CN115042162A - Active upper limb exoskeleton robot - Google Patents

Abstract

The invention discloses an active upper limb exoskeleton robot, which belongs to the technical field of exoskeleton robots and comprises the following components: a back exoskeleton, a left arm exoskeleton and a right arm exoskeleton; the back exoskeleton is of a flexible structure, the front surface of the back exoskeleton is in contact with the back of a human body, and the human body can bend and deform along with the spine of the human body when bending; the left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on two sides of the back exoskeleton and are respectively and rotatably installed on the top of the back exoskeleton through shoulder joints, the shoulder joints have three degrees of freedom of flexion/extension, internal rotation/external rotation and internal contraction/external expansion, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the shoulder joints of the human body; the flexion/extension, internal rotation/external rotation and adduction/abduction motions are realized, the motion freedom degree of the robot is consistent with the motion freedom degree of the human joint, and the elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the human lumbar vertebra to be subjected to bending deformation, the bending range is increased, and the wearing comfort level is improved.

Description

Active upper limb exoskeleton robot

Technical Field

The invention belongs to the technical field of exoskeleton robots, and particularly relates to an active upper limb exoskeleton robot.

Background

The wearable upper limb exoskeleton robot has the main functions of recovering, assisting or enhancing the motion capability of the upper limb of a wearer, including upper limb rehabilitation training, enhancing the capability of carrying or lifting a heavy object by a human body and the like, and has wide application prospects in the fields of medical rehabilitation, logistics transportation, equipment maintenance and repair, military fire fighting and the like. The upper limb exoskeleton robot integrates the technology in the multidisciplinary fields of machinery, electronics, sensors, motion control algorithms and the like, and is a man-machine integrated system capable of completing functions and tasks of assisting in walking and the like under the unconscious control of an operator. The existing upper limb exoskeleton robot still faces a plurality of problems, particularly the problem in the aspect of ergonomics, namely whether the freedom degrees of all joints conform to the motion law of a human body when the robot moves along with the human body.

The main joints of the arm of the upper limb of the human body are a shoulder joint, an elbow joint, a wrist joint and a finger joint of the hand, and the shoulder joint and the elbow joint are stressed the most. Therefore, the active power assistance of the shoulder joint and the elbow joint can greatly reduce the bearing capacity and the fatigue limit of the upper limbs of the human body and enhance the motion capacity of the upper limbs of the human body. The human shoulder joint can be similar to a spherical joint, has three rotational degrees of freedom of flexion/extension, internal rotation/external rotation and external extension/internal contraction, and loses the motion function in the direction due to the lack of any degree of freedom. The three rotation central axes of the three rotation degrees of freedom all pass through the spherical center of the spherical joint and are perpendicular to each other. If the rotation central axis does not pass through the sphere center in the movement process, the position deviation of the human body joint and the robot joint can be caused, the user experience feeling is poor for a light person, and the limb joint of a person can be damaged for a heavy person.

The spine of the human body has a certain curvature when bending down, so that the back of the upper limb exoskeleton robot needs to be consistent with the human body, and the upper limb exoskeleton robot has a proper bendable function. If the back of the exoskeleton is of a rigid structure, when a person bends over to pick up or carry heavy objects, the exoskeleton can prevent the person from bending over, or the trunk binding belt can have large traction force on the waist or shoulders of the person, so that the completion of the bending over action of the person is prevented, and the wearing comfort is reduced.

At present, the exoskeleton of the upper limb is mostly designed into a single shoulder joint assistance type, the shoulder joint has 2 degrees of freedom, namely a flexion/extension degree of freedom and an internal rotation/external rotation degree of freedom, and the assistance of the elbow joint and the external expansion/internal contraction degree of freedom of the shoulder joint are lacked, so that the load capacity of the upper limb is reduced, and the flexibility of the shoulder joint is also reduced. The back structure of the exoskeleton of the upper limbs is also designed into an integrated rigid structure, so that the adaptability of the robot to the shape of the spine of the human body is not facilitated when the human body bends, the bending action of the human body is influenced, and the wearing movement comfort level is reduced.

The Chinese patent of invention applied by Shanghai AoSha Intelligent science and technology Limited company is named as follows: a power-assisted upper limb exoskeleton is disclosed as follows: CN112847313A, published date: 2021.05.28, it discloses a power-assisted upper limb exoskeleton, which is mainly composed of a backboard, a left arm and a right arm. This patent back is a rigid structure, and there is the waist to tie up and ties up the device back lower part, and there is the baldric on back upper portion, and the human trunk ties up through waist tie up and shoulder bandage and tie up the human trunk, forms comparatively firmly and ties up the mechanism reliably. However, the back of the human body is of a rigid structure, so that the human body cannot bend and deform along with the spine of the human body when bending, the bending amplitude of the human body can be influenced, and the waist and the shoulder belts can pull the waist and the shoulders of the human body when bending, so that the wearing comfort is influenced. The shoulder joint has only 2 degrees of freedom, namely flexion/extension freedom and internal rotation/external rotation freedom, and is lack of abduction/adduction freedom, so that the flexibility of the shoulder joint is reduced. The active power assisting unit is only used for assisting the shoulder joint, the elbow joint power assisting unit is lacked, the power assisting efficiency of the robot is reduced, and the load capacity and the operation duration of a human body are reduced.

Disclosure of Invention

In order to at least solve the problem that the back of the upper limb exoskeleton in the prior art cannot be bent and deformed along with the spine of the human body, the invention provides the following technical scheme: an active upper extremity exoskeleton robot comprising: a back exoskeleton, a left arm exoskeleton and a right arm exoskeleton;

the back exoskeleton is of a flexible structure, the front surface of the back exoskeleton is in contact with the back of a human body, and the human body can bend and deform along with the spine of the human body when bending;

the left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on two sides of the back exoskeleton and are respectively and rotatably installed on the top of the back exoskeleton through shoulder joints, the shoulder joints have three degrees of freedom of flexion/extension, internal rotation/external rotation and internal contraction/external expansion, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the shoulder joints of the human body.

Preferably, the back exoskeleton comprises: a back plate and a flexible lumbar vertebra;

the back plate is vertically arranged and matched with the back of a human body;

the top of the bendable lumbar vertebra is fixedly connected with the bottom of the back plate and is an elastic unidirectional bending lumbar vertebra, and the bending direction is the same as the forward tilting direction of the trunk of the human body.

Preferably, the bendable lumbar spine comprises: a return spring, a waistband fixing plate and a chain;

the chain is formed by a plurality of chain links in turn through rotary connection, the top of chain with the bottom fixed connection of backplate, the bottom of chain with the top fixed connection of waistband fixed plate, the vertical fixed setting of reset spring is in the rear side of chain is so that chain elasticity resets.

Preferably, the right arm exoskeleton comprises: the shoulder joint, the upper arm rod, the elbow joint speed reduction motor and the forearm rod are sequentially arranged from top to bottom;

one end of the shoulder joint is rotatably connected with the top of the back exoskeleton, the other end of the shoulder joint is fixedly connected with the upper end of the upper arm rod, the lower end of the upper arm rod is fixedly connected with a shell of the elbow joint speed reduction motor, and the output end of the elbow joint speed reduction motor is fixedly connected with the upper end of the forearm rod;

the elbow joint gear motor is the integral type motor of integrated reduction gear, elbow joint gear motor's output and casing can rotate relatively.

Preferably, the shoulder joint comprises a shoulder joint speed reducing motor and a four-bar linkage;

the four-bar linkage mechanism is fixedly connected with the output end of the shoulder joint speed reducing motor, and the shell of the shoulder joint speed reducing motor is fixedly connected with the upper end of the upper arm rod;

the shoulder joint speed reducing motor is an integrated motor integrated with a speed reducer, and the output end of the shoulder joint speed reducing motor and the shell can rotate relatively.

Preferably, the four-bar linkage includes: the back plate connecting rod, the rear connecting rod, the side connecting rod and the speed reducing motor connecting rod are arranged on the back plate;

the rear connecting rod and the side connecting rods are both perpendicular to the back plate connecting rod, and the speed reduction motor connecting rod is parallel to the back plate connecting rod;

one side interval of side connecting rod is provided with first connecting portion and second connecting portion, first connecting portion the second connecting portion with the both ends of back connecting rod are the arc form, the central authorities of first connecting portion the upper portion of backplate connecting rod with the upper portion of gear motor connecting rod all be provided with the second connecting portion on same straight line and shape assorted recess, the lower part of backplate connecting rod be provided with the upper portion assorted recess of backplate, the second connecting portion with the back connecting rod is located same horizontal plane and is located in the recess on the upper portion of gear motor connecting rod, the one end of back connecting rod is located in the recess on the upper portion of backplate connecting rod, the other end is located in the recess of first connecting portion, the upper portion of backplate is located in the recess of the lower part of backplate connecting rod.

Preferably, the lower part of the back plate connecting rod is rotatably connected with the back plate through a horizontally arranged first rotating pair, the upper part of the back plate connecting rod is rotatably connected with one end of the horizontally arranged back connecting rod through a vertically arranged second rotating pair, the other end of the back connecting rod is rotatably connected with one end of the horizontally arranged side connecting rod through a vertically arranged third rotating pair, the other end of the side connecting rod is rotatably connected with the upper part of the speed reducing motor connecting rod through a vertically arranged fourth rotating pair, and the lower part of the speed reducing motor connecting rod is fixedly connected with the output end of the shoulder joint speed reducing motor;

the shoulder joint realizes the internal rotation/external rotation freedom degree through the four-bar mechanism, and the shoulder joint realizes the adduction/abduction freedom degree through the first rotating pair.

Preferably, a motor driver is installed on the outer side of the middle of the upper arm rod, an upper arm gyroscope is installed on the inner side of the upper arm rod, a forearm gyroscope is installed on the outer side of the forearm rod, a multidimensional force sensor is fixedly arranged on the lower portion of the inner side of the forearm rod, and a joint mechanical limiting device is installed on the inner side of the elbow joint speed reducing motor and used for preventing the elbow joint from exceeding a joint range and causing damage during extension movement;

the shoulder joint gear motor and the elbow joint gear motor of the left arm exoskeleton and the right arm exoskeleton are both electrically connected with the motor driver;

the upper arm gyroscope is used for detecting the ground angle of the upper arm rod, the forearm gyroscope is used for detecting the ground angle of the forearm rod, and the multidimensional force sensor is used for detecting load weight and man-machine interaction force.

Preferably, the active upper limb exoskeleton robot further comprises: a control box and a battery;

the control box is fixedly arranged on the rear surface of the back exoskeleton and is electrically connected with the multi-dimensional force sensor, the upper arm gyroscope, the forearm gyroscope and the motor driver respectively, fusion calculation is carried out on the basis of signals generated by the multi-dimensional force sensor, the upper arm gyroscope and the forearm gyroscope, control signals of a plurality of motor motions are generated according to rules, the control box sends the control signals to the motor driver, and the motor driver drives the shoulder joint speed reduction motor and the elbow joint speed reduction motor to move according to the signal requirements of the control box;

the battery is electrically connected with the control box and fixedly arranged on the rear surface of the back exoskeleton for supplying power.

Preferably, the active upper limb exoskeleton robot further comprises: a fixing band for realizing the wearing function and a binding device for binding the arm.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

1. the invention provides an active upper limb exoskeleton robot, which consists of a back exoskeleton, a left arm exoskeleton and a right arm exoskeleton, wherein shoulder joints of the two arm exoskeletons have three bionic degrees of freedom, so that flexion/extension, internal rotation/external rotation and internal contraction/external expansion motions can be realized, the motion degree of freedom of the robot is consistent with that of human body joint motion, and an elbow joint has one degree of freedom.

2. According to the active upper limb exoskeleton robot provided by the invention, the flexion/extension freedom degrees of the shoulder joint and the elbow joint are both assisted by the motor, the flexion/extension freedom degrees are active freedom degrees, and the other freedom degrees are passive freedom degrees. The internal rotation/external rotation movement of the shoulder joint is realized through the four-bar mechanism, the mechanism is arranged behind the shoulder joint, the shoulder joint can wind around the back from the side surface of the arm of a human body during movement, the movement angle range is wide, the internal rotation/external rotation movement of the shoulder joint is realized, the interference between the shoulder joint of the robot and the neck of the human body during adduction/abduction movement can be reduced, the adduction/abduction movement range is enlarged, and the application scene adaptability of the robot is improved.

3. The invention provides an active upper limb exoskeleton robot, wherein the forearm and the upper arm are provided with a binding device for binding the arm, and the forearm binding device is fixed with the forearm through a multi-dimensional force sensor and can be used for detecting load weight and human-computer interaction force. Gyroscopes are arranged on the forearms, the upper arms and the back and are used for detecting the relative motion angles of all parts of the upper limbs of the human body, and the output parameters of the power-assisted motor are calculated through data fusion of the multi-dimensional force sensors and the gyroscopes.

4. The back of the active upper limb exoskeleton robot provided by the invention consists of a back plate and a bendable elastic lumbar vertebra. The human body is bound and fixed by the shoulder belt of the back plate and the waist belt of the flexible elastic lumbar. When the human body bends, the elastic lumbar vertebra can adapt to the human lumbar vertebra to perform bending deformation, so that the bending amplitude is increased, and the wearing comfort level is improved.

Drawings

Fig. 1 is a back view of the overall structure of an active upper limb exoskeleton robot according to an embodiment of the present invention;

fig. 2 is a front view of the overall structure of an active upper limb exoskeleton robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a four-bar linkage mechanism in an active upper limb exoskeleton robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a bendable lumbar vertebra of an active upper limb exoskeleton robot according to an embodiment of the present invention;

in the figure: 1. a back plate; 2. a control box; 3. a battery; 4. the lumbar vertebra can be bent; 5. a waistband; 6. shoulder straps; 7. a shoulder joint; 8. a shoulder joint gear motor; 9. an upper arm lever; 10. an elbow joint gear motor; 11. a forearm lever; 12. an upper arm tie; 13. a forearm tie-up; 14. a multi-dimensional force sensor; 15. an upper arm gyroscope; 16. a forearm gyroscope; 17. a motor driver; 18. a joint mechanical limiting device; 19. a first revolute pair; 20. a back plate link; 21. a rear connecting rod; 22. a side link; 2201. a first connection portion; 2202. a second connecting portion; 23. a speed reduction motor connecting rod; 24. a second revolute pair; 25. a third revolute pair; 26. a fourth revolute pair; 27. a four-bar linkage; 28. a return spring; 29. a chain; 30. a waistband fixing plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.

Referring to fig. 1 to 4, the present invention provides an active upper limb exoskeleton robot, including: the device comprises a back exoskeleton, a left arm exoskeleton, a right arm exoskeleton, a control box, a battery, a fixing belt and a binding device.

The back exoskeleton is a flexible structure, is similar to a spine of a human body, has a proper bendable function, the front surface of the back exoskeleton is in contact with the back of the human body, and can be bent and deformed along with the spine of the human body when the human body bends, so that the bending amplitude of the human body is increased. The left arm exoskeleton and the right arm exoskeleton are identical in composition structure and symmetrically located on two sides of the back exoskeleton, the left arm exoskeleton is rotatably installed on the left side of the top of the back exoskeleton through a shoulder joint 7, the right arm exoskeleton is rotatably installed on the right side of the top of the back exoskeleton through a shoulder joint 7, and the shoulder joint 7 is based on a bionic design, so that the shoulder joint 7 of the robot has motion freedom degrees in three directions of flexion/extension, internal rotation/external rotation and adduction/external extension, and rotation axes of the three freedom degrees are respectively consistent with corresponding rotation axes of a shoulder joint of a human body, so that the motion flexibility of the shoulder joint 7 is ensured, and the motion comfort is also improved.

The back exoskeleton comprises: a backboard 1 and a flexible lumbar vertebra 4.

The back plate 1 is vertically arranged, the size and the shape of the back plate are consistent with those of the back of a human body, and the back comfort of the human body can be improved.

The top of flexible lumbar vertebrae 4 and the bottom fixed connection of backplate 1 are the one-way crooked lumbar vertebrae of elasticity, and its crooked direction is the same with human trunk forward the direction, and when the human body stooped, adaptable human lumbar vertebrae carries out bending deformation, has increased the bending angle of waist, has reduced the constraint of waist and shoulder bandage to the human body, has improved the comfort level when stooping.

Further, the bendable lumbar vertebra 4 includes: a return spring 28, a belt fixing plate 30 and a chain 29.

In order to realize the function of bending deformation together with the lumbar of a human body, the chain 29 is formed by connecting a plurality of chain links in sequence through rollers in a rotating manner, the top of the chain 29 is fixedly connected with the bottom of the back plate 1, the bottom of the chain is fixedly connected with the top center of the belt fixing plate 30, so the plurality of chain links 29 and the belt fixing plate 30 form a unidirectional bending lumbar, the belt fixing plate 30 supports the chain 29 to bend along the forward-leaning direction of the trunk of the human body, the reset spring 28 is vertically and fixedly arranged at the rear side of the chain 29, namely, the reset spring 28 is vertically arranged in the opposite bending direction of the chain 29, as shown in figure 1, facing to a reader, the reset spring 28 can elastically reset the chain 29, the stability of the lumbar when bending the waist and a certain assistance effect on the waist when the waist is raised are facilitated, and the fatigue of the waist is relieved.

Since the structures, the connection relationships of the parts, and the like of the right arm exoskeleton and the left arm exoskeleton are identical except for the different positions, only the right arm exoskeleton will be specifically described below by taking the right arm exoskeleton as an example.

The right arm exoskeleton comprises: the device comprises a shoulder joint 7, an upper arm rod 9, an elbow joint speed reduction motor 10 and a forearm rod 11 which are arranged from top to bottom in sequence.

One end of the shoulder joint 7 is rotatably connected with the top of the back exoskeleton, the other end of the shoulder joint is fixedly connected with the upper end of an upper arm rod 9, the lower end of the upper arm rod 9 is fixedly connected with a shell of an elbow joint speed reducing motor 10, and the output end of the elbow joint speed reducing motor 10 is fixedly connected with the upper end of a forearm rod 11.

The elbow joint speed reducing motor 10 is an integrated motor integrated with a speed reducer, a shell and an output end of the integrated motor can rotate relatively, the elbow joint of the robot system achieves the functions of flexion/extension freedom and elbow joint power assisting through the driving of the elbow joint speed reducing motor 10, and meanwhile, the fatigue damage of the elbow joint is relieved. The shoulder joint 7 comprises a shoulder joint speed reducing motor 8 and a four-bar linkage 27, the four-bar linkage 27 is fixedly connected with the output end of the shoulder joint speed reducing motor 8, the shell of the shoulder joint speed reducing motor 8 is fixedly connected with the upper end of the upper arm rod 9, the shoulder joint speed reducing motor 8 is an integrated motor integrated with a speed reducer, the shell and the output end can rotate relatively, and the shoulder joint 7 realizes the degree of freedom of flexion/extension through the driving of the shoulder joint speed reducing motor 8. The reducer integrated by the shoulder joint reducing motor 8 and the elbow joint reducing motor 10 may be a harmonic reducer or a planetary reducer, and the specific type of the reducer is not limited in this embodiment.

The shoulder four-link mechanism 27 includes: a back link 20, a rear link 21, a side link 22, and a gear motor link 23.

The rear connecting rod 21 and the side connecting rod 22 are both arranged perpendicular to the back plate connecting rod 20, and the speed reducing motor connecting rod 23 is arranged parallel to the back plate connecting rod 20. One side of the side link 22 is provided with a first connecting portion 2201 and a second connecting portion 2202 at intervals, both ends of the first connecting portion 2201, the second connecting portion 2202 and the rear link 21 are arc-shaped, the center of the first connecting portion 2201, the upper portion of the backboard link 20 and the upper portion of the gear motor link 23 are both provided with grooves which are in the same straight line and are matched with the shape of the second connecting portion 2202, the lower portion of the backboard link 20 is provided with a groove which is matched with the upper portion of the backboard 1, the second connecting portion 2202 and the rear link 21 are located in the same horizontal plane and are located in the groove of the upper portion of the gear motor link 23, one end of the rear link 21 is located in the groove of the upper portion of the backboard link 20, the other end of the rear link is located in the groove of the first connecting portion 2201, and the upper portion of the backboard 1 is located in the groove of the lower portion of the backboard link 20.

In order to increase the flexibility of the shoulder joint 7, the lower part of the back plate connecting rod 20 is rotatably connected with the back plate 1 through a first rotating pair 19 which is horizontally arranged, the upper part of the back plate connecting rod is rotatably connected with one end of a back connecting rod 21 which is horizontally arranged through a second rotating pair 24, the other end of the back connecting rod 21 is rotatably connected with one end of a side connecting rod 22 which is horizontally arranged through a third rotating pair 25 which is vertically arranged, the other end of the side connecting rod 22 is rotatably connected with the upper part of a speed reducing motor connecting rod 23 through a fourth rotating pair 26 which is vertically arranged, and the lower part of the speed reducing motor connecting rod 23 is fixedly connected with the output end of the shoulder joint speed reducing motor 8. The specific sizes of the second rotating pair 24, the third rotating pair 25 and the fourth rotating pair 26 are determined according to the sizes of human joints. Therefore, the back plate connecting rod 20, the rear connecting rod 21, the side connecting rod 22 and the speed reducing motor connecting rod 23 can be manually and passively rotated within a certain range, the shoulder joint 7 can realize inward rotation/outward rotation freedom degree through the four-bar mechanism 27, the inward contraction/outward expansion freedom degree is realized through the first rotating pair 19, the right arm exoskeleton can be connected with the back exoskeleton together, the movement range of the inward contraction/outward expansion freedom degree of the shoulder joint 7 is increased, the shoulder joint 7 is more flexible, the movement range is wider, and the application scene range of the exoskeleton robot is enlarged. The axis of rotation of the first revolute pair 19 coincides with the axis of rotation of the adduction/abduction freedom of the human shoulder joint. The rotation axis of the second rotation pair 24, the third rotation pair 25 and the fourth rotation pair 26 are all consistent with the rotation axis of the internal/external rotation freedom of the human shoulder joint. The rotation axis of the shoulder joint gear motor coincides with the rotation axis of the flexion/extension freedom of the human shoulder joint.

In order to accurately detect the angle of the joint of the robot, drive the joint of the robot to move and prevent the joint of the human body from being damaged, a motor driver 17 is installed on the outer side of the middle of the upper arm rod 9, an upper arm gyroscope 15 is installed on the inner side of the upper arm rod 9, a forearm gyroscope 16 is installed on the outer side of the forearm rod 11, a multidimensional force sensor 14 is fixedly arranged on the lower portion of the inner side of the forearm rod, and a joint mechanical limiting device 18 is installed on the inner side of the elbow joint speed reducing motor 10 and used for preventing the elbow joint from exceeding the joint range and causing damage during extension movement. The shoulder joint speed reducing motor 8 and the elbow joint speed reducing motor 10 of the left arm exoskeleton and the right arm exoskeleton are electrically connected with a motor driver 17, an upper arm gyroscope 15 is used for detecting the ground angle of an upper arm rod 9, a forearm gyroscope 16 is used for detecting the ground angle of a forearm rod 11, and a multi-dimensional force sensor 14 is used for detecting load weight and man-machine interaction force.

The control box 2 is fixedly arranged on the rear surface of the back exoskeleton and is respectively electrically connected with the multidimensional force sensor 14, the upper arm gyroscope 15, the forearm gyroscope 16 and the motor driver 17, in order to calculate output parameters of the power-assisted motor, the upper arm gyroscope 15, the forearm gyroscope 16 and the multidimensional force sensor 14 respectively send collected signals to the control box 2, the control box 2 judges the posture and the movement intention of the human body based on the signals, then control signals of a plurality of motor movements are generated according to rules, the control signals are respectively sent to the motor drivers 17 at the left arm exoskeleton and the right arm exoskeleton, and the motor drivers 17 drive the shoulder joint speed reduction motor 8 and the elbow joint speed reduction motor 10 to respectively move correspondingly according to the signal requirements of the control box 2.

The battery 3 is fixed at the lower part of the rear surface of the back plate 1 and is positioned below the control box 2, and the battery 3 is electrically connected with the control box 2 and used for supplying power to the robot system.

In order to better realize human-machine integration and simultaneously realize the wearing function and the binding function, the fixing belt and the binding device are mutually matched to fix the exoskeleton robot and the trunk of the human body together.

The fixed band includes: the waist belt 5 is positioned at the lower part of the bendable lumbar vertebra 4 and is particularly arranged at the outer side of the waist belt fixing plate 30, the waist belt 5 can be fixed at the waist of a human body, the two shoulder belts 6 are arranged at the front side of the back plate 1 and are arranged in bilateral symmetry relative to the center line of the back plate 1, the upper ends of the shoulder belts 6 are connected with the upper part of the back plate 1, the lower ends of the shoulder belts 6 are connected with the lower part of the back plate 1, and the two shoulder belts 6 are respectively fixed on the left shoulder joint 7 and the right shoulder joint 7 of the human body.

The binding device comprises: upper arm tie-up 12 and forearm tie-up 13, upper arm tie-up 12 is fixed to be set up the inboard of upper arm pole 9 and is located the below of upper arm gyroscope 15 for tie-up the upper arm, forearm tie-up 13 is through the fixed inboard that sets up at forearm pole 11 of multidimension force sensor 14, is used for tie-up the forearm, and upper arm tie-up 12 and forearm tie-up 13 mutually support and realize the constraint to the human arm. Sponge linings are wrapped inside the upper arm binding piece 12 and the forearm binding piece 13, the adaptability of arm thickness is achieved within a certain range, the arm is thick and a little, the sponge deformation is large, and the user feels tight, otherwise, the sponge deformation is small and the user feels loose; since different persons have different body types, the diameters of the upper arm ligature 12 and the forearm ligature 13 may be made in a plurality of sizes according to actual conditions to satisfy the use of different persons.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (10)

1. An active upper extremity exoskeleton robot, comprising: a back exoskeleton, a left arm exoskeleton and a right arm exoskeleton;

the back exoskeleton is of a flexible structure, the front surface of the back exoskeleton is in contact with the back of a human body, and the human body can bend and deform along with the spine of the human body when bending;

the left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on two sides of the back exoskeleton and are respectively and rotatably installed on the top of the back exoskeleton through shoulder joints, the shoulder joints have three degrees of freedom of flexion/extension, internal rotation/external rotation and internal contraction/external expansion, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the shoulder joints of the human body.

2. The active upper extremity exoskeleton robot of claim 1 wherein said back exoskeleton comprises: a back plate and a flexible lumbar vertebra;

the back plate is vertically arranged and matched with the back of a human body;

the top of the bendable lumbar vertebra is fixedly connected with the bottom of the back plate and is an elastic unidirectional bending lumbar vertebra, and the bending direction is the same as the forward tilting direction of the trunk of the human body.

3. The active upper extremity exoskeleton robot of claim 2, wherein said bendable lumbar spine comprises: a return spring, a waistband fixing plate and a chain;

the chain is formed by a plurality of chain links in proper order swivelling joint, the top of chain with the bottom fixed connection of backplate, the bottom of chain with the top fixed connection of waistband fixed plate, the vertical fixed setting of reset spring is in the rear side of chain is so that chain elasticity resets.

4. The active upper extremity exoskeleton robot of claim 1 wherein said right arm exoskeleton comprises: the shoulder joint, the upper arm rod, the elbow joint speed reduction motor and the forearm rod are sequentially arranged from top to bottom;

one end of the shoulder joint is rotatably connected with the top of the back exoskeleton, the other end of the shoulder joint is fixedly connected with the upper end of the upper arm rod, the lower end of the upper arm rod is fixedly connected with a shell of the elbow joint speed reduction motor, and the output end of the elbow joint speed reduction motor is fixedly connected with the upper end of the forearm rod;

the elbow joint gear motor is the integral type motor of integrated reduction gear, elbow joint gear motor's output and casing can rotate relatively.

5. The active upper extremity exoskeleton robot of claim 4,

the shoulder joint comprises a shoulder joint speed reducing motor and a four-bar mechanism;

the four-bar linkage mechanism is fixedly connected with the output end of the shoulder joint speed reducing motor, and the shell of the shoulder joint speed reducing motor is fixedly connected with the upper end of the upper arm rod;

the shoulder joint speed reducing motor is an integrated motor integrated with a speed reducer, and the output end of the shoulder joint speed reducing motor and the shell can rotate relatively.

6. The active upper extremity exoskeleton robot of claim 5,

the four-bar linkage includes: the back plate connecting rod, the rear connecting rod, the side connecting rod and the speed reducing motor connecting rod are arranged on the back plate;

the rear connecting rod and the side connecting rods are both perpendicular to the back plate connecting rod, and the speed reduction motor connecting rod is parallel to the back plate connecting rod;

one side interval of side connecting rod is provided with first connecting portion and second connecting portion, first connecting portion the second connecting portion with the both ends of back connecting rod are the arc form, the central authorities of first connecting portion the upper portion of backplate connecting rod with the upper portion of gear motor connecting rod all be provided with the second connecting portion on same straight line and shape assorted recess, the lower part of backplate connecting rod be provided with the upper portion assorted recess of backplate, the second connecting portion with the back connecting rod is located same horizontal plane and is located in the recess on the upper portion of gear motor connecting rod, the one end of back connecting rod is located in the recess on the upper portion of backplate connecting rod, the other end is located in the recess of first connecting portion, the upper portion of backplate is located in the recess of the lower part of backplate connecting rod.

7. The active upper extremity exoskeleton robot of claim 6,

the lower part of the back plate connecting rod is rotatably connected with the back plate through a horizontally arranged first rotating pair, the upper part of the back plate connecting rod is rotatably connected with one end of the horizontally arranged back connecting rod through a vertically arranged second rotating pair, the other end of the back connecting rod is rotatably connected with one end of the horizontally arranged side connecting rod through a vertically arranged third rotating pair, the other end of the side connecting rod is rotatably connected with the upper part of the speed reducing motor connecting rod through a vertically arranged fourth rotating pair, and the lower part of the speed reducing motor connecting rod is fixedly connected with the output end of the shoulder joint speed reducing motor;

the shoulder joint realizes the internal rotation/external rotation freedom degree through the four-bar mechanism, and the shoulder joint realizes the adduction/abduction freedom degree through the first rotating pair.

8. The active upper extremity exoskeleton robot of claim 4,

the outer side of the middle part of the upper arm rod is provided with a motor driver, the inner side of the upper arm rod is provided with an upper arm gyroscope, the outer side of the front arm rod is provided with a front arm gyroscope, the lower part of the inner side of the front arm rod is fixedly provided with a multidimensional force sensor, and the inner side of the elbow joint speed reducing motor is provided with a joint mechanical limiting device for preventing the elbow joint from exceeding the joint range and causing damage when the elbow joint moves in an extending mode;

the shoulder joint gear motor and the elbow joint gear motor of the left arm exoskeleton and the right arm exoskeleton are both electrically connected with the motor driver;

the upper arm gyroscope is used for detecting the ground angle of the upper arm rod, the forearm gyroscope is used for detecting the ground angle of the forearm rod, and the multidimensional force sensor is used for detecting load weight and man-machine interaction force.

9. The active upper extremity exoskeleton robot of claim 8 further comprising: a control box and a battery;

the control box is fixedly arranged on the rear surface of the back exoskeleton and is electrically connected with the multi-dimensional force sensor, the upper arm gyroscope, the forearm gyroscope and the motor driver respectively, fusion calculation is carried out on the basis of signals generated by the multi-dimensional force sensor, the upper arm gyroscope and the forearm gyroscope, control signals of a plurality of motor motions are generated according to rules, the control box sends the control signals to the motor driver, and the motor driver drives the shoulder joint speed reduction motor and the elbow joint speed reduction motor to move according to the signal requirements of the control box;

the battery is electrically connected with the control box and fixedly arranged on the rear surface of the back exoskeleton for supplying power.

10. The active upper extremity exoskeleton robot of claim 1, further comprising: realize wearing the fixed band of function and be used for tying up the binding device who ties up the arm.

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