation of the wrist-elbow link Based on the initial angle of the wrist extension joints, the values of α, β, and γ formed by wearing on the left upper limb of the human body are equal to those worn on the right upper limb of the human body. At the same time, the wrist flexion and extension joints are kept behind the human body, so that the module The seven-degree-of-freedom upper limb exoskeleton robot adapts to the right or left upper limb of the human body.

A modular seven-degree-of-freedom upper limb exoskeleton robot of the present invention has the advantages and effects of:

1. Exoskeleton robots with seven degrees of freedom are used, and three-degree-of-freedom, one-degree-of-freedom, and three-degree-of-freedom motion mechanisms are designed at the relevant positions of the shoulder, elbow, and wrist, respectively. The degree of freedom matching expands the working space controlled during remote operation and improves the immersion of remote operation.

2. The shoulder motion mechanism adopts a non-orthogonal layout form, and the rotation axes of the shoulder retraction joints and shoulder flexion-extension joints are offset to make the shoulder retraction joints and shoulder flexion-extension joints abduct and stretch the upper limbs of the human body When moving, it can bypass the back of the human head, avoiding the collision between the exoskeleton robot and the head, and expanding the working space of the shoulder movement.

3. The rotation of the drive joints in the upper arm gyration mechanism and the forearm gyration mechanism drives the coaxial output gear to rotate, and the meshed hollow gear drives the upper arm and forearm of the human body to gyrate, which improves the coincidence of the rotation axes and reduces Small offset-induced forces improve ergonomics.

4. The telescopic mechanism of the large arm and the telescopic mechanism of the small arm can match the length of the large arm and the length of the small arm of the exoskeleton with the large arm and the small arm of the upper limb of the human body through the movement and locking cooperation of the slide bar in the sleeve, improving Human-machine coupling degree and wearing comfort.

5. The torque sensor is integrated inside the modular joint, which has the ability to control the impedance of the robot joint, realizes the collision detection of the whole upper arm of the human body, and improves the degree of compliance and force immersion.

6. The modular joints have a unified connection method, and the internal motors, reducers, and drivers can provide and reduce output torque and power according to requirements, adapt to the force requirements of different force feedback, and improve the degree of personalization.

7. The segmented modular design enables the exoskeleton robot to be worn on both the right upper limb and the left upper limb of the human body, with a high degree of versatility.

Description of drawings

Fig. 1 Schematic diagram of the structure of the modular seven-degree-of-freedom upper limb exoskeleton robot worn on the right upper limb of the human body.

Fig. 2 Schematic diagram of the modular seven-DOF upper limb exoskeleton robot.

Fig. 3 is a schematic structural diagram of a carrying mobile platform.

Fig. 4 Schematic diagram of the structure of the shoulder kinematic mechanism.

Figure 5a, b Schematic diagram of the angle of the offset of the joint rotation axis in the shoulder kinematic mechanism.

Fig. 6a, b Schematic diagram of the structure of the telescoping mechanism of the boom.

Figure 7a, b Schematic diagram of the structure of the swing mechanism of the boom.

Fig. 8 Schematic diagram of the structure of the elbow kinematic mechanism.

Fig. 9a, b Schematic diagram of the structure of the forearm telescoping mechanism.

Figure 10a, b Schematic diagram of the structure of the forearm swing mechanism.

Fig. 11 Schematic diagram of the structure of the wrist motion mechanism.

Figure 12 Schematic diagram of the modular joint.

Fig. 13a, b, c are structural schematic diagrams of a modular seven-degree-of-freedom upper limb exoskeleton robot worn on the left upper limb of a human body.

The labels in the figure are as follows:

1. Carrying mobile platform 11. Inner sliding rod 12. Outer sleeve 13. Mobile chassis

2. Shoulder motion mechanism 21. Shoulder connection flange 22. Shoulder retraction joint

221. Motor 222. Reducer 223. Brake 224. Power supply and drive board

225, bearing 226, encoder 227, torque sensor 228, output flange

229. Front end cover 23. Shoulder angular connecting rod 24. Shoulder flexion and extension joint

3. Boom telescopic mechanism 31. Boom telescopic slider 32. Boom telescopic slider

33. Boom telescopic locking bolt and nut 4. Boom swing mechanism 41. Boom connecting rod

42. Large arm rotary joint 43. Output gear of large arm rotary joint

44. Boom hollow gear 45. First support structure 46. First output flange

47. First gear baffle 5. Elbow motion mechanism 51. Elbow joint 52. Shoulder-elbow link

6. Forearm telescopic mechanism 61. Forearm telescopic slider 62. Forearm telescopic slider

63. Forearm telescopic locking bolt and nut 7. Forearm rotary motion mechanism

71. Forearm connecting rod 72. Forearm rotary joint 73. Forearm rotary joint output gear

74. Forearm hollow gear 75. Second support structure 76. Second output flange 77. Second gear baffle plate

8. Wrist motion mechanism 81, wrist-elbow link 82, wrist extension joint 83, wrist link

84. Wrist flexion and extension joints 85. Handle structure

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

The modular seven-degree-of-freedom robot upper limb exoskeleton robot can be used for the right or left upper limb of the human body. Taking wearing on the right upper limb as an example, as shown in Figure 1, the shoulder movement and the wrist of the human upper limb can be equivalent to a ball joint respectively, and the centers of the balls are points O ₁ and O ₃ respectively; the rotation of the elbow is equivalent to For pure rotation, the rotation axis is L ₂ ; the swing axes of the boom and forearm are L ₁ and L ₃ respectively, and they intersect at point O ₂ . The modular seven-degree-of-freedom upper limb exoskeleton robot is shown in Figure 2, which sequentially includes a mobile platform 1, a shoulder motion mechanism 2, a large arm telescopic mechanism 3, a large arm rotary motion mechanism 4, an elbow motion mechanism 5, and a forearm telescopic mechanism. Mechanism 6, forearm rotary motion mechanism 7 and wrist motion mechanism 8. The carrying mobile platform supports all other components, the shoulder motion mechanism 2, the boom telescoping mechanism 3, the boom swing mechanism 4, the elbow motion mechanism 5, the forearm telescopic mechanism 6, the forearm swing mechanism 7, and the wrist motion mechanism 8 in order Connected along the route of the upper limbs of the human body.

As shown in FIG. 3 , the carrying mobile platform 1 is composed of a pushable and lockable mobile chassis 13 , an outer sleeve 12 and an inner slide bar 11 . The movable chassis 13 that can be pushed and locked provides horizontal forward, backward, left, right and rotational motion, and is composed of four driven wheels and a friction brake locking device. The inner sliding rod 11 is cylindrical. The outer sleeve 12 is cylindrical and hollow inside. The outer sleeve 12 and the inner sliding rod 11 form a vertical telescopic mechanism, relatively move in the vertical direction, and can be fixed in position by bolts. When in use, push the carrying platform to a suitable position and horizontal orientation, and move the inner slide bar to a reasonable height.

The working range of the carrying mobile platform 1 can make the rotation center of the shoulder motion mechanism coincide with the rotation center of the human shoulder joint O ₁ .

As shown in FIG. 4 , the shoulder motion mechanism 2 includes a shoulder connection flange 21 , a shoulder extension joint 22 , a shoulder angle connecting rod 23 , and a shoulder flexion and extension joint 24 . One end of the shoulder motion mechanism 2 is fixed on the top of the inner slide bar 11 of the mobile platform 1 through the shoulder connection flange 21, and the output flange of the shoulder flexion and extension joint 24 at the other end and the slide bar 31 of the boom telescopic mechanism 3 pass through Connected threaded holes. The output flange of the shoulder extension joint 22 is connected with one end of the shoulder angular connecting rod 23 by bolts, and the other end of the shoulder angular connecting rod 23 is connected with the output flange of the shoulder flexion and extension joint 24 by bolts. The rotation axis of the shoulder flexion-extension joint and the rotation axis of the shoulder extension joint intersect at one point, which is the rotation center O ₁ of the shoulder motion mechanism.

As shown in Figure 5a, b, the rotation axis of the shoulder flexion and extension joint 22 is parallel to the horizontal plane, and forms a certain angle α with the sagittal plane of the human body. β angle, and then form a γ angle with the horizontal plane of the human body. Due to the existence of α, β and γ angles, when the exoskeleton and the upper limbs of the human body are stretching, the shoulder motion mechanism can go around the back of the human head and neck, thereby avoiding collision interference and increasing the range of motion of the exoskeleton shoulder. The angles of α, β and γ take typical values ranging from 0° to 45°. The size of the shoulder angle connecting rod 23 ensures the angles of β and γ. The shoulder connection flange 21 is a circular flange, and the angle α is guaranteed by setting the initial installation angle.

As shown in Fig. 6a, b, the boom telescopic mechanism 3 is composed of a boom telescopic sliding rod 31, a boom telescopic slider 32 and a boom telescopic locking bolt and nut 33. The slide bar 31 is elongated, with grooves on both sides as guide rails. The boom telescopic slider 32 is a concave structure and can move along the groove of the boom telescopic slide bar 31 . The locking bolt penetrates from one side of the telescopic sliding rod of the boom, and is locked with a nut on the other side of the telescopic sliding block of the boom. The threaded hole below the boom telescopic slider 32 is connected with the threaded hole of the boom connecting rod 41, and the connection direction ensures that the concave structures of the two are aligned. The boom telescoping slide bar ₃₁ and the boom telescoping slider 32 can relatively move along the boom axis L1. When in use, according to the length of the upper arm of the human body, by adjusting the relative distance between the telescopic slider 31 and the telescopic slider 32, the telescopic mechanism of the exoskeleton can be adapted to the operator's boom, and the telescopic lock can be used to Tighten bolt nut 33 and fix.

As shown in Figure 7a and b, the boom swing mechanism 4 consists of boom connecting rod 41, boom swing joint 42, boom swing joint output gear 43, boom hollow gear 44, first support structure 45, first output The flange 46 and the first gear baffle plate 47 form. The boom connecting rod 41 is connected with the front end cover of the boom swivel joint 42 through threaded holes, the output shaft of the boom swivel joint 42 is connected with the first output flange 46 through bolts, and the first output flange 46 is connected with the output gear of the boom swivel joint. 43 is coaxially connected with the bolt through the keyway, and the boom rotary joint output gear 43 is meshed with the boom hollow gear 44 for transmission. The first support structure 45 is a ring structure, the boom hollow gear 44 is coaxially connected with the fixed first support structure 45 and fixed by a key, and the other side is constrained to move axially by the first gear baffle plate 47 . The first supporting structure 45 is integrated with the first gear baffle plate 47 and rotates coaxially around the ring structure of the boom connecting rod 41 . The upper arm of the human body can pass through the inner hole of the upper arm hollow gear 44, and the axis of the inner hole coincides with the rotation axis L1 _of the upper arm of the human body. During use, the upper arm of the human body passes through the hollow ring of the hollow gear 44 of the upper arm to drive the rotation of the upper arm swing mechanism 4, and the swing mechanism 4 acts on the upper arm of the human body to provide torque to the upper arm of the human body.

As shown in FIG. 8 , the elbow motion mechanism 5 includes a shoulder-elbow link 52 and an elbow joint 51 . The threaded hole at one end of the shoulder-elbow link 52 (as shown in Figure 8) is connected with the threaded hole of the first support structure 45 on the boom swing mechanism 4 (as shown in Figure 7), and the other end is connected with the front end cover flange of the elbow joint 51. connect. The output flange of the elbow joint 51 is connected with the telescopic sliding rod 61 of the forearm through a threaded hole. _The rotation axis of the elbow joint coincides with the human upper limb elbow joint L2. During use, the elbow joint of the upper limb of the human body drives the elbow motion mechanism 5 to rotate, and at the same time, the elbow motion mechanism 5 acts on the human body's elbow moment.

As shown in FIGS. 9 a and b , the forearm telescopic mechanism 6 is composed of a forearm telescopic sliding rod 61 , a forearm telescopic slider 62 and a telescopic locking bolt and nut 63 for the forearm. The forearm telescopic slide bar 61 is elongated, and grooves are provided on both sides as guide rails. The forearm telescopic slide block 62 is a concave structure and can move along the groove of the forearm telescopic slide bar 31 . The telescopic locking bolt of the forearm is passed through one side of the telescopic slider of the forearm, and is locked with a nut on the other side of the telescopic slider of the forearm. The threaded hole below the forearm telescopic slider 62 is connected with the threaded hole of the forearm connecting rod 71, and the connection direction ensures that the concave structures of the two are aligned. _The forearm telescopic slide bar 61 and the forearm telescopic slide block 62 can relatively move along the boom axis L1. When in use, according to the length of the forearm of the upper limb of the human body, by adjusting the relative distance between the forearm telescopic slide bar 61 and the forearm telescopic slider 62, the exoskeleton big arm telescopic mechanism is adapted to the operator's forearm, and the forearm telescopic lock is used to Tighten bolts and nuts 63 to fix.

As shown in Fig. 10a and b, the forearm gyratory mechanism 7 is composed of a forearm connecting rod 71, a forearm gyratory joint 72, a forearm gyratory joint output gear 73, a forearm hollow gear 74, a second support structure 75, a second output Flange 76 and second gear baffle 77 form. The forearm connecting rod 71 is connected with the output front end cover of the forearm revolving joint 72 through a threaded hole, the output shaft of the forearm revolving joint 72 is connected with the second output flange 76 through bolts, and the second output flange 76 is connected with the output of the forearm revolving joint. The gear 73 is coaxially connected with the bolt through a keyway, and the output gear 73 of the forearm rotary joint is meshed with the forearm hollow gear 74 for transmission. The second support structure 75 is a ring structure, the forearm hollow gear 74 is coaxially connected with the fixed second support structure 75, fixed by a key, and the other side is constrained to move axially by the second gear baffle plate 77. The second supporting structure 75 is integrated with the second gear baffle plate 77 and rotates coaxially around the ring structure of the forearm connecting rod 71 . The forearm of the upper limb of the human body can pass through the inner hole of the hollow forearm gear 74, and the axis of the inner hole coincides with the rotation axis L1 _of the forearm of the human upper limb. During use, the forearm of the upper limb of the human body passes through the hollow ring of the forearm hollow gear 44 to drive the forearm gyration mechanism 4 to rotate, and simultaneously the forearm gyration mechanism 4 acts on the forearm moment of the upper limb of the human body.

As shown in FIG. 11 , the wrist motion mechanism 8 is composed of a wrist-elbow link 81 , a wrist extension joint 82 , a wrist link 83 , a wrist flexion-extension joint 84 , and a handle structure 85 . The semicircular connecting plate at one end of the wrist-elbow link 81 is connected to the threaded hole of the second support structure 75 on the forearm swing mechanism 7 through bolts, and the square connecting plate at the other end is connected to the front end cover of the wrist extension joint 82 through bolts. connected. The output flange of the wrist extension joint 82 is connected with one end of the wrist connecting rod 83 by bolts, the other end of the wrist connecting rod 83 is connected with the front end cover of the wrist flexion and extension joint 84, and the handle structure 85 is connected to the wrist flexion and extension joint. 84 on the output flange. The human upper limb wrist joint can be equivalent to a ball joint, and the center of the ball is O ₃ . The rotation axes of the wrist extension joint 82 and the wrist extension joint 84 respectively coincide with the extension, extension and extension rotation axes of the equivalent ball joints, and the rotation axes of the extension, flexion and extension joints intersect at O ₃ . When in use, the handle 85 can be held by hand. The movement of the wrist of the upper limb of the human body drives the movement of the wrist extension joint 82 and the flexion-extension joint 84 of the wrist. At the same time, the two joints act on the wrist of the human upper limb to provide torque.

Further, the shoulder extension joint 22, the shoulder flexion and extension joint 24, the upper arm gyration joint 42, the elbow joint 51, the forearm gyration joint 72, the wrist extension joint 82, and the wrist flexion and extension joint 84 are all modular joints, All include motor, reducer, brake, power supply and drive board, bearing, encoder, output flange and front cover, and a matching torque sensor is integrated in each joint. Typically, the output torque range of the seven joints is 3-60N·m, and the speed range is 10-60RPM.

Taking the shoulder extension joint 22 as an example, it specifically includes: a motor 221, a reducer 222, a brake 223, a power supply and a drive board 224, a bearing 225, an encoder 226, a torque sensor 227, and output flanges 228 and 229 Front end cover, as shown in Figure 12.

Furthermore, the above-mentioned modular joints have consistent mechanical and electrical interface forms, and the output torque and power of each joint can be configured according to the force feedback strength requirements of human upper limb teleoperation. The mechanical interface of the front cover and the output flange is a ring flange, the electrical interface is a 2-wire power supply, and the communication interface is CAN, EtherCAT or RS485.

During the wearing process of the exoskeleton, the upper limbs of the human body, as shown in Figure 1, pass through the shoulder movement mechanism 2, the large arm telescopic mechanism 3, the large arm swing mechanism 4, the elbow movement mechanism 5, the forearm stretch mechanism 6, and the forearm swing mechanism 7. Wrist movement mechanism8. Hold the handle of the wrist kinematic mechanism 8 by hand. The upper arm of the human body passes through the large arm hollow gear 44 of the large arm swing mechanism 4 , and the small arm of the human body upper limb passes through the small arm hollow gear 74 of the small arm swing mechanism 7 . The rotation center of the shoulder motion mechanism 2 coincides with the center of the shoulder joint of the upper limb of the human body, and the length of the telescopic mechanism 3 of the large arm is adjusted so that the rotation axis of the elbow motion mechanism 5 coincides with the rotation axis of the elbow joint of the human upper limb, and the forearm telescopic mechanism 6 is adjusted. length, so that the rotation center of the wrist motion mechanism 8 coincides with the rotation center of the wrist joint of the upper limb of the human body. In the process of exoskeleton teleoperation, the upper limbs of the human body drive the exoskeleton to move, specifically including the three-degree-of-freedom movement of the shoulder joint of the human upper limb, which can drive the movement of the shoulder movement mechanism 2 and the arm rotation mechanism 4, and the one-degree-of-freedom movement of the elbow joint of the human upper limb The movement can drive the movement of the elbow movement mechanism 5 , and the three-degree-of-freedom movement of the wrist joint of the human upper limb can drive the movement of the forearm swing mechanism 7 and the wrist movement mechanism 8 . Correspondingly, the exoskeleton measures the motion parameters of the upper limbs of the human body, and applies force to the upper limbs of the human body according to the parameters fed back from the end, realizing teleoperation based on force feedback.

When the modular seven-DOF upper limb exoskeleton robot is worn on the left upper limb of the human body, it is shown in Figure 13c. By adjusting the position and orientation of the load-bearing mobile platform 1, the initial angle at which the shoulder connecting flange 21 is installed on the inner slide bar 11 on the load-bearing mobile platform 1, and the initial angle at which the shoulder angle-shaped connecting rod 23 is installed on the shoulder extension joint 22 And the initial angle of the wrist-elbow link 83 installed on the wrist extension joint 82, so that the values of α, β, and γ formed on the left upper limb of the human body are equal to those worn on the right upper limb of the human body (as shown in Figure 13a, b shown), so that the modular seven-degree-of-freedom upper limb exoskeleton robot is adapted to the left upper limb of the human body.

Claims (9)

1. a kind of modular seven freedom upper limb exoskeleton robot, it is characterised in that: the robot includes that carrying is mobile flat Platform, head movement mechanism, large arm telescoping mechanism, large arm circumnutation mechanism, ancon movement mechanism, forearm telescoping mechanism, forearm Circumnutation mechanism and wrist motion mechanism；Head movement mechanism one end be fixed on carrying mobile platform top, the other end with Large arm telescoping mechanism is connected, then head movement mechanism, large arm telescoping mechanism, large arm cyclotron mechanism, ancon movement mechanism, forearm Telescoping mechanism, forearm cyclotron mechanism, wrist motion mechanism are successively connected along the route of human upper limb；

The carrying mobile platform includes the mobile chassis that can be pushed and lock and the support rod of vertical telescopic；Described pushes With the mobile chassis of locking provide horizontal direction all around and rotary motion, locked by four followers and friction brake Device composition；The support rod of the vertical telescopic is made of outer sleeve and interior slide bar, interior slide bar in vertical direction relative motion, And position can be bolted；

The head movement mechanism includes that take down the exhibits joint, shoulder angle-style connecting rod, shoulder of shoulder connecting flange, shoulder bends and stretches pass Section；The shoulder take down the exhibits joint by shoulder connecting flange with carrying mobile platform top be connected；Shoulder joint of taking down the exhibits passes through Shoulder angle-style connecting rod is connected with shoulder bend and stretch joint；The rotation axis of shoulder bend and stretch joint and shoulder are taken down the exhibits the rotation axis in joint It intersects at a point, is the rotation center of head movement mechanism；

The large arm telescoping mechanism includes large arm flexible slide bar, the flexible sliding block of large arm and large arm telescopic locking bolt and nut； Large arm flexible slide bar and the large arm sliding block that stretches can be moved along large arm is axially opposing；According to the length of human upper limb large arm, pass through tune The relative distance for saving the flexible sliding block of large arm flexible slide bar, large arm, makes the large arm of ectoskeleton large arm telescoping mechanism adapting operation person, and It is fixed using clamping screw nut；

The large arm circumnutation mechanism includes big arm link, large arm cyclarthrosis, large arm cyclarthrosis output gear, large arm Hollow gear, the first output flange, the first support construction of fixation and first gear baffle；The output shaft of large arm cyclarthrosis Coaxially connected by the first output flange with large arm cyclarthrosis output gear, large arm cyclarthrosis output gear and large arm are hollow Gear engaged transmission；Human upper limb large arm may pass through the inner hole of large arm hollow gear, and interior axially bored line and human upper limb large arm are circled round Axis is overlapped；

The ancon movement mechanism includes shoulder elbow connecting rod and elbow joint；Shoulder elbow connecting rod one end and large arm circumnutation mechanism connect It connects, the input flange connection of the other end and elbow joint；The output flange of elbow joint is connect with forearm circumnutation mechanism；Elbow joint Rotation axis and human upper limb elbow joint rotation axis coincident；

The forearm telescoping mechanism includes forearm flexible slide bar, the flexible sliding block of forearm and forearm telescopic locking bolt and nut group At；Forearm flexible slide bar and the forearm sliding block that stretches can be moved along forearm is axially opposing；According to the length of human upper limb forearm, pass through It adjusts forearm flexible slide bar and forearm to stretch the relative distance of sliding block, makes that ectoskeleton forearm telescoping mechanism adapting operation person's is small Arm, and fixed using forearm telescopic locking bolt and nut；

The forearm circumnutation mechanism includes small arm link, forearm cyclarthrosis, forearm cyclarthrosis output gear, forearm Hollow gear, the second output flange, the second support construction of fixation and second gear baffle；The output shaft of forearm cyclarthrosis It is coaxially connected by the second output flange with joint output gear, joint output gear and forearm hollow gear engaged transmission；People Body upper limb forearm may pass through the inner hole of forearm hollow gear, and interior axially bored line is overlapped with human upper limb forearm convolution axis；

Wrist motion mechanism includes that wrist elbow connecting rod, wrist are taken down the exhibits joint, wrist connecting rod, wrist bend and stretch joint, handle arrangement；Wrist Joint of taking down the exhibits is connected by wrist elbow connecting rod with forearm circumnutation mechanism, and wrist joint of taking down the exhibits is bent and stretched by wrist connecting rod with wrist Joint is connected, and handle arrangement is connected to wrist bend and stretch joint；Manpower can hold handle；Human upper limb wrist joint can equivalent sphere pass Section；Wrist take down the exhibits joint, wrist bend and stretch joint rotation axis respectively with the taking down the exhibits of equivalent ball-joint, bend and stretch rotation axis weight It closes, the centre of sphere is overlapped.

2. a kind of modular seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described The working range of carrying mobile platform can make the rotation center of head movement mechanism and the rotation center weight of human body shoulder joint It closes.

3. a kind of modular seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described Shoulder joint rotation axis of taking down the exhibits is parallel to the horizontal plane, and with the sagittal plane of human body α at an angle, the rotation of shoulder bend and stretch joint Shaft axis is initially positioned at horizontal plane, and the coronal-plane with human body is in β angle, then at angle γ with the horizontal plane of human body.

4. a kind of modular seven freedom upper limb exoskeleton robot according to claim 3, it is characterised in that: described α, β and γ angular configurations range be 0 °~45 °.

5. a kind of modular seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described Large arm flexible slide bar be strip, two sides have groove as guide rail；The flexible sliding block of large arm is concave structure, can be along large arm The groove of flexible slide bar is mobile；Clamping screw is penetrated from large arm flexible slide bar side, is stretched sliding block other side nut in large arm Locking.

6. a kind of modular seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described Forearm flexible slide bar be strip, two sides have groove as guide rail；The flexible sliding block of forearm is concave structure, can be along forearm The groove of flexible slide bar is mobile；Clamping screw is penetrated from forearm flexible slide bar side, is stretched sliding block other side nut in forearm Locking.

7. a kind of modular seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described Take down the exhibits joint, large arm cyclarthrosis, elbow joint, forearm cyclarthrosis, wrist of shoulder bend and stretch joint, shoulder is taken down the exhibits joint, wrist Bend and stretch joint is modularized joint, includes motor, retarder, band-type brake, power supply and driving plate, bearing, encoder, output method Blue and drive end bearing bracket, and intra-articular matched torque sensor is integrated each.

8. a kind of modular seven freedom upper limb exoskeleton robot according to claim 7, it is characterised in that: described Modularized joint has consistent mechanical, electric interfaces form, according to the force feedback dynamics demand of human upper limb remote operating, configuration The output torque and power in each joint.

9. a kind of modularization seven freedom upper limb exoskeleton robot according to claim 1, it is characterised in that: described Robot can both be worn on upper limb on the right side of human body, can also be worn on upper limb on the left of human body；By adjusting carrying mobile platform Position and orientation, shoulder connecting flange be installed on carrying mobile platform on interior slide bar initial angle, shoulder angle-style connecting rod peace The initial angle in joint is taken down the exhibits loaded on shoulder and wrist elbow connecting rod is installed on wrist and takes down the exhibits the initial angle in joint, so that being worn on The numerical value of upper limb is formed on the left of human body α, β, γ are equal with when being worn on upper limb on the right side of human body, while the holding of wrist bend and stretch joint It is installed at human body rear, to make modularization seven freedom upper limb exoskeleton robot adaptation human body right side or left side upper limb.