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CN-121973152-A - Wearable power-assisted robot

CN121973152ACN 121973152 ACN121973152 ACN 121973152ACN-121973152-A

Abstract

The invention discloses a wearable power-assisted robot which comprises a serial elastic driver, an upper limb power-assisted mechanism and a back bottom plate, wherein the serial elastic driver comprises a motor, a screw rod, screw rod nuts, springs, spring seats and a pulley frame, the motor outputs to drive the screw rod to rotate, the screw rod is connected with the screw rod nuts through threads, the two springs are positioned in the spring seats, the two springs are respectively positioned at two sides of the screw rod nuts, two ends of each spring respectively prop against the spring seat and the screw rod nuts, the spring seats are connected with the pulley frame, the pulley frame is provided with pulleys, the serial elastic driver drives the upper limb power-assisted mechanism through driving ropes, and the upper limb power-assisted mechanism can be arranged at one side or two sides of the back bottom plate. The invention can reduce the risk of injury of shoulders, elbows and waists of workers when applied to industrial production scenes, and can provide safe and mild rehabilitation assistance training for patients with insufficient muscle strength and dyskinesia and promote the recovery of movement functions when applied to medical rehabilitation scenes.

Inventors

  • DING SHUO
  • Xing Jikang
  • CHEN BAI

Assignees

  • 南京航空航天大学

Dates

Publication Date
20260505
Application Date
20251225

Claims (10)

  1. 1. The utility model provides a wearable power-assisted robot, its characterized in that includes tandem elastic driver (1), upper limbs booster mechanism (3), back bottom plate (8), tandem elastic driver (1), upper limbs booster mechanism (3) are all installed in back bottom plate (8), tandem elastic driver (1) include motor (11), lead screw (13), lead screw nut (14), spring (16), spring holder (110), pulley yoke (111), motor (11) output drive lead screw (13) rotate, lead screw (13) and lead screw nut (14) pass through threaded connection, the quantity of spring (16) is two, and two springs (16) are located spring holder (110), and two spring (16) all overlap and are located lead screw (13), and two springs (16) are located the both sides of lead screw nut (14) respectively, and the both ends of every spring (16) are respectively with spring holder (110), lead screw nut (14), pulley yoke (111) are connected to the terminal surface of spring holder (110), pulley yoke (111) are installed, the number of springs (16) is two, and upper limbs (3) can be installed in one side of the booster plate (110) through tandem elastic driver (3), when the upper limb assistance mechanism (3) is arranged on one side of the back bottom plate (8), one end of the driving rope is connected with the pulley (9) of the pulley frame (111), the other end of the driving rope is connected with the upper limb assistance mechanism (3), and when the upper limb assistance mechanism (3) is arranged on two sides of the back bottom plate (8), the driving rope bypasses the pulley (9) of the pulley frame (111) and two ends of the driving rope are respectively connected with the upper limb assistance mechanisms (3) on two sides.
  2. 2. The wearable power-assisted robot according to claim 1, further comprising a tensioning mechanism (2), wherein the tensioning mechanism (2) comprises a knob (20), a positive and negative tooth screw rod (21), a tensioning sliding block (22), an optical axis support (23), a bearing seat (24) and a copper sleeve (25), the knob (20) is fixedly connected with the positive and negative tooth screw rod (21), the bearing seat (24) is matched with the positive and negative tooth screw rod (21) through a bearing, the optical axis support (23) is connected with the positive and negative tooth screw rod (21) through the copper sleeve (25), the tensioning sliding block (22) is in threaded connection with the positive and negative tooth screw rod (21), threaded holes of the two tensioning sliding blocks (22) are respectively in left-handed and right-handed rotation, and pulleys (9) are installed on the optical axis support (23) and the two tensioning sliding blocks (22).
  3. 3. The wearable power-assisted robot according to claim 2, wherein when the upper limb power-assisted mechanism (3) is mounted on one side of the back base plate (8), one end of the driving rope bypasses the optical axis support (23) and the pulley (9) of one tensioning slider (22) on the corresponding side and is connected to the pulley (9) of the pulley frame (111), the other end of the driving rope is connected to the upper limb power-assisted mechanism (3), and when the upper limb power-assisted mechanism (3) is mounted on both sides of the back base plate (8), the driving rope bypasses the pulley (9) of the optical axis support (23), the pulleys (9) of two tensioning sliders (22), the pulley (9) of the pulley frame (111) and both ends of the driving rope are respectively connected to the upper limb power-assisted mechanisms (3) on both sides.
  4. 4. A wearable power-assisted robot according to any of claims 1-3, characterized in that the upper limb power-assisted mechanism (3) is a shoulder-elbow joint power-assisted mechanism, the shoulder-elbow joint power-assisted mechanism comprises a main driving rope (30), a shoulder-elbow differential driving rope (31), a back support (33), an upper arm support a (36), an integral part (37), an upper arm C (39), a shoulder-elbow differential table (310), an elbow joint driving wheel (316) and a forearm (317), the back support (33) is fixedly connected to a back bottom plate (8), the upper arm support a (36) can horizontally rotate along one end of the back support (33), the integral part (37) is fixedly connected to the upper arm support a (36), one end of the upper arm C (39) is rotatably connected between the integral part (37) and the upper arm support a (36), the other end of the upper arm C (39) is connected with a rotatable elbow joint driving wheel (316), the elbow joint driving wheel (316) is fixedly connected with the forearm (317), and the shoulder differential table (310) is fixedly mounted on the upper arm C (39).
  5. 5. The wearable power-assisted robot according to claim 4, wherein when the shoulder joint power-assisted mechanism is installed at one side, the shoulder-elbow differential driving rope (31) bypasses the pulley (9) installed at the shoulder-elbow differential stage (310), one end is fixed to the elbow driving wheel (316), the other end is fixed to the integral piece (37), one end of the main driving rope (30) is fixed to the pulley (9) of the series elastic driver (1), the other end passes through the center of the integral piece (37) and is fixed to the shoulder-elbow differential stage (310), and when the shoulder joint power-assisted mechanism is installed at both sides, the main driving rope (30) bypasses the pulley (9) of the series elastic driver (1), and both ends of the main driving rope (30) are respectively fixed to the shoulder-elbow differential stages (310) at both sides.
  6. 6. A wearable power-assisted robot according to any one of claims 1-3, wherein the upper limb power-assisted mechanism (3) is a shoulder joint power-assisted mechanism, the shoulder joint power-assisted mechanism comprises a shoulder joint driving rope (321), a back support (33), an upper arm support B (322), an upper arm outer side support a (319), a shoulder joint driving wheel (320), an upper arm a (323) and a pulley (9), the back support (33) is fixedly connected to a back bottom plate (8), the upper arm support B (322) can horizontally rotate along one end of the back support (33), the upper arm outer side support a (319) is fixedly connected to the upper arm support B (322), the shoulder joint driving wheel (320) is rotatably connected between the upper arm outer side support a (319) and the upper arm support B (322), and one end of the upper arm a (323) is fixedly connected to the shoulder joint driving wheel (320).
  7. 7. The wearable power-assisted robot according to claim 6, wherein when the shoulder power-assisted mechanism is mounted on one side, the shoulder driving rope (321) sequentially bypasses the pulleys (9), one end of the shoulder driving rope (321) is fixed to the pulley (9) of the serial elastic driver (1), the other end of the shoulder driving rope (321) is fixed to the shoulder driving wheel (320), when the shoulder power-assisted mechanism is mounted on two sides, the shoulder driving rope (321) bypasses the pulley (9) of the serial elastic driver (1), and two ends of the shoulder driving rope (321) are respectively fixed to the shoulder driving wheels (320) on two sides.
  8. 8. A wearable power-assisted robot according to any of claims 1-3, characterized in that the upper limb power-assisted mechanism (3) is an elbow joint power-assisted mechanism, the elbow joint power-assisted mechanism comprises an elbow joint driving rope (324), a back support (33), an upper arm support a (36), an upper arm outer support B (325), an upper arm B (326), an elbow joint driving wheel (316), a forearm (317) and a pulley (9), the back support (33) is fixedly connected to the back bottom plate (8), the upper arm support a (36) can horizontally rotate along one end of the back support (33), the upper arm outer support B (325) is fixedly connected to the upper arm support a (36), one end of the upper arm B (326) is rotatably connected between the upper arm outer support B (325) and the upper arm support a (36), the elbow joint driving wheel (316) is rotatably connected to the other end of the upper arm B (326), and the forearm (317) is fixedly connected to the elbow joint driving wheel (316).
  9. 9. The wearable power-assisted robot according to claim 8, wherein when the elbow power-assisted mechanism is mounted on one side, the elbow driving rope (324) sequentially bypasses the pulleys (9), one end of the elbow driving rope (324) is fixed on the pulley (9) of the serial elastic driver (1), the other end of the elbow driving rope (324) is fixed on the elbow driving wheel (316), when the elbow power-assisted mechanism is mounted on two sides, the elbow driving rope (324) bypasses the pulley (9) of the serial elastic driver (1), and two ends of the elbow driving rope (324) are respectively fixed on the elbow driving wheels (316) on two sides.
  10. 10. The wearable power-assisted robot according to claim 6, wherein the upper limb power-assisted mechanism (3) further comprises a waist power-assisted mechanism (4), the shoulder joint power-assisted mechanism is installed on two sides, the waist power-assisted mechanism (4) comprises a pulley (9), a double pulley frame (41), a waist driving rope (42), a hip connection (43), a fixing piece (44), a hip driving disc (45), a driving arm (46) and a leg support (49), the double pulley frame (41) is fixedly connected with one end of a spring seat (110) in the serial elastic driver (1), the double pulley frame (41) and the pulley frame (111) are respectively positioned at two ends of the spring seat (110), the pulleys (9) are installed at two ends of the double pulley frame (41), the hip connection (43) is fixedly connected with a back bottom plate (8), the fixing piece (44) is fixedly connected with the hip connection (43), the hip driving disc (45) is rotatably connected between the hip connection (43) and the fixing piece (44), the joint driving disc (45) is fixedly connected with the leg support (46) around the two ends of the hip connection (46) of the driving arm (9), both ends of the waist driving rope (42) are respectively fixed on hip joint driving discs (45) at both sides.

Description

Wearable power-assisted robot Technical Field The invention relates to the technical field of exoskeleton robots, in particular to a wearable power-assisted robot. Background The requirements of the industrial production and rehabilitation medical field on human body power assisting equipment are urgent, and the development direction of the exoskeleton robot is indicated. In the industrial scene, high-strength upper limbs operation of posts such as assembly, transport, easily lead to personnel's muscle strain, joint damage, both reduce efficiency and increase the cost of enterprises. In the prior auxiliary equipment, the fixed mechanical arm has poor flexibility and is difficult to adapt to various requirements, the traditional exoskeleton has large self weight due to the design of multiple joints driven by multiple motors, and the traditional exoskeleton needs to be matched with a speed reducer to adapt to the movement speed of a human body, so that the rigidity is high, the light weight and the flexibility cannot be met, and the practical power assisting equipment is needed. In the field of rehabilitation medical treatment, movement dysfunction of hemiplegic patients is common, and rehabilitation depends on scientific exercise training and assistance. The traditional rehabilitation robot is high in cost and difficult to popularize, or the rigid transmission lacks buffering and is easy to cause safety risks, and the simple device cannot provide accurate assistance, so that the rehabilitation equipment with the safety buffering and personalized demand suitability is very important. The exoskeleton robot can strengthen the limb strength of a user, lighten the load, reduce the damage and improve the efficiency, and assist the user in long-time and repeated operation. The auxiliary torque sources can be classified into passive, semi-passive and active. The auxiliary torque is generated by passively depending on the energy recovered by elastic elements such as springs, the torque is not adjustable although the device is light and low in cost, and the semi-passive force is a compromise between passive and active by adjusting the force arm of the springs by a low-power servo motor, but the device still needs a user to compress the springs for energy storage. Active exoskeletons are therefore a key requirement for providing exogenous energy and adjustable assist torque. In addition, aiming at industrial production and rehabilitation medical scenes, the upper limb exoskeleton is light enough and can flexibly adjust the size according to the body shape of a user so as to lighten the burden and improve the applicability. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides a wearable power-assisted robot, can reduce the risk of shoulder, elbow and waist injuries of workers when being applied to industrial production scenes, effectively improve the production safety and the operation efficiency, and can provide safe and mild rehabilitation power-assisted training for patients with insufficient muscle strength and dyskinesia and promote the recovery of movement functions when being applied to medical rehabilitation scenes. In order to achieve the above purpose, the present invention adopts the following technical scheme: The utility model provides a wearable power assisting robot, includes tandem elastic driver, upper limbs booster mechanism, back bottom plate, tandem elastic driver, upper limbs booster mechanism all install in the back bottom plate, tandem elastic driver includes motor, lead screw, screw nut, spring holder, pulley yoke, motor output drives the lead screw and rotates, lead screw and screw nut pass through threaded connection, the quantity of spring is two, and two springs are located the spring holder, and two springs are all overlapped and are located the lead screw, and two springs are located the both sides of screw nut respectively, and the both ends of every spring offset with spring holder, screw nut respectively, one of them terminal surface of spring holder is connected the pulley yoke, the pulley yoke is installed to the pulley yoke, tandem elastic driver passes through drive rope drive upper limbs booster mechanism, upper limbs booster mechanism can be installed in one side or both sides of back bottom plate, and when upper limbs booster mechanism installs in one side of back bottom plate, the one end of drive rope is connected in the pulley of pulley yoke, and the other end of drive rope is connected in upper limbs booster mechanism when upper limbs mechanism installs in the both sides of back bottom plate, the both sides of drive rope and the pulley yoke is passed around respectively. Still include straining device, straining device includes knob, positive and negative tooth screw rod, tensioning slider, optical axis support, bearing frame, copper sheathing, knob and positive and negative tooth screw rod fixed connection, the bearing frame passes thr