CN2710848Y

CN2710848Y - Wearing type ectoskeleton manipulator

Info

Publication number: CN2710848Y
Application number: CN 200420037222
Authority: CN
Inventors: 杨灿军; 张佳帆; 陈鹰; 牛彬; 张广天; 李晓明; 马子康; 肖尹
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2004-07-02
Filing date: 2004-07-02
Publication date: 2005-07-20
Anticipated expiration: 2014-07-02

Abstract

The wearable exoskeleton manipulator of the utility model is composed of a large 3RPS parallel mechanism at the shoulder, a slip ring mechanism at the shoulder, two four-bar mechanisms at the elbow, a slip ring mechanism at the wrist and a small 3RPS parallel mechanism at the wrist. With 9 degrees of freedom, it can meet the requirements of all-round movement of the upper arm of the human body. The manipulator uses the cylinder as the actuator, which imitates the stretching and contracting action of human muscles. It has good toughness and bionics characteristics. While increasing the convenience and comfort of wearing, it greatly expands the range of motion of the operator's upper limbs. Lowers and reduces the movement limitations of existing exoskeleton mechanisms. The motion data of the wearer's upper limbs can be collected through the displacement sensor matched with the cylinder, and the computer can perform perceptual force feedback operation on the industrial manipulator. The manipulator can also be used in medical treatment as an auxiliary medical device for patients with muscular atrophy of the upper limbs.

Description

The Wearable exoskeleton manipulator

Technical field

The utility model relates to the Wearable exoskeleton manipulator, is a kind of employing biomimetic features specifically, is used to gather the device of human upper limb locomotion data.

Background technology

Ectoskeleton is controlled in the world to be generally believed it is one of at present desirable distant method of operating of manipulator, and the Joystick wider with respect to traditional use carries out manipulator more advantage.But the at present domestic and international exoskeleton manipulator that uses, or only have the less free degree, or mechanism's complexity, so opereating specification is very restricted.

Summary of the invention

The purpose of this utility model provides a kind of Wearable exoskeleton manipulator that is suitable for the distant operation of manipulator.

Wearable exoskeleton manipulator of the present utility model comprises the big 3RPS parallel institution of shoulder of polyphone successively, shoulder slip ring mechanism, two ancon four-bar mechanisms, the little 3RPS parallel institution of wrist slip ring mechanism and wrist, the big 3RPS parallel institution of said shoulder has the lower plane that is the U font and circular last plane, the bottom of U font lower plane and two openends are equipped with turning hinge respectively, these three turning hinges be wired to an equilateral triangle, circular last plane is evenly equipped with three ball pivots, three turning hinges on the U font plane link to each other with an end of first group of cylinder respectively, and the other end of first group of cylinder links to each other with three ball pivots on the annulus respectively; The revolute that the plane connects and composes goes up by first pedestal of annular and the big 3RPS parallel institution of shoulder circular in shoulder slip ring mechanism; The little 3RPS parallel institution of wrist has circular lower plane and the circular plane of going up, on lower plane, be evenly equipped with three turning hinges, be evenly equipped with three ball pivots on the last plane, three turning hinges on the lower plane link to each other with an end of second group of cylinder respectively, the other end of second group of cylinder links to each other with three ball pivots on the last plane respectively, and the handle that grips for wearer is housed on last plane; Wrist slip ring mechanism is the revolute that the circular lower plane by second pedestal of annular and the little 3RPS parallel institution of wrist connects and composes; The ancon four-bar mechanism comprises rectangular-shaped base, fork and a cylinder, first pedestal of the right angle flex point of base and shoulder slip ring mechanism is fixed, one end of base and an end of fork are hinged, one end of the other end of base and cylinder is hinged, the other end of cylinder and the other end of fork are hinged, and second pedestal of fork and wrist slip ring mechanism is fixed.

For ease of gathering the motion pose signal of human upper limb, usually, at inner displacement or the angular transducer installed of two slip rings of each cylinder and shoulder slip ring mechanism and wrist slip ring mechanism.

Wearable exoskeleton manipulator of the present utility model can be by the normal solution of the equation of motion, carries out the distant operation of master-slave mode to the 6DOF of isomorphism or isomery or less than the industry mechanical arm of 6DOF, and adaptability is strong.This manipulator adopts cylinder as executive component, the action that the imitation human muscle stretches, have toughness and bionic characteristics preferably, when having increased the convenience and comfortableness of dressing, expand the range of movement of operator's upper limbs widely, reduced and reduced the motion restriction of existing exoskeleton mechanism.Also can realize having the Long-distance Control of perception and force feedback simultaneously by to cylinder pressure control.This manipulator also can be used for medical treatment, as muscle of upper extremity atrophy patient's medical assistance apparatus.

Description of drawings

Fig. 1 is the structure installation diagram of Wearable exoskeleton manipulator;

Fig. 2 is shoulder and wrist slip ring structural scheme of mechanism;

Fig. 3 is an ancon four-bar mechanism structural scheme of mechanism.

The specific embodiment

Further specify the utility model below in conjunction with accompanying drawing.

With reference to Fig. 1, the Wearable exoskeleton manipulator comprises the big 3RPS parallel institution 1 of shoulder of polyphone successively, shoulder slip ring mechanism 2, two ancon four-bar mechanisms 3, the little 3RPS parallel institution 5 of wrist slip ring mechanism 4 and wrist, the big 3RPS parallel institution 1 of said shoulder has the lower plane 10 that is the U font and circular last plane 9, the bottom of U font lower plane 10 and two openends are fixed with turning hinge 11 respectively, 12,13, these three turning hinges be wired to an equilateral triangle, be fixed with three ball pivots 14 that are 120 ° of distributions on the plane 9 on circular, 15,16, in the legend, three turning hinges 11 on the U font lower plane, 12,13 respectively with first group of

cylinder

6,7,8 cylinder body end links to each other, first group of

cylinder

6,7,8 tailpiece of the piston rod respectively with annulus 9 on three

ball pivots

14,15,16 link to each other; The U font lower plane 10 of the big 3RPS parallel institution 1 of shoulder can be enclosed within the shoulder of wearer as the motion datum mark.The big 3RPS parallel institution 1 of shoulder constitutes 8 kinematic pairs by 3 turning hinges, 3 moving sets and 3 ball pivots, has 3 frees degree, can realize two rotational motions of human arm around shoulder.

The revolute (see figure 2) that plane 9 connects and composes goes up by first pedestal 17 of annular and the big 3RPS parallel institution 1 of shoulder circular in shoulder slip ring mechanism 2, has 1 free degree, can realize human body upper arm rotatablely moving around axis.At the slip ring inwall displacement or angular transducer are installed, and are fixed with protection block 34.

The little 3RPS parallel institution 5 of wrist is identical with the structure of the big 3RPS parallel institution 1 of shoulder, it has circular lower plane 22 and the circular plane 26 of going up, on lower plane 22, be fixed with three turning hinges 28 that are 120 ° of distributions, 29,30, be fixed with three ball pivots 31 that are 120 ° of distributions on the

last plane

26,32,33, in the legend, three turning hinges 28 on the

lower plane

22,29,30 respectively with second group of

cylinder

22,23,24 cylinder body end links to each other, second group of

cylinder

22,23,24 tailpiece of the piston rod respectively with last plane 26 on three

ball pivots

14,15,16 link to each other, and the handle 27 that grips for wearer is housed on last plane 26; The big 3RPS parallel institution 5 of wrist constitutes 8 kinematic pairs by 3 turning hinges, 3 moving sets and 3 ball pivots, has 3 frees degree, can realize two rotational motions of human body wrist.

Wrist slip ring mechanism 4 is identical with the structure of shoulder slip ring mechanism 2, and it is the revolute that the circular lower plane 22 by second pedestal 21 of annular and the little 3RPS parallel institution 5 of wrist connects and composes; Have 1 rotational freedom, can realize human body wrist rotatablely moving around the underarm axis.

Two ancon four-bar mechanism 3 symmetries are connected between shoulder slip ring mechanism 2 and the wrist slip ring mechanism 4, each ancon four-bar mechanism 3 comprises rectangular-shaped base 18, a fork 20 and a cylinder 19 (seeing shown in Figure 3), first pedestal 17 of the right angle flex point of base 18 and shoulder slip ring mechanism 2 is fixing, one end of base 18 and an end of fork 20 are hinged, one end of the other end of base 18 and cylinder 19 is hinged, the other end of the other end of cylinder 19 and fork 20 is hinged, fork 20 is fixing with second pedestal 21 of wrist slip ring mechanism 4, and the ancon four-bar mechanism is in order to realize the flexure operation of human arm ancon.

In above-mentioned each cylinder, displacement or angular transducer are installed.

The Wearable exoskeleton manipulator has 9 frees degree (7 freedoms of motion, large and small 3RPS is along the axis direction displacement free degree), satisfies the requirement of human body upper arm omnibearing movable.

The people can stretch into hand exoskeleton manipulator inside, and it is dressed in outside the arm, holds handle 27 foremost, drives ectoskeleton and moves.The three degrees of freedom of movement of shoulder is finished jointly by big 3RP parallel institution 1 of shoulder and shoulder slip ring mechanism 2, and the big 3RP parallel institution 1 of shoulder is realized the rotation of arm around the shoulder both direction, and shoulder slip ring mechanism 2 realizes the rotation of upper arm around axis.One group of three

cylinder

6,7,8 in the big 3RP parallel institution of shoulder, can be according to the situation of shoulder abduction/adduction and pitching in the arm motion, produce different displacements, make the last plane 9 of the big 3RP parallel institution of shoulder produce different poses thereupon with respect to lower plane 10.By being installed in the displacement transducer of cylinder interior, can detect the displacement size of three

cylinders

6,7,8, try to achieve the pose on plane 9.By being installed in the angular transducer of shoulder slip ring mechanism, can obtain the side-play amount of angle.The rectangular-shaped base 18 of ancon four-bar mechanism, fork 20 and a cylinder 19, the fork slide block structure of composition one degree of freedom.When people's elbow has crooked action, cylinder 19 will shrink, and the angle between base 18 and the fork 20 diminishes.Because the base 18 of ancon four-bar mechanism links to each other with first pedestal 17 of shoulder slip ring mechanism 2 and second pedestal 21 of wrist slip ring mechanism 4 respectively with fork 20, thereby realize going up the rotation of underarm around ancon.The three degree of freedom at wrist place is realized by wrist slip ring mechanism 4 and the little 3RPS parallel institution 5 of wrist, wrist slip ring mechanism 4 realizes the rotation of wrist around the underarm axis, the big 3RPS parallel institution of motion principle and shoulder is similar, second group of

cylinder

22,23,24 produces different displacements according to the different moving situation of wrist, thereby make the pose of going up between plane 26 and the lower plane 22 change, realize the abduction/adduction and the pitching of wrist.

Claims

1. The wearable exoskeleton manipulator is characterized in that it includes a large 3RPS parallel mechanism on the shoulder (1), a slip ring mechanism on the shoulder (2), two four-bar mechanisms on the elbow (3), and a slip ring on the wrist. Mechanism (4) and wrist small 3RPS parallel mechanism (5);

The said shoulder large 3RPS parallel mechanism (1) has a U-shaped lower plane (10) and an annular upper plane (9), the bottom end of the U-shaped lower plane (10) and two open ends Rotary hinges (11, 12, 13) are equipped with respectively, and the connecting line of these three rotary hinges forms an equilateral triangle, and the annular upper plane (9) is evenly distributed with three spherical hinges (14, 15, 16), Three hinges (11, 12, 13) on the U-shaped plane are connected to one end of the first group of cylinders (6, 7, 8) respectively, and the other ends of the first group of cylinders (6, 7, 8) are respectively connected to Three spherical hinges (14, 15, 16) on the ring (9) are connected;

The shoulder slip ring mechanism (2) is a rotary pair formed by connecting the circular first base (17) and the circular upper plane (9) of the shoulder large 3RPS parallel mechanism (1);

The small 3RPS parallel mechanism (5) of the wrist has an annular lower plane (22) and an annular upper plane (26), and three hinges (28, 29, 30) are evenly distributed on the lower plane (22). Three spherical hinges (31, 32, 33) are evenly distributed on the plane (26), and three hinges (28, 29, 30) on the lower plane (22) are respectively second group and cylinder (22, 23, 24) The other end of the second group of cylinders (22, 23, 24) is connected with three ball joints (14, 15, 16) on the upper plane (26) respectively, and the upper plane (26) is equipped with a The handle (27) held by the operator;

Wrist slip ring mechanism (4) is a rotary pair formed by connecting the second circular base (21) and the circular lower plane (22) of the wrist small 3RPS parallel mechanism (5);

Elbow four-bar mechanism (3) comprises right-angle shape base (18), fork (20) and a cylinder (19), the right-angle inflection point of base (18) and the first base ( 17) fixed, one end of the base (18) is hinged with one end of the fork (20), the other end of the base (18) is hinged with one end of the cylinder (19), the other end of the cylinder (19) is hinged with the end of the fork (20) The other end is hinged, and the fork (20) is fixed to the second base (21) of the wrist slip ring mechanism (4).

2. The wearable exoskeleton manipulator according to claim 1, characterized in that displacement or angle sensors are installed inside each cylinder and the two slip rings of the shoulder slip ring mechanism and the wrist slip ring mechanism.