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Upper limb power-assisted exoskeleton robot

A technology for exoskeleton robots and upper limbs, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of poor load capacity and low rigidity, and achieve the effects of improved control effect, high driving capacity, and small inertial force

Active Publication Date: 2018-11-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot overcomes the problems of low rigidity and poor load capacity of traditional tandem upper limb assist exoskeleton robots

Method used

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  • Upper limb power-assisted exoskeleton robot
  • Upper limb power-assisted exoskeleton robot
  • Upper limb power-assisted exoskeleton robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0040] The upper limb assist exoskeleton robot includes a hand 1, an arm 2, a back 4, a drive mechanism 3 and a control module 5; the drive mechanism 3 is connected to both sides of the back 4, and the control module 5 is installed on the back 4 Above, the hand 1 is connected to the arm 2, each of the arms 2 is a parallel joint structure, the arm 2 is driven by the driving mechanism 3, and the driving mechanism 3 is controlled by the control module 5 The big arm connecting rod 2-3 and the forearm connecting rod 2-1 are all connected with the elbow joint shaft 2-4, and the big arm connecting rod 2-3 and the small arm connecting rod 2-1 can rotate relatively, and the big arm is connected The rod 2-3 is driven by the drive mechanism 3, and the two forearm connecting rods 2-1 are connected with the hand 1, and the two forearm connecting rods 2-1 can rotate relative to the hand 1; the hook 1-18 and the two The first forearm connecting rod 2-1 is respectively connected with the hand...

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Abstract

The invention discloses an upper limb power-assisted exoskeleton robot, and relates to a wearable robot. The upper limb power-assisted exoskeleton robot comprises hands, arms, a back, driving mechanisms and a control module; and the two sides of the back are connected with the driving mechanisms correspondingly, the control module is installed on the back, the hands are connected with the arms, each arm is of a parallel type joint structure, the arms are driven by the driving mechanisms, and the driving mechanisms are controlled by the control module. Compared with a traditional serial-connection type upper limb power-assisted exoskeleton robot, the upper limb power-assisted exoskeleton robot has the advantages that the rigidity is large, the load capacity is also improved, and the controleffect is improved.

Description

technical field [0001] The invention relates to a wearable robot, in particular to an upper limb assisting exoskeleton robot. Background technique [0002] In the fields of military, fire rescue and other fields, relevant personnel often encounter situations where heavy objects need to be lifted. In these special cases, traditional lifting devices are sometimes difficult to fully play their role. The introduction of the upper limb exoskeleton robot has solved this problem well. An upper limb exoskeleton robot is a mechanical device that can be worn on the operator's body and connected to its upper limbs, and can move and perform work according to the operator's intention. The combination of upper extremity exoskeleton robot and operator can fully adapt to a variety of unstructured environments, and at the same time has high flexibility, and can complete some complex loading, unloading and handling tasks. However, traditional upper limb assisting exoskeleton robots mostly ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/10B25J9/12B25J13/08B25J17/00
CPCB25J9/0006B25J9/102B25J9/126B25J13/087B25J17/00
Inventor 朱延河张睿
Owner HARBIN INST OF TECH
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