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Lasso driving mechanism with two degrees of freedom

A technology of transmission mechanism and degrees of freedom, applied in manipulators, manufacturing tools, passive exercise equipment, etc., can solve the problems of heavy overall weight of the exoskeleton wrist joint and small joint motion range, and achieve the effect of stable and reliable transmission.

Active Publication Date: 2017-02-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention provides a two-degree-of-freedom lasso transmission mechanism in order to solve the problem that the overall weight of the exoskeleton wrist joint is relatively heavy and the range of motion of the joint is not large.

Method used

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  • Lasso driving mechanism with two degrees of freedom
  • Lasso driving mechanism with two degrees of freedom
  • Lasso driving mechanism with two degrees of freedom

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Experimental program
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Effect test

specific Embodiment approach 1

[0017] Specific implementation mode one: combine Figure 1 to Figure 7 Describe this embodiment, this embodiment includes the first rope 1, the second rope 2, the third rope 3, the fourth rope 4, the back plate 5, the groove base plate 6, the first pretensioning device 7, the second pretensioning device 8. The third pretensioning device 9, the fourth pretensioning device 10, the first rope sheath 11, the second rope sheath 12, the third rope sheath 13, the fourth rope sheath 14, the first output wheel 15, the second output wheel 16. First motor 17, second motor 18, joint shaft 19, wrist-elbow connector 20, forearm part 21, wrist radial deviation / ulnar deviation movement part 22, wrist flexion and extension movement part 23, palm part 24, palm rest Component 25, the first encoder 26, the first encoder mounting frame 27, the second encoder 28, the first bearing 29, the second bearing 30, the third bearing 31, one end of the forearm component 21 is connected with the wrist and el...

specific Embodiment approach 2

[0018] Specific implementation mode two: combination Image 6 This embodiment will be described. In this embodiment, the axis of the second installation shaft head 22-1 coincides with the axis of the first installation shaft head 21-1. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0019] Specific implementation mode three: combination figure 2 Describe this embodiment, this embodiment is that the first pretensioning device 7, the second pretensioning device 8, the third pretensioning device 9 and the fourth pretensioning device 10 are all composed of a U-shaped seat 7-1, a left U-shaped connector 7-2, right U-shaped connector 7-3, left pre-tightening bolt 7-4, right pre-tightening bolt 7-5, left screw 7-6, right screw 7-7, left nut 7-8 and right nut 7 -9, the U-shaped opening of the U-shaped seat 7-1 is set forward, the left side of the U-shaped seat 7-1 is provided with a left threaded hole 7-1-1, and the right side of the U-shaped seat 7-1 There is a right threaded hole 7-1-2, the left U-shaped connector 7-2 and the right U-shaped connector 7-3 are symmetrically arranged on the left and right ends of the U-shaped seat 7-1, and the left U-shaped connector 7-2 and the U-shaped opening of the right U-shaped connector 7-3 are respectively facing the out...

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Abstract

The invention relates to a lasso driving mechanism with two degrees of freedom. One end of a forearm part of the lasso driving mechanism is connected with a wrist elbow connector; one end of a wrist joint radial deviation / ulnar deviation moving part is hinged with a first mounting spindle head while the other end is connected with one end of a wrist joint flexion and extension moving part; a first encoder mounting rack and a first encoder are successively arranged on a second mounting spindle head from inside to outside; the first encoder mounting rack is hinged with the second mounting spindle head and is fixedly connected with a first wrist joint; the other end of the wrist joint flexion and extension moving part is hinged with a joint shaft; one end of a palm part is fixedly arranged on the joint shaft while the other end is connected with a palm support part; a second encoder is arranged on the joint shaft; the left ends of a first rope and a second rope are both fixedly arranged on a first output wheel while the right ends are fixed on the wrist joint radial deviation / ulnar deviation moving part; and the left ends of a third rope and a fourth rope are fixedly arranged on a second output wheel while the right ends are fixed on the palm part. The lasso driving mechanism with two degrees of freedom is used for auxiliary and rehabilitation training of the aged and the disabled.

Description

technical field [0001] The invention relates to a lasso transmission mechanism, in particular to a lasso transmission mechanism with two degrees of freedom. Background technique [0002] The human wrist joint is a very flexible joint. When designing the upper limb wearable exoskeleton wrist joint, the weight of the exoskeleton wrist joint structure should be reduced as much as possible. At present, the wrist exoskeleton generally arranges the motor on the human arm, so as to ensure the close connection between the motor and the driven joint and increase the weight of the exoskeleton on the arm, which is a great burden for the human arm. Furthermore, it is also necessary to design a motor placement structure near the corresponding driven joint, which will reduce the movable range of the wrist exoskeleton. Contents of the invention [0003] The present invention provides a two-degree-of-freedom lasso transmission mechanism in order to solve the problem that the existing exo...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J17/02
CPCA61H1/0285A61H2201/1207A61H2201/14A61H2201/1638A61H2201/1657A61H2205/065B25J17/0258
Inventor 孙晓颖肖飞云
Owner HARBIN INST OF TECH
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