CN208926848U - Meet the Arm structure component of the exoskeleton robot of simulation of human body design - Google Patents
Meet the Arm structure component of the exoskeleton robot of simulation of human body design Download PDFInfo
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- CN208926848U CN208926848U CN201820258542.2U CN201820258542U CN208926848U CN 208926848 U CN208926848 U CN 208926848U CN 201820258542 U CN201820258542 U CN 201820258542U CN 208926848 U CN208926848 U CN 208926848U
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- 239000000463 material Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 description 24
- 238000010586 diagram Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 4
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- 208000006011 Stroke Diseases 0.000 description 2
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- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- YMTINGFKWWXKFG-UHFFFAOYSA-N fenofibrate Chemical compound C1=CC(OC(C)(C)C(=O)OC(C)C)=CC=C1C(=O)C1=CC=C(Cl)C=C1 YMTINGFKWWXKFG-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model relates to medical robot fields, more particularly to meet the Arm structure component of the exoskeleton robot of simulation of human body design, including Arm structure and for the back structures at fixing human back；Arm structure component further includes that cable, battery and the wheelchair for following Arm structure to walk automatically, battery are located on wheelchair, and Arm structure is equipped with power interface, and battery is electrically connected by cable with power interface.It is provided by the utility model meet simulation of human body design exoskeleton robot Arm structure component so that exoskeleton robot use it is more practical with it is humanized.
Description
[technical field]
The utility model relates to medical robot fields, more particularly to meet the exoskeleton robot of simulation of human body design
Arm structure component.
[background technique]
Exoskeleton robot is a kind of installations being made of the frame of steel and people can be allowed to put on, this equipment
Additional energy can be provided to come for quadruped locomotion.
For spinal cord injury and cerebral apoplexy (apoplexy) patient, a walking seemingly dream being unable to reach of standing
Think, and the birth of exoskeleton robot, this dream will be made to come true.In addition, aging process in China's aggravates at present, limbs
Disabled person's quantity increases, the more aobvious protrusion of the effect of exoskeleton robot.It should be noted that exoskeleton robot is according to patient's need
Want its configuration also different, the ectoskeleton machine that some patients only need upper limb auxiliary therefore only to need to have Arm structure component
Device people, the exoskeleton robot that some patients only need lower limb auxiliary therefore only to need to have lower limb structure component.
However, battery of the existing exoskeleton robot for power supply is generally located in the ectoskeleton structure for being worn on human body
On, not only make the ectoskeleton structure entirely dressed seem heavy, there is also the weak problem of cruising ability, seriously hampers outer
The universal use of bone robot.
[summary of the invention]
In order to solve the above technical problems, the purpose of this utility model is to provide the ectoskeletons for meeting simulation of human body design
The Arm structure component of robot passes through wheelchair in the exoskeleton robot and the Arm structure that is worn on human body
The battery for being used to power is arranged in wheelchair, greatly reduces the weight bearing of the Arm structure and make it more by ingenious combination
Add lightweight, reduce energy loss to a certain extent, the battery being on the other hand arranged on wheelchair can be manufactured into more
The battery of large capacity further improves the cruising ability of entire exoskeleton robot, is that exoskeleton robot is led in medical treatment
The universal of domain provides beneficial conditions, it is envisaged that when the human body wearing Arm structure take a walk etc. daily use, meets
The case where sitting down is wanted to human body, can easily select wheelchair as thing to sit on, so that the use of exoskeleton robot is more
It is practical with it is humanized.
The utility model is achieved through the following technical solutions:
Meet the Arm structure component of the exoskeleton robot of simulation of human body design, including Arm structure and for fixing
The back structures of human body back, the Arm structure include for the shoulder member of fixing human shoulder, for fixing human large arm
Big the upper arm member and small the upper arm member for fixing human forearm, the shoulder member hinge be located at the upper end of the back structures, institute
State shoulder member far from described back structures one end be equipped with the first driving motor, the output end of first driving motor with it is described
One end of big the upper arm member is fixedly connected, and the other end of the big the upper arm member is equipped with the second driving motor, second driving motor
Output end be fixedly connected with one end of the small the upper arm member；
The Arm structure component further includes cable, battery and the wheel for following the Arm structure walking automatically
Chair, the battery are located on the wheelchair, and the Arm structure is equipped with power interface, and the battery passes through the cable
It is electrically connected with the power interface.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
There are three tracking module, three tracking modules include the first module, the second module and third module, described for installation on wheelchair
First module, second module and the third module are mounted on the wheelchair at equilateral triangle shape in horizontal plane
On, the Arm structure is equipped with for sending signal to first module, second module and the third module
Emission source is to learn that the emission source arrives the distance of first module, second module and the third module, institute respectively
Wheelchair is stated equipped with the master control borad for being electrically connected with first module, second module and the third module with basis
The signal obtained from first module, second module and the third module controls the wheel chair sport.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
Arm structure further includes palm component, and the palm component is hinged on the small the upper arm member in separate second driving motor
On one end.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
Big the upper arm member is equipped with the first raised inwardly fixed part, and the small the upper arm member is equipped with the second raised inwardly fixed part, institute
The pallet being equipped between the first fixed part and second fixed part for support human body ancon is stated, described pallet one end, which is equipped with, to be used
In the first elastic component with the first fixed part elastic connection, the pallet other end be equipped with for second fixed part
Second elastic component of elastic connection.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
Arm structure is equipped with for the ectoskeleton structure to be worn on the object wearing device on human body.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
Object wearing device includes arc connector and flexible bandage, and the inside of the arc connector is mutually fixed with the flexible bandage.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
Object wearing device is ring-type, and the annular air-pocket of human body large arm or forearm is surround when the object wearing device inner ring is equipped with for dressing,
The annular air-pocket is equipped with the inflating port for inflation.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
It is additionally provided with controller on Arm structure component, the controller is equipped with to be filled for controlling be electrically connected with the controller electronic
The inflation button that air pump is inflated into the annular air-pocket, the annular air-pocket is interior to be equipped with for detecting inside the annular air-pocket
The baroceptor of air pressure, the gas that the baroceptor is electrically connected to detect the baroceptor with the controller
Pressure data are recorded in the controller.
Optionally, meet the Arm structure component of the exoskeleton robot of simulation of human body design as described above, it is described
The material of big the upper arm member and the small the upper arm member is aluminium alloy.
Compared with prior art, the utility model has the following advantages:
It 1, will by the ingenious combination of wheelchair in the exoskeleton robot and the Arm structure being worn on human body
Battery for power supply is arranged in wheelchair, greatly reduces the weight bearing of the Arm structure and makes its more lightweight,
Energy loss is reduced to a certain extent, and the battery being on the other hand arranged on wheelchair can manufacture into the electric power storage of larger capacity
Pond further improves the cruising ability of entire exoskeleton robot, provides for exoskeleton robot in the universal of medical field
Beneficial conditions, it is envisaged that when human body dress the Arm structure take a walk etc. daily use when, encounter human body and want to sit
Under situation, can easily select wheelchair as thing to sit on so that the use of exoskeleton robot it is more practical with it is humanized.
2, the pallet of support human body ancon is used for by increasing, the pallet to be elastic connection, and human body ancon is made to obtain one
Fixed fixation, and be flexible fastening due to being the pallet, it does not influence the movement of ancon again, may also help in elbow joint and exist
Do it is after bending stretch reset, it is simple and practical in structure.
3, the annular air-pocket that setting is inflated with electric air pump on the object wearing device, and grasped by human-computer interaction
Make so that the wearing of exoskeleton robot it is more comfortable, it is reliable with it is humanized.
4, the material of the big the upper arm member and the small the upper arm member is lightweight material such as aluminium alloy.Greatly reduce upper limb
The weight bearing of structure further reduces the weight bearing loss of exoskeleton robot at work, extends the cruise duration of battery.
[Detailed description of the invention]
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of Arm structure component described in the utility model embodiment；
Fig. 2 is that Arm structure component described in the utility model embodiment hides the structural schematic diagram after the wheelchair；
Fig. 3 is the structural schematic diagram of Arm structure described in the utility model embodiment；
Fig. 4 is the structural schematic diagram of the long stretching structure of limb described in the utility model embodiment；
Fig. 5 is the decomposition texture schematic diagram of the long stretching structure of limb described in the utility model embodiment；
Fig. 6 is the structural schematic diagram of object wearing device described in the utility model embodiment.
[specific embodiment]
The technical issues of in order to keep the utility model solved, technical solution and beneficial effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, is not used to limit the utility model.
As shown in Figure 1 to Figure 2, the present embodiment provides the Arm structures for the exoskeleton robot for meeting simulation of human body design
Component, the Arm structure component include the back structures 3 for being worn on human body back, the Arm structure for being worn on human body left-hand side
With the Arm structure for being worn on right human hand side, it is worn on the Arm structure of human body left-hand side and is worn on the upper of right human hand side
Limb structure has basically same structure and relative to each other bilateral symmetry.Just wherein the one of the Arm structure component below
A Arm structure is illustrated the Arm structure 1 of the present embodiment.
Meet the Arm structure component of the exoskeleton robot of simulation of human body design, including Arm structure 1 and for solid
Determine the back structures 3 of human body back, the Arm structure 1 includes for the shoulder member 11 of fixing human shoulder, for fixing people
The big the upper arm member 12 of body large arm and small the upper arm member 13 for fixing human forearm, the hinge of shoulder member 11 are located at the back knot
The upper end of structure 3, the shoulder member 11 are being equipped with the first driving motor, the first driving electricity far from described 3 one end of back structures
The output end of machine is fixedly connected with one end of the big the upper arm member 12, and the other end of the big the upper arm member 12 is equipped with the second driving electricity
Machine, the output end of second driving motor are fixedly connected with one end of the small the upper arm member 13, specifically, first driving
Motor, second driving motor can be used cooperatively for servo motor and harmonic speed reducer.
In addition, the Arm structure component further includes cable 4, battery and for following 1 row of Arm structure automatically
The wheelchair 5 walked, the battery are located on the wheelchair 5, and the Arm structure 1 is equipped with power interface, and the battery is logical
The cable 4 is crossed to be electrically connected with the power interface.Pass through wheelchair in the exoskeleton robot and the institute being worn on human body
The battery for being used to power is arranged in wheelchair, greatly reduces the Arm structure by the ingenious combination for stating Arm structure
It bears a heavy burden and makes its more lightweight, reduce energy loss to a certain extent, on the other hand the battery on wheelchair is set
The battery of larger capacity can be manufactured into, the cruising ability of entire exoskeleton robot is further improved, is ectoskeleton machine
Device people provides beneficial conditions in the universal of medical field, it is envisaged that dresses the Arm structure when human body and takes a walk etc.
It when daily use, encounters human body and wants the case where sitting down, can easily select wheelchair as thing to sit on, so that ectoskeleton machine
People use it is more practical with it is humanized.
Follow technology as follows in the embodiments of the present invention automatically: tracking module there are three installations on the wheelchair 5,
Three tracking modules include the first module, the second module and third module, first module, second module and institute
It states third module to be mounted on the wheelchair 5 in horizontal plane at equilateral triangle shape, three modules are as base station and three
There is certain spacing between module.Human body is held or is arranged on the Arm structure one and sends signal to three modules
Emission source.First module, second module and the third module by comparison receive transmitting source signal when
Between it is poor, the angle of the emission source can be calculated.By the electromagnetic wave skyborne flight time, the transmitting can be calculated
The distance in source.Between three modules and the emission source by wireless communication, emission source is measured respectively to the first module, the second mould
The distance between block and third module, range information and angle information are given to master control borad by serial ports by third module, wherein leading
The positions such as 5 front of wheelchair, bottom or rear portion can be set in control plate.Master control borad is after receiving distance and angle information: working as emission source
At 5 left side of wheelchair, wheelchair 5 is turned left.When emission source is at 5 the right of wheelchair, wheelchair 5 is turned right.When emission source wheelchair 5 just
When front, wheelchair 5 is gone ahead.When wheelchair 5 reaches the following distance set, 5 stop motion of wheelchair.Certainly, this is practical new
Type can also such as pass through camera shooting using other embodiment to be carried out vision positioning or position by ultrasonic wave to follow.
Preferably, the big the upper arm member 12 is equipped with for adjusting the long stretching structure of limb of 12 length of big the upper arm member such as
Shown in Fig. 4 and Fig. 5, the long stretching structure of limb includes the first limb part 122 and the second limb part 123, is set on the first limb part 122
There is the first connecting pin connecting with the second limb part 123, the second limb part 123 is equipped with to be connected with the first limb part 122
The second connection end connect, first connecting pin are equipped with described in the screw rod 124 being threadedly coupled with the second connection end, driving
What screw rod 124 rotated adjusted motor 125 and the fixed motor cabinet 126 for adjusting motor 125, the motor cabinet 126 is to institute
It states the first limb part 122 and the second limb part 123 connection direction extend out to few one for guiding the second limb part 123 to institute
The guide post 127 of big 12 length direction of the upper arm member movement is stated, first connecting pin is additionally provided in end for limiting described second
The block 128 of connecting pin movement travel.Certainly, the long stretching structure of the limb is also applied for small the upper arm member 13,22 and of thigh parts
Lower leg component 23, in use, the motor 125 that adjusts drives the screw rod 124 being threadedly coupled with the second connection end to rotate, institute
It states second connection end to move in a straight line under the guiding of guide post 127, to drive the second limb part 123 remote towards the first limb part 122
From or close direction it is mobile, realize long flexible of limb, the big the upper arm member 12 using the long stretching structure of the limb, forearm can be made
Component 13, thigh parts 22 or lower leg component 23 can adapt to the individual of different flange by stepless adjustment telescopic.Wherein one
Kind embodiment is that the exoskeleton robot is equipped with the controller being electrically connected with the adjusting motor 125, and operator passes through
The limb for inputting parameter such as human body different parts on the controller is long, and the adjusting motor 125 is automatically adjusted according to the parameter of input
The length of the upper arm member 12, small the upper arm member 13, thigh parts 22 or lower leg component 23 greatly.Another embodiment is the dermoskeleton
Bone robot be equipped with the controller that be electrically connected of adjusting motor 125, operator by " adding " for being arranged on the controller,
" subtracting " button controls the positive and negative rotation for adjusting motor 125, finely tunes the elongating or shortening to adapt to of the long stretching structure of the limb
The crowd of different flange.The long stretching structure of limb has greatly reinforced the versatility and intelligence of exoskeleton robot.
Preferably, the Arm structure 1 further includes the palm component 14 for fixing human palm, the palm component 14
The small the upper arm member 13 is hinged on one end far from second driving motor.
As shown in figure 3, the big the upper arm member 12 is equipped with the first raised inwardly fixed part 121, the small the upper arm member 13
Equipped with the second raised inwardly fixed part 132, it is equipped with and uses between first fixed part 121 and second fixed part 132
In the pallet 6 of support human body ancon, described 6 one end of pallet is equipped with for first with 121 elastic connection of the first fixed part
Elastic component 61,6 other end of pallet are equipped with for the second elastic component 62 with 132 elastic connection of the second fixed part.Tool
Body, first elastic component 61 and second elastic component 62 are extension spring.In the prior art, by the Arm structure
1 when being worn on human arm, general that only human body large arm and forearm are fixed, and considers human body comfort, so simultaneously
Human body large arm and forearm will not be fettered tension, therefore human body is easy to appear the phase of human body with the Arm structure 1 during exercise
Generate dislocation to sliding, ectoskeleton structure caused to be difficult to that human body is driven to make more accurate movement, summer due to being warm,
Perspiring causes a possibility that such case occur higher.The joint position that the pallet 6 is mounted on human body is then by joint
Position is also close to the turned position of the Arm structure 1, in order to enable the pallet 6 and the motion tension of human body are more in line with,
It is also provided with the first elastic component 61 connected to it and the second elastic component 62 resets.The support of support human body ancon is used for by increasing
Disk, the pallet are elastic connection, so that human body ancon is obtained certain fixation, and be flexible fastening due to being the pallet, because
This does not influence the movement of ancon again, may also help in elbow joint do it is after bending stretch reset, it is simple and practical in structure.Certainly,
It may be provided for the sucker for making the pallet 6 close to human skin on the pallet 6.
It is illustrated in figure 6 the structural schematic diagram of object wearing device described in the utility model embodiment, big 12 He of the upper arm member
The small the upper arm member 13 is respectively equipped at least one object wearing device 7 for being worn on the Arm structure on human body.Specifically
Ground, the object wearing device 7 include arc connector 71 and flexible bandage 72, and the inside fixation of the arc connector 71 is described soft
Property bandage 72, the outside of the arc connector 71 is fixed with the big the upper arm member 12 or 13 phase of small the upper arm member.Preferably,
The flexibility bandage 72 is that velcro is called magic tape or tri-glide, it might even be possible to be wide shape rope, and the flexible bandage has
It is flexible, it dresses relatively reliable comfortable.
Preferably, the object wearing device 7 is ring-type, around human body when 7 inner ring of object wearing device is equipped with for dressing
The annular air-pocket 73 of large arm or forearm, the interior gas being equipped with for detecting 73 air pressure inside of annular air-pocket of the annular air-pocket 73
Pressure sensor, the annular air-pocket 73 are equipped with the gas vent for the inflating port of inflation and for deflation.Certainly, the annular
Air bag 73 is not totally enclosed ring structure, and the annular air-pocket 73 is equipped with to put the notch of human upper limb into.The ring
73 outer surface of shape air bag is fixed on the object wearing device 7 in a manner of being bonded etc., and air bag surrounds human body large arm in a ring when use
Or forearm, it can make that cladding face between object wearing device 7 and human body is bigger, pressure is smaller, dress more comfortable.It is used when inflation
Electric air pump and it is inflated operation again after dressing exoskeleton robot.
A kind of embodiment is that controller is additionally provided on the exoskeleton robot, and the controller is equipped with for controlling
Make the inflation button that the electric inflating pump being electrically connected with the controller is inflated into the annular air-pocket 73, the annular air-pocket
The baroceptor for detecting 73 air pressure inside of annular air-pocket, the baroceptor and the controller are equipped in 73
Electrical connection is recorded in the controller with the barometric information for detecting the baroceptor.It is set on exoskeleton robot
The gas outlet of the electric air pump for the controller electrical connection set is connect with the inflating port on the annular air-pocket 73, and operator is by pressing
Inflation button control electric air pump on lower controller is inflated to the annular air-pocket 73, and the inflation button is point dynamic formula, behaviour
Author one side button press, wearer determine whether that inflation is completed by the pressure size of autonomous induction annular air-pocket 73, when
Feel and stop inflation when the air pressure in annular air-pocket 73 reaches certain comfort level, the baroceptor incudes the comfort level
Air pressure and by the data transfer record on the controller, display screen, the air pressure transmission are additionally provided on the exoskeleton robot
On the display screen, certainly, the controller can also remember the barometric information for the air pressure meeting instant playback that sensor senses, when
It can control when inflation next time when electric air pump is inflated to the air pressure and stop inflation.By this human-computer interaction, so that dermoskeleton
The wearing of bone robot is more comfortable, it is reliable with it is humanized.
Preferably, the big the upper arm member 12 and the small the upper arm member 13 are hollow rod-like structure.And the big the upper arm member
12 and the material of the small the upper arm member 13 be aluminium alloy.The weight bearing for greatly reducing Arm structure, further reduces dermoskeleton
The weight bearing loss of bone robot at work, extends the cruise duration of battery.
It should be noted that the route that the exoskeleton robot can both have been set according to plan is acted, can also adopt
The movement tendency of human body is incuded with myoelectric sensor, so that the driving element such as first controlled on the exoskeleton robot drives
Motor, second driving motor etc. are acted, and realize good human-computer interaction, and the crowd of limbs inconvenience is helped to realize walking, lift
The movement such as hand, and assist rehabilitation.
In conclusion the utility model is had the advantages that by the improvement in structure
It 1, will by the ingenious combination of wheelchair in the exoskeleton robot and the Arm structure being worn on human body
Battery for power supply is arranged in wheelchair, greatly reduces the weight bearing of the Arm structure and makes its more lightweight,
Energy loss is reduced to a certain extent, and the battery being on the other hand arranged on wheelchair can manufacture into the electric power storage of larger capacity
Pond further improves the cruising ability of entire exoskeleton robot, provides for exoskeleton robot in the universal of medical field
Beneficial conditions, it is envisaged that when human body dress the Arm structure take a walk etc. daily use when, encounter human body and want to sit
Under situation, can easily select wheelchair as thing to sit on so that the use of exoskeleton robot it is more practical with it is humanized.
2, the pallet of support human body ancon is used for by increasing, the pallet to be elastic connection, and human body ancon is made to obtain one
Fixed fixation, and be flexible fastening due to being the pallet, it does not influence the movement of ancon again, may also help in elbow joint and exist
Do it is after bending stretch reset, it is simple and practical in structure.
3, the annular air-pocket that setting is inflated with electric air pump on the object wearing device, and grasped by human-computer interaction
Make so that the wearing of exoskeleton robot it is more comfortable, it is reliable with it is humanized.
4, the material of the big the upper arm member and the small the upper arm member is lightweight material such as aluminium alloy.Greatly reduce upper limb
The weight bearing of structure further reduces the weight bearing loss of exoskeleton robot at work, extends the cruise duration of battery.
It should be understood that various information are described in the utility model using term " first ", " second " etc., but these
Information should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other out.For example, not departing from this
In the case where utility model range, " first " information can also be referred to as " second " information, and similar, " second " information can also be with
Referred to as " first " information.
It is the one or more embodiments provided in conjunction with particular content as described above, does not assert the tool of the utility model
Body implementation is only limited to these instructions.It is all approximate with the method for the utility model, structure etc., identical or practical new for this
It makes several technologies under type concept thereof to deduce, or replacement all should be considered as the protection scope of the utility model.
Claims (8)
1. meeting the Arm structure component of the exoskeleton robot of simulation of human body design, which is characterized in that including Arm structure
(1) and for fixing human back back structures (3), the Arm structure (1) includes the shoulder for fixing human shoulder
Part (11), the big the upper arm member (12) for fixing human large arm and the small the upper arm member (13) for fixing human forearm, the shoulder
Component (11) cuts with scissors the upper end for being located at the back structures (3), and the shoulder member (11) sets far from the back structures (3) one end
There is the first driving motor, the output end of first driving motor is fixedly connected with one end of the big the upper arm member (12), described
The other end of big the upper arm member (12) is equipped with the second driving motor, the output end of second driving motor and the small the upper arm member
(13) one end is fixedly connected；
The Arm structure (1) further includes palm component (14), and the palm component (14) is hinged on the small the upper arm member (13)
On one end far from second driving motor；
The Arm structure component further includes cable (4), battery and the wheel for following the Arm structure (1) to walk automatically
Chair (5), the battery are located on the wheelchair (5), and the Arm structure (1) is equipped with power interface, and the battery is logical
The cable (4) is crossed to be electrically connected with the power interface.
2. the Arm structure component of the exoskeleton robot according to claim 1 for meeting simulation of human body design, special
Sign is that there are three tracking module, three tracking modules include the first module, the second module for installation on the wheelchair (5)
With third module, first module, second module and the third module are in horizontal plane at equilateral triangle shape
It is mounted on the wheelchair (5), the Arm structure (1) is equipped with for first module, second module and institute
It states third module and sends the emission source of signal to learn that the emission source arrives first module, second module and institute respectively
State the distance of third module, the wheelchair (5) be equipped with for first module, second module and the third mould
The master control borad of block electrical connection is according to the signal control obtained from first module, second module and the third module
Wheelchair (5) movement.
3. the Arm structure component of the exoskeleton robot according to claim 1 for meeting simulation of human body design, special
Sign is, the big the upper arm member (12) is equipped with the first fixed part (121) raised inwardly, the small the upper arm member (13) be equipped with to
The second fixed part (132) of inner bulge is equipped between first fixed part (121) and second fixed part (132) and uses
In the pallet (6) of support human body ancon, described pallet (6) one end be equipped with for the first fixed part (121) elastic connection
The first elastic component (61), pallet (6) other end be equipped with for second with the second fixed part (132) elastic connection
Elastic component (62).
4. the Arm structure group of the exoskeleton robot according to claim 1-3 for meeting simulation of human body design
Part, which is characterized in that the Arm structure (1) is equipped with for the ectoskeleton structure to be worn on the object wearing device on human body
(7)。
5. the Arm structure component of the exoskeleton robot according to claim 4 for meeting simulation of human body design, special
Sign is, the object wearing device (7) includes arc connector (71) and flexible bandage (72), the arc connector (71) it is interior
Side is mutually fixed with the flexible bandage (72).
6. the Arm structure component of the exoskeleton robot according to claim 4 for meeting simulation of human body design, special
Sign is that the object wearing device (7) is ring-type, around human body large arm when object wearing device (7) inner ring is equipped with for dressing
Or the annular air-pocket (73) of forearm, the annular air-pocket (73) are equipped with the inflating port for inflation.
7. the Arm structure component of the exoskeleton robot according to claim 6 for meeting simulation of human body design, special
Sign is, is additionally provided with controller, the controller be equipped with for control the electric inflating pump being electrically connected with the controller to
The inflation button inflated in the annular air-pocket (73), the annular air-pocket (73) is interior to be equipped with for detecting the annular air-pocket
(73) baroceptor of air pressure inside, the baroceptor are electrically connected to examine the baroceptor with the controller
The barometric information measured is recorded in the controller.
8. the Arm structure component of the exoskeleton robot according to claim 1 for meeting simulation of human body design, special
Sign is that the material of the big the upper arm member (12) and the small the upper arm member (13) is aluminium alloy.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN108542627B (en) * | 2018-02-13 | 2023-12-19 | 中山市沃倍特智能医疗器械股份有限公司 | Upper limb structure assembly of exoskeleton robot conforming to human bionics design |
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Address after: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee after: Zhongshan Wabet Intelligent Medical Devices Co.,Ltd. Address before: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee before: ZHONGSHAN WOBEITE INTELLIGENT MEDICAL ROBOT CO.,LTD. |
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