CN104385266A - Seven-degree-of-freedom external skeleton type teleoperation main hand - Google Patents
Seven-degree-of-freedom external skeleton type teleoperation main hand Download PDFInfo
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- CN104385266A CN104385266A CN201410432249.XA CN201410432249A CN104385266A CN 104385266 A CN104385266 A CN 104385266A CN 201410432249 A CN201410432249 A CN 201410432249A CN 104385266 A CN104385266 A CN 104385266A
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Abstract
The invention relates to a seven-degree-of-freedom external skeleton type teleoperation main hand. The seven-degree-of-freedom external skeleton type teleoperation main hand is composed of an external skeleton main hand portion, a driving unit and a support. The external skeleton main hand portion comprises an arm wearing portion and a singular configuration adjusting unit. The arm wearing portion is worn on the upper limb of an operator; the singular configuration adjusting unit provides rotation in two directions; the singular configuration of the adjustable external skeleton main hand can be carried out on the edge of working space; the driving unit is composed of motors, harmonic reducers, encoders, torque transducers, transmission wheels and the like; power is transmitted through steel wire ropes; and the weight of the arm part is greatly reduced. The support is used for fixing the external skeleton main hand portion and the driving unit and can achieve height adjustment and gravity balance of the arm. The seven-degree-of-freedom external skeleton type teleoperation main hand is flexible in operation and good in applicability; the arm part is compact in structure, low in inertia and not prone to fatiguing after long-time operation. By means of the seven-degree-of-freedom external skeleton type teleoperation main hand, the operator can remotely control a multi-degree-of-freedom robot through the external skeleton type main operation hand.
Description
Technical field
The present invention relates to the main arm device of a kind of exoskeleton-type, be specifically related to a kind of main arm device of seven freedom exoskeleton-type remote operating being applied to robot for space field, can the anglec of rotation be measured, reproduce the contact moment from end multi-freedom robot and environment.
Background technology
Along with developing rapidly of aerospace industry and deepening continuously to space probation, spatial operation task becomes more and more heavier complexity, as carried out the structure at satellite in orbit or large space station and maintenance work, the maintenance of Space Facilities, the treatment etc. of scientific experiment load.Service robot can adapt to space operating environment well out of my cabin, utilizes robot to replace or assists astronaut's participating space movable.
The multivariant robot in space needs the controling parameters in multiple joint in control procedure, require man-machine between the information coupling of higher-dimension, the main hand of exoskeleton-type multiple degrees of freedom remote operating, utilize the ectoskeleton be worn on health, the upper limks movements parameter of wearer can be made with it to reproduce out in real time at multi-freedom robot.In remote operating, operator passes through to understand from client information (vision, power are felt) at local side thus makes a policy, and controls robot (from the hand) motion of far-end by handling the main hand of exoskeleton-type.Be specially: by the electronic component such as grating scale or encoder, the displacement in each joint of acquisition operations person and rotational angle, send instruction and control to carry out relative motion from the multi-freedom robot of end.When contacting with barrier crash from the multi-freedom robot of end, having resistance/moment information and returning, providing feedback force/moment by drive units such as motors, operator being felt and corresponding resistance/moment realizes the reproduction of environmental forces.
Existing exoskeleton mechanism is mainly used in medical rehabilitation, helps the elderly and helps the disabled, and its motor is mainly placed in ectoskeleton arm wearing portion, and response fast, due to not high to required precision, have employed common decelerator, keeps away the backlash that unavoidable gear drive brings.Its most of weight concentrates on arm wearing portion, and size is large, and inertia is large, and over-burden to cause human body.The Chinese utility model patent of publication number CN2710848 Y is authorized to be the wearing type ectoskeleton manipulator that Zhejiang University develops, this mechanism adopts parallel structure, compact conformation, weight is low, for carrying out far-end control to REMOTE MACHINE people, but also there is exoskeleton manipulator to the Motion mapping complexity of multi-freedom robot, inaccurate problem.
The present invention proposes the main hand of a kind of seven freedom exoskeleton-type remote operating, the main hand getting cascaded structure of this ectoskeleton.Arm wearing portion inertia is low, compact conformation; Adopt harmonic speed reducer and wire rope gearing, gapless; The size of the person that can adapt to different operating, working space is large, and flexible operation, comfortableness is good.
Summary of the invention
The object of the present invention is to provide the main hand that a kind of ground-controlled space multi-freedom robot is executed the task, it is worn on operator's upper limbs, flexible operation, indefatigability, shoulder, ancon, the wrist rotational angle in totally seven joints and speed can be measured, by the gesture stability of the ectoskeleton arm multi-freedom robot from end, and by the contact force information Real-time Feedback between multi-freedom robot and environment to operator.
For achieving the above object, the present invention adopts following technical scheme to realize: the main arm device of exoskeleton-type remote operating of the present invention is made up of support, driver element, ectoskeleton main hand three part.Wherein, the main hand portion of ectoskeleton is divided into singular configuration adjustment unit and arm wearing portion.
Described arm wearing portion adopts anthropomorphic design principle, comprises shoulder, ancon, wrist, totally seven rotational freedoms, and wherein, shoulder has three rotational freedoms, and rotation remains orthogonal, realizes the ball slave function of true shoulder joint; Ancon has a rotational freedom, realizes the motion of elbow joint; Wrist has three rotational freedoms, and rotation meets at a bit all the time, realizes all directions flexible motion of wrist respectively; The length dimension of ectoskeleton arm wearing portion can adjust, concrete principle is: drive the size on fixed head (50902) to regulate connecting hole (50902B) to regulate chute (50806A) to be completed fixing by bolt with the size on slide block connecting rod (50806), regulates connecting hole (50902B) to regulate the change of the position in chute (50806A) to adapt to the length of different operator's arms in size by size.
The front end of described support (2) is provided with line slideway group (203), and operator not only can be sitting in seat (1) upper execution remote operating task, also can stand and perform remote operating task.The shoulder central point that can cause when operator's arm upwards lifts is raised slightly, ectoskeleton arm wearing portion is connected with the lifter plate (202) be arranged in line slideway group (203) by singular configuration adjustment unit (4), therefore can slightly raise accordingly, make ectoskeletal motion completely and operator's upper extremity exercise be consistent, improve operator's comfortableness.Devise gravitational equilibrium mechanism in the rear end of support (2), be made up of configuration assembly pulley (205), balancing weight track (206), balancing weight (207) and counterweight armored rope (204).
Described driver element (3) is power and the testing agency of the main hand of seven freedom exoskeleton-type remote operating, and the driven unit in each joint includes the compositions such as motor (302), harmonic speed reducer (304), encoder (303), torque sensor (305).The joint of power to the main hand of ectoskeleton is transmitted by steel wire rope (307), steel wire rope pipe box (308) and drive (306); Seven cradle heads are connected to torque sensor and encoder respectively, can obtain the moment values in each joint accurately, and the precise motion state in main each joint of hand can be mapped to intuitively from end multi-freedom robot.The driven unit of the main mobile phone structure of exoskeleton-type remote operating all hangs by link plate (310) and motor cabinet (301) lifter plate (202) be fixed on support, greatly reduces the weight of the main hand wearing portion of exoskeleton-type.
The main hand portion of described ectoskeleton is designed with singular configuration adjustment unit (4).It is connected with arm wearing portion, has two rotational freedoms, can make unusual adjustment plate (502) rotating and the swing of pitch orientation relative to unusual adjustment pedestal (401) occurred level direction.
Wherein, described driver element and ectoskeleton arm wearing portion carry out the power transmission of motor (302) and each articulation of arm wearing portion by steel wire rope (307) and steel wire rope pipe box (308), change the trend of running part, each joint, by independently motor, Steel rope drive, can realize independent control.Driving end (601) and drive end (602) part all adopt the rope drive of push-pull type structure, and steel wire rope is horizontally disposed, reduces friction, improves transmission efficiency.Steel wire rope pipe box (308) end is connected with the screwed hole of drive steel wire pipe box holder (309), driving wheel steel wire pipe box holder (501) and arc guide rail steel wire rope holder (50801) by screw thread fixed leg, by steel wire rope pipe box is tightened on steel wire rope holder, the tensioning degree of adjustment steel wire rope.
The medial rotation of the medial rotation of described shoulder/revolve outer (J3) joint and wrist/revolve outer (J5) joint all to adopt the arc guide rail (50802) of two sections 180 ° to form, two sections of guide rails adopt back-to-back mode to connect, and are slided between slide block (50804) and arc guide rail (50802) by ball.
The invention has the advantages that: the driven units such as (1) motor are placed on support, reduce ectoskeleton arm wearing portion weight.Meanwhile, arm wearing portion compact conformation, flexibility is good, and size adjustable, adaptation population is wide; (2) by steel wire rope, steel wire rope pipe box and harmonic speed reducer transmission, avoid the backlash that gear drive brings, precision is higher; (3) support is designed with gravitational equilibrium mechanism, is counteracted the weight of the main hand portion of ectoskeleton and driver element by balancing weight, operate comfortable, indefatigability; (4) add singular configuration adjustment unit, adjustable singular configuration occurs in the edge of the working space of the main hand of ectoskeleton; (5) rotary joint of shoulder and wrist adopts semi-circular arc Guide Rail Design, improves the security of operator, it also avoid the interference of ectoskeleton and body trunk simultaneously, increase the range of movement of operator's arm.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of the main arm device of seven freedom exoskeleton-type remote operating;
Fig. 2 is the rack assumption diagram of apparatus of the present invention;
Fig. 3 is the structure chart of the driver element of apparatus of the present invention;
Fig. 4 is the structure chart of the main hand portion of ectoskeleton of apparatus of the present invention;
Fig. 5 is the structure chart of medial rotation/the revolve extrinsic articulation of ectoskeleton arm wearing portion;
Fig. 6 is ectoskeleton arm wearing portion size adjustment mechanism schematic diagram;
Fig. 7 is the flexion/extension of ectoskeleton arm wearing portion and the explosive view in adduction/abduction joint;
Fig. 8 is the transmission system schematic diagram of apparatus of the present invention.
Label name in the figure above: 1 seat bracket 2. 3. 4. singular drive unit configuration adjustment unit J1 inside shoulder adduction / abduction joint J2 shoulder flexion / extension within the shoulder joint J3 spin / spin. foreign joint J4. elbow flexion / extension joint J5. inner wrist rotation / external rotation joint J6. inner wrist adduction / abduction joint J7. wrist flexion / extension joint profiles rod holder 201. 203. 202. The lift plate linear guides Group 204. 205. counterweight counterweight rope pulley 206. counterweight rail weights 301. 207. 302. Block motor motor encoder 304. 303. 305. harmonic reducer drive wheel torque sensor 306. 307. rope 308. 309. The drive wheel rope rope socket socket holder peg board 401. 310. 402. singular base adjustment slider-crank slider crank rotation rail seat 403. 501. 502. The wheels singularity anchor rope sleeves adjustment 503. 504. The first joint board wheels driving the output rod 505. The first joint of the second joint drive wheels fixed rod 506. The second joint 507. The second joint 508. The rotary drive output rod inside / outside the joint group of 509 spin. flexion / extension and adduction / abduction joint group 510. The fifth joint drive fixed rod 511. The fifth joint drive output rod 512. The sixth joint drive wheels fixed rod 513. The sixth joint sixth joint drive output rod 514. 515 The seventh joint seventh joint drive wheels 516. 517. The output rod handle 50801. arc guide rope socket holder 50802. 50803. circular arc guide rails driven input slider bar 50804. 50805. 50806 block pulling rope Slider circular rail connecting rod connecting plate 50901. 50807. 50902. stepped shaft drive wheels fixed plate 50903. 50904. 50905. Rolling rope set screws 50906. 50907. drive output retainer plate 50806A. size adjustable chute 50902B The size of the attachment hole 30601. adjust fixed rope threaded hole 602. 601. drive end the drive end
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail:
The present invention is the main arm device of a kind of exoskeleton-type remote operating, and arm wearing portion has 7 degree of freedom.The overall structure figure of this device shown in Fig. 1.The main arm device of exoskeleton-type remote operating of the present invention is made up of support (2), driver element (3), the main hand of ectoskeleton (Fig. 4) three part.Wherein, the main hand portion of ectoskeleton is divided into singular configuration adjustment unit (4) and arm wearing portion.Arm wearing portion, according to anthropomorphic design principle, adopts series-mode frame, is worn on operator's upper arm, comprises shoulder, ancon, wrist, totally seven rotational freedoms, the order distribution successively of each rotary freedom.Wherein, shoulder has three rotational freedoms, realizes the adduction/abduction (J1) of shoulder joint, flexion/extension (J2), medial rotation/revolve outer (J3) motion.The rotation of the adduction/abduction (J1) of shoulder joint, flexion/extension (J2), medial rotation/revolve outer (J3) intersects at a point all the time, and three rotational freedoms of shoulder are approximately a ball pivot; Ancon has a rotational freedom, realizes flexion/extension (J4) motion of elbow joint; Wrist has three rotational freedoms, realizes the medial rotation of wrist/revolve outer (J5), adduction/abduction (J6) and flexion/extension (J7) motion respectively.The rotation of carpal medial rotation/revolve outer (J5), adduction/abduction (J6) and flexion/extension (J7) also intersects at a point, and realizes the motion that three of wrist are reverse.Seat (1) can be sitting in after upper limbs is penetrated ectoskeleton by operator or stand and perform remote operating task.
Figure 2 shows that support (2) part of apparatus of the present invention, comprise frame, hoistable platform, weight balancing three part of section bar composition.The frame of section bar composition is spliced by section bar bridge (201), plays ground supports effect.Hoistable platform is made up of line slideway group (203), lifter plate (202), and the driver element shown in Fig. 3 just hangs and is fixed on hoistable platform.Weight counterbalancing mechanism is made up of counterweight assembly pulley (205), counterweight armored rope (204), balancing weight track (206) and balancing weight (207).Wherein, line slideway group (203), counterweight assembly pulley (205) and balancing weight track (206) are all fixed by screws in the frame that section bar bridge (201) forms.Have four line slideway groups (203), symmetrical all around.Lifter plate (202) is fixed on four slide blocks of these four line slideway groups (203), and the unusual adjustment pedestal of ectoskeleton main hand portion singular configuration adjustment unit is connected at its side, the main hand portion of ectoskeleton can be moved up and down along guide rail with lifter plate.Design this lifter plate to move up and down operator both can be made to dress ectoskeleton with stance or sitting posture, also be slightly raising and declining of the shoulder central point in order to cause when compensating operation person upper limbs lifts or lowers, improve the comfortableness of operator.Counterweight armored rope (204) is walked around counterweight assembly pulley (205) one end and is connected lifter plate (202), one end is connected with balancing weight (207), and configuration block can be slided in balancing weight track (206) along with the motion of lifter plate.
The structure of the driver element (3) of the main arm device of seven freedom exoskeleton-type remote operating of the present invention as shown in Figure 3, totally seven groups of electric machine assemblies, be fixed on motor cabinet (301) and link plate (310), for driving seven joints of ectoskeleton arm wearing portion.The connected mode of each electric machine assembly is as follows: motor (302) end connects encoder (303), for measuring the anglec of rotation and the angular speed in each joint; Motor (302) front end is by Flange joint harmonic speed reducer (304).The backlash that harmonic speed reducer (304) can avoid common decelerator transmission to bring, avoids turn error.Torque sensor (305), for measuring the real-time moment values in each joint, is connected with harmonic speed reducer (304) by flange.Torque sensor (305), drive (306) are fixed on same rotating shaft.Motor (302) transmits the joint of power to ectoskeleton arm wearing portion by drive (306) and steel wire rope (307).
In the structure of the main hand of ectoskeleton of the present invention, as shown in Figure 4, Figure 5, Figure 6 and Figure 7.The start-up portion of the main hand structure of ectoskeleton is singular configuration adjustment unit (4).When (J5) axis is in collinear position outward for medial rotation/revolve outer (J3) and the carpal medial rotation/revolve of the adduction/abduction (J1) of shoulder joint and medial rotation/revolve outer (J3) axis or shoulder joint, cause one degree of freedom to lose, form singular configuration.Singular configuration adjustment unit is connected with the arm wearing portion being worn on operator, has two rotational freedoms.One degree of freedom is the rotation of horizontal direction, is made up of unusual adjustment pedestal (401) and crank block swing-around trajectory seat (402).The head of crank block swing-around trajectory seat (402) is collar plate shape, with rotating shaft, adjustable crank block swing-around trajectory seat (402) rotates certain angle in the horizontal direction around unusual adjustment pedestal (401), is fixed after rotation by big nut.Another free degree is the swing of ectoskeleton arm wearing portion pitch orientation, is realized by crank block (403).Be specially unusual adjustment plate (502) to be connected with crank block (403), slide block in crank block (403) can be mobile along crank block swing-around trajectory seat (402), thus realize the swing of unusual adjustment plate (502) in pitch orientation.Be fixed by screws in after crank block (403) moves to suitable position on crank block swing-around trajectory seat (402).The pose of unusual adjustment plate (502) is changed by singular configuration adjustment unit (4), and then change the pose of arm wearing portion, thus the situation that the free degree is lost occurs in the edge of arm scope of activities (working space).
Arm wearing portion originates in singular configuration adjustment unit, comprises seven joints rotated.First joint is adduction/abduction (J1) joint of shoulder, takes turns (503), the first joint drive output (504) and driving wheel steel wire rope pipe box holder (501) etc. forms by unusual adjustment plate (502), the first joint drive.Connect with screw between unusual adjustment plate (502) and driving wheel steel wire rope pipe box holder (501), first joint drive wheel (503) is connected with screw with the first joint drive take-off lever (504), by Steel rope drive, the first joint drive take-off lever (504) is rotated around unusual adjustment plate (502), realize shoulder adduction/abduction exercise; Second joint is flexion/extension (J2) joint of shoulder, drives fixed bar (505), second joint driving wheel (506), second joint driver output bar (507) etc. to form by second joint.By Steel rope drive second joint driving wheel (506), and then drive second joint driver output bar (507) to drive fixed bar (505) to rotate around second joint, realize the motion of shoulder flexion/extension; The medial rotation of shoulder/revolve extrinsic articulation (J3) is the 3rd joint, and structure is shown in and is specially medial rotation in Fig. 4/revolve extrinsic articulation group (508) shown in Fig. 5; Flexion/extension (J4) joint of ancon is the 4th joint, and structure is shown in flexion/extension in Fig. 4 and adduction/abduction joint set (509), is specially shown in Fig. 7; 5th joint is outer (J5) joint of medial rotation/revolve of wrist, is specially the 5th joint drive take-off lever (511) and rotates along semicircular ring around the 5th joint drive fixed bar (510), realizes the medial rotation of wrist/revolve outer motion; 6th joint is adduction/abduction (J6) joint of wrist, is specially the 6th joint drive take-off lever (514) and rotates around the 6th joint drive fixed bar (512), realize the adduction/abduction exercise of wrist.Wherein, the 6th joint drive wheel (513) and the 6th joint drive take-off lever (514) are fixed by screw; 7th joint is flexion/extension (J7) joint of wrist, takes turns (515), the 7th joint drive take-off lever (516) and handle (517) form by the 6th joint drive take-off lever (514), the 7th joint drive.Be specially the 7th joint drive wheel (515), be interconnected between the 7th joint drive take-off lever (516) and handle (517), handle (517) can rotate around the 6th joint drive take-off lever (514), realizes the flexion/extension motion of wrist.
Figure 5 shows that the concrete principle assumption diagram in outer (J5) joint of the medial rotation of the medial rotation of above-mentioned ectoskeleton arm wearing portion shoulder/revolve outer (J3) joint and wrist/revolve.Two arc guide rails (50802) are screwed by back-to-back mode and arc guide rail connecting plate (50807), two slide blocks (50804) on guide rail are fixed with slide block connecting rod (50806), and arc guide rail drives input lever (50803) to fix with arc guide rail connecting plate (50807).Two arc guide rail steel wire rope pipe boxes holder (50801) are separately fixed at the two ends of arc guide rail connecting plate (50807).Steel wire rope pulls block (50805) to be fixed on the centre (namely between two arc guide rails) of slide block connecting rod (50806) clamping plate.This medial rotation/revolve extrinsic articulation to be driven by two steel wire rope pipe boxes (308) and two steel wire ropes (307), wherein one end of steel wire rope pipe box (308) connects arc guide rail steel wire rope pipe box holder (50801), one end connection for transmission wheel steel wire rope holder (309).Drive steel wire rope to move in steel wire rope pipe box by motor, and then pull steel wire rope to pull block (50805), thus slide block (50804) is moved around arc guide rail (50802).Slided by ball between slide block (50804) and arc guide rail (50802).Thus realize slide block connecting rod (50806) (i.e. the take-off lever of medial rotation/revolve extrinsic articulation) opposing arcs guide rail and drive input lever (50803) (i.e. the take-off lever of medial rotation/revolve extrinsic articulation) along semicircular ring smooth pivotal.
In ectoskeleton arm wearing portion recited above, each adjacent rod member all can relative sliding (Fig. 4), be bolted when sliding into correct position, as handle (517) can along the 7th joint drive take-off lever (516) slide, the 6th joint drive fixed bar (512) can prolong the 5th joint drive take-off lever (511) slide, second joint drive fixed bar (505) slide along the first joint drive take-off lever (504), the slip of rod member causes the different distance between joint, thus adjustment rod member and operator's arm adapt.The principle (Fig. 6) of the size adjustment mechanism of each rod member adjustment member is: drive the size on fixed head (50902) to regulate connecting hole (50902B) to regulate chute (50806A) to be completed fixing by bolt with the size on slide block connecting rod (50806), regulates connecting hole (50902B) to regulate the change of the position in chute (50806A) to adapt to the length of different operator's arms in size by size.This kind of regulative mode makes the size of the ectoskeleton arm wearing portion person that can adapt to different operating, can not cause to operate stiff because each joint of ectoskeleton and each joint of human body are not corresponding, and be limited scope of activities, comfortableness is better.
Fig. 7 shows the concrete principle assumption diagram in ectoskeleton arm wearing portion shoulder adduction/abduction (J1) joint, shoulder flexion/extension (J2) joint, ancon flexion/extension joint (J4), wrist adduction/abduction (J6) joint and wrist flexion/extension (J7) joint in the mode of explosive view.Fixed head (50902) and driving wheel (50903) is driven to be arranged on multidiameter (50901).Driving wheel steel wire rope pipe box holder (501) is fixed by screw, for the end of connecting steel wire ropes pipe box with the end face of multidiameter.Jump ring (50906) is stuck on multidiameter, prevent rolling bearing (50903) inner ring from sliding axially, the fixing steel wire rope of steel wire rope holding screw (50904) is on driving wheel (50903), and driver output plate (50907) is fixed by screw and driving wheel (50903).When steel wire rope drives driving wheel (50903) to rotate, even if driver output plate (50907) rotates relatively around driving fixed head (50902).
The transmission system of the main arm device of exoskeleton-type remote operating of the present invention as shown in Figure 8, comprises drive end (601), actuating station (602) and steel wire rope pipe box (308).Drive end (601) comprises motor (302), motor cabinet (301), drive (306) and drive steel wire rope holder (309).Actuating station (602) comprises driving fixed head (50902), driving wheel steel wire rope pipe box holder (501), driving wheel (50903).Wherein drive (306) and driving wheel (50904) all there is steel wire rope screwed hole (30601).Positive and negative rotation motion needs two steel wire ropes (307) in a joint and two steel wire rope pipe boxes (308) complete, every root steel wire rope is all through steel wire rope pipe box (308), then two ends are each passed through the upper steel wire rope screwed hole (30601) of drive (306) and driving wheel (50903), then tighten fixing by steel wire rope holding screw (50904); Every root steel wire rope pipe box (308) two ends perforate screw thread fixed leg be tightened to drive steel wire rope holder (309) and driving wheel steel wire rope pipe box holder (501) (or arc guide rail steel wire rope pipe box holder (50801) respectively.When motor positive and inverse, drive driving wheel (50903) corresponding rotation, thus cause the rotation in each joint of arm wearing portion.
According to said structure feature, seven freedom exoskeleton-type remote operating of the present invention main hand arm wearing portion weight is lower, compact conformation, flexible operation, can adapt to can not operator's upper limbs size; Arm does not bear ectoskeleton weight, long-time operation indefatigability.
Claims (8)
1. the main hand of seven freedom exoskeleton-type remote operating, is characterized in that: be made up of support (2), driver element (3) and the main hand of ectoskeleton (Fig. 4) three part.Wherein, the main hand portion of ectoskeleton (Fig. 4) is divided into singular configuration adjustment unit (4) and arm wearing portion.
Singular configuration adjustment unit (4) is connected with arm wearing portion, and the unusual adjustment pedestal (401) of singular configuration adjustment unit (4) is fixed with the lifter plate (202) of support (2).Singular configuration adjustment unit can move up and down along the lifter plate (202) on support, the height of the main hand of adjustment ectoskeleton, the shoulders of human body lifting slightly caused when compensating operation person arm lifts or falls simultaneously.
Arm wearing portion is worn on operator's upper arm, comprises shoulder, ancon, wrist, and totally seven rotational freedoms, adopt anthropomorphic design principle, meets arm motion custom.Wherein, shoulder has three rotational freedoms, and rotation remains orthogonal, realizes the adduction/abduction (J1) of shoulder joint, flexion/extension (J2), medial rotation/revolve outer (J3) motion; Ancon has a rotational freedom, realizes flexion/extension (J4) motion of elbow joint; Wrist has three rotational freedoms, and rotation remains orthogonal, realizes the medial rotation of wrist/revolve outer (J5), adduction/abduction (J6) and flexion/extension (J7) motion respectively;
Driver element (3) is power and the testing agency of the main hand of seven freedom exoskeleton-type remote operating, comprise the compositions such as motor (302), encoder (303), torque sensor (305), encoder (303) is arranged on motor (302) end.The arm wearing portion of power to the main hand of ectoskeleton is transmitted by steel wire rope (307), steel wire rope pipe box (308) and drive (306);
The front end of support (2) is provided with line slideway group (203), and the slide block by line slideway group is installed lifter plate (202).The rear end of support (2) devises gravitational equilibrium mechanism, is made up of counterweight assembly pulley (205), balancing weight track (206), balancing weight (207) and counterweight armored rope (204).
2. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, is characterized in that: seven cradle heads are all connected to torque sensor and encoder, and each joint can drive separately.Simplify force analysis process, the torque-feedback value in each joint can be obtained accurately, and the precise motion state in main each joint of hand can be mapped to intuitively from end multi-freedom robot.
3. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, it is characterized in that: the parts such as motor (302), harmonic speed reducer (304), torque sensor (305) of the main mobile phone structure of exoskeleton-type remote operating all hang by link plate (310) and motor cabinet (301) lifter plate (202) be fixed on support, greatly reduce the weight of the main hand wearing portion of exoskeleton-type, make the structure of arm wearing portion compacter, inertia is lower.
4. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, is characterized in that: the main hand portion of ectoskeleton is designed with singular configuration adjustment unit (4).Singular configuration adjustment unit (4) is connected with the arm wearing portion being worn on operator, there are two rotational freedoms, unusual adjustment plate (502) rotating and the swing of pitch orientation relative to unusual adjustment pedestal (401) occurred level direction can be made.The configuration of the combination adjustment arm wearing portion rotated by two, makes singular configuration only occur in the edge of the main hand working space of exoskeleton-type remote operating.
5. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, it is characterized in that: the power transmission being carried out motor (302) and each articulation of arm wearing portion by steel wire rope (307) and steel wire rope pipe box (308), change the trend of running part, each joint, by motor, Steel rope drive, can realize independent control.Driving end (601) and drive end (602) part all adopt the rope drive of push-pull type structure, steel wire rope (307) and drive (306) or driving wheel (50903) tangent, reduce friction, improve transmission efficiency.Steel wire rope pipe box (308) end is connected with the screwed hole of drive steel wire pipe box holder (309), driving wheel steel wire pipe box holder (501) and arc guide rail steel wire rope holder (50801) by screw thread fixed leg.Drive drive (306) and driving wheel (50903) to occur to rotate forward or reversion by steel wire rope simultaneously.
6. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, it is characterized in that: the medial rotation of the medial rotation of shoulder/revolve outer (J3) joint and wrist/revolve outer (J5) joint all to adopt the arc guide rail (50802) of two sections 180 ° to form, arc guide rail (50802) and slide block (50804) are slided by ball.The design of semicircular ring makes operator can take off ectoskeleton rapidly, avoids damaging operator during unexpected generation, improves the security of operator; Meanwhile, when operator's arm is in vertical position, because operator's arm still can be fitted waist, compare circular closure designs, semicircular design can not affect the range of movement of operator.Two sections of arc guide rails adopt back-to-back mode to connect, and improve ectoskeletal intensity.
7. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, it is characterized in that: on support (2), gravitational equilibrium mechanism is installed, the weight of balancing weight (207) is equal to the gross weight of the main hand portion of ectoskeleton and driver element, reduce the weight that operator's arm itself is born, increase the comfortableness of operator, unsuitable tired when making to perform remote control multi-freedom robot execution complex task for a long time.
8. the main hand of a kind of seven freedom exoskeleton-type remote operating according to claim 1, is characterized in that: the ectoskeleton arm wearing portion free degree is distributed and met human upper limb locomotion rule, and size can adjust.This ectoskeleton arm wearing portion is designed with size adjustment mechanism, and all adjustable relative length between each joint, covers most human upper limb size.Principles of Regulation are: drive the size on fixed head (50902) to regulate connecting hole (50902B) to regulate chute (50806A) to be completed fixing by bolt with the size on slide block connecting rod (50806), regulate connecting hole (50902B) to regulate the change of the position in chute (50806A) to adapt to the length of different operator's arms in size by size.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410432249.XA CN104385266A (en) | 2014-08-28 | 2014-08-28 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
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| CN201410432249.XA CN104385266A (en) | 2014-08-28 | 2014-08-28 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
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| CN108578171A (en) * | 2018-03-21 | 2018-09-28 | 常熟京常智能科技有限公司 | A kind of robot arm of intelligent rehabilitation training |
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| CN108839006A (en) * | 2018-09-28 | 2018-11-20 | 赤源动力（大连）科技有限责任公司 | Wearable shoulder assistance exoskeleton |
| CN109350446A (en) * | 2018-10-18 | 2019-02-19 | 航天科工智能机器人有限责任公司 | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system |
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| CN110664583A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand |
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| CN110757498A (en) * | 2019-11-29 | 2020-02-07 | 东莞理工学院 | Three-degree-of-freedom robot joint |
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| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
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| CN116394225A (en) * | 2023-04-20 | 2023-07-07 | 哈尔滨工业大学 | Exoskeleton joint system based on Bowden bead chain transmission |
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| CN105310859A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Wrist joint intorsion/extorsion rehabilitation training device |
| CN105362034A (en) * | 2015-07-26 | 2016-03-02 | 广东铭凯医疗机器人有限公司 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
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| CN106038169B (en) * | 2016-06-13 | 2018-09-14 | 北京理工大学 | A kind of brachium regulating mechanism of rope driving ectoskeleton mechanical arm |
| CN106037934A (en) * | 2016-06-29 | 2016-10-26 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
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| CN105997437A (en) * | 2016-07-18 | 2016-10-12 | 广西盈锐智能机械有限公司 | Whole-body-coordinating multifunctional four-arm robot and operating method thereof |
| CN106393071A (en) * | 2016-11-14 | 2017-02-15 | 北京工业大学 | 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism |
| CN106726350A (en) * | 2016-12-29 | 2017-05-31 | 河北工业大学 | One kind rope drives elbow wrist healing robot |
| EP3903755A3 (en) * | 2017-05-08 | 2021-11-17 | Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna | Support frame for an upper limb exoskeleton |
| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
| CN107322582A (en) * | 2017-08-14 | 2017-11-07 | 南京工程学院 | A kind of six degree of freedom biomimetic manipulator |
| CN107595547A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CN107595547B (en) * | 2017-09-18 | 2024-04-16 | 华南理工大学 | Double-arm robot for upper limb rehabilitation training |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
| CN107943124A (en) * | 2017-11-29 | 2018-04-20 | 大连海事大学 | A kind of master-slave mode artificial-muscle articular system with position/force Two-way Feedback |
| CN107951680A (en) * | 2017-12-27 | 2018-04-24 | 北京航空航天大学 | A kind of Table top type wrist joint recovery exercising robot structure |
| CN108210246A (en) * | 2018-01-10 | 2018-06-29 | 北京工业大学 | A kind of four-degree-of-freedom rehabilitation mechanical arm assembly |
| CN108210246B (en) * | 2018-01-10 | 2020-04-03 | 北京工业大学 | Four-degree-of-freedom rehabilitation mechanical arm device |
| CN108578171A (en) * | 2018-03-21 | 2018-09-28 | 常熟京常智能科技有限公司 | A kind of robot arm of intelligent rehabilitation training |
| CN108578171B (en) * | 2018-03-21 | 2023-11-07 | 常熟京常智能科技有限公司 | Robot arm of intelligent rehabilitation training |
| CN108652919A (en) * | 2018-05-27 | 2018-10-16 | 北京工业大学 | A kind of line driving wearable upper limb medical treatment ectoskeleton structure of multiple degrees of freedom |
| CN110664583A (en) * | 2018-07-03 | 2020-01-10 | 中国科学院沈阳自动化研究所 | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand |
| CN110683451A (en) * | 2018-07-06 | 2020-01-14 | 株式会社日立大厦系统 | Elevator installation device |
| CN108839006B (en) * | 2018-09-28 | 2024-04-26 | 赤源动力（大连）科技有限责任公司 | Wearable shoulder assistance exoskeleton |
| CN108839006A (en) * | 2018-09-28 | 2018-11-20 | 赤源动力（大连）科技有限责任公司 | Wearable shoulder assistance exoskeleton |
| CN109350446A (en) * | 2018-10-18 | 2019-02-19 | 航天科工智能机器人有限责任公司 | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system |
| CN109397271A (en) * | 2018-11-23 | 2019-03-01 | 华中科技大学 | 7 freedom degree anthropomorphous machine arms of one kind and its control method and system |
| IT201900001843A1 (en) * | 2019-02-08 | 2020-08-08 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Support frame for upper limb exoskeleton |
| CN110948469A (en) * | 2019-10-29 | 2020-04-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN110948469B (en) * | 2019-10-29 | 2021-12-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN110561396B (en) * | 2019-11-07 | 2020-02-28 | 湖南生物机电职业技术学院 | High-precision quick-reaction manipulator |
| CN110561396A (en) * | 2019-11-07 | 2019-12-13 | 湖南生物机电职业技术学院 | High-precision quick-reaction manipulator |
| CN110757498A (en) * | 2019-11-29 | 2020-02-07 | 东莞理工学院 | Three-degree-of-freedom robot joint |
| CN111110509A (en) * | 2019-12-25 | 2020-05-08 | 南京理工大学 | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN113084800A (en) * | 2021-03-29 | 2021-07-09 | 航天时代电子技术股份有限公司 | Wearable all-joint follow-up remote control device |
| CN113059566A (en) * | 2021-04-02 | 2021-07-02 | 珞石（山东）智能科技有限公司 | Direct force feedback teleoperation method and device based on flexible robot |
| CN113752280B (en) * | 2021-10-12 | 2023-02-03 | 中南大学 | Seven-degree-of-freedom decoupling main manipulator |
| CN113752280A (en) * | 2021-10-12 | 2021-12-07 | 中南大学 | Seven-degree-of-freedom decoupling main manipulator |
| CN113893131A (en) * | 2021-10-20 | 2022-01-07 | 南通大学 | Rope-driven upper limb exoskeleton rehabilitation robot with shoulder joint passive tracking function |
| CN116061146A (en) * | 2021-11-01 | 2023-05-05 | 广东博智林机器人有限公司 | Building robot |
| CN113858179A (en) * | 2021-11-01 | 2021-12-31 | 山东建筑大学 | Bionic industrial mechanical arm based on exoskeleton control |
| WO2023102650A1 (en) * | 2021-12-08 | 2023-06-15 | University Of Manitoba | Exoskeletal upper limb rehabilitation device |
| CN115227550B (en) * | 2022-08-04 | 2024-04-16 | 河北工业大学 | Seven-degree-of-freedom exoskeleton rehabilitation robot compatible with human-machine and capable of avoiding singular |
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| CN116100565A (en) * | 2023-04-13 | 2023-05-12 | 中国科学技术大学 | Immersive real-time remote operation platform based on exoskeleton robot |
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