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CN-122005273-A - Wearable exoskeleton mechanism for shoulder joint and hip joint space 6 connecting rod and differential gear train combination

CN122005273ACN 122005273 ACN122005273 ACN 122005273ACN-122005273-A

Abstract

The invention provides a wearable exoskeleton mechanism for shoulder joint and hip joint space 6 connecting rod and differential gear train combination, which relates to the technical field of rehabilitation engineering and comprises a rack, a human upper arm/thigh, a first component, a second component, a third component, a fourth component, a first conical gear, a planet carrier, a second conical gear, a shoulder joint/hip joint ball pair, a first revolute pair, a second revolute pair, a third revolute pair, a movable pair, a gear pair, a fourth revolute pair, a fifth revolute pair, a sixth revolute pair, a first rotary drive, a second rotary drive and a third rotary drive. The invention solves the problems of limited movement, high quality, high joint alignment requirement, complex control and the like of the traditional exoskeleton fixing base by an innovative structure of connecting a 3-degree-of-freedom space 6 connecting rod with a 2-degree-of-freedom differential gear train in series, low-auxiliary-dominant component design, a double-input driving cooperative mechanism and the back arrangement of the trunk of the differential gear train.

Inventors

  • MAO ZHIWEI
  • ZHANG WEI
  • WANG SHUFENG
  • LI WENJUN
  • LIU LIXU

Assignees

  • 南昌大学

Dates

Publication Date
20260512
Application Date
20260414

Claims (10)

  1. 1. A wearable exoskeleton mechanism for a shoulder and hip space 6 link and differential gear train combination, comprising: The 2-degree-of-freedom differential gear train comprises a frame, a first conical gear, a planet carrier, a second conical gear, a gear pair, a fourth revolute pair, a fifth revolute pair, a sixth revolute pair, a first rotary drive and a second rotary drive, wherein the first conical gear is connected with the planet carrier through the fourth revolute pair and is connected with the second conical gear through the gear pair, the planet carrier is connected with the frame through the fifth revolute pair, and the second conical gear is connected with the frame through the sixth revolute pair; The space SRSP-RR type 6 connecting rod mechanism comprises a frame, an upper arm/thigh of a human body, a first member, a second member, a third member, a fourth member, a shoulder joint/hip joint ball pair, a first rotating pair, a second rotating pair, a third rotating pair, a moving pair and a third rotating drive, wherein the upper arm/thigh of the human body is connected with the frame through the shoulder joint/hip joint ball pair, the first member is connected with the upper arm/thigh of the human body through the first rotating pair, the second member is connected with the third member through the second rotating pair, the third member is connected with the fourth member through the third rotating pair, the axes of the first rotating pair, the second rotating pair and the third rotating pair are mutually orthogonal, the third member is connected with the fourth member through the moving pair, the moving axis of the moving pair is orthogonal with the axis of the third rotating pair, and the fourth member is fixedly connected with the first conical gear.
  2. 2. A wearable exoskeleton mechanism for a shoulder and hip space 6 link and differential gear train combination according to claim 1, wherein, The transmission relation of the 2-degree-of-freedom differential gear train is as follows: (1) (2) wherein: The rotation speed of the first conical gear wheel around the axis of the fourth revolute pair; the rotation speed of the second conical gear wheel around the axis of the sixth revolute pair; the rotating speed of the planet carrier around the fifth revolute pair; The number of teeth of the first conical gear; the number of teeth of the second conical gear; the gear ratio of the second conical gear to the first conical gear.
  3. 3. A wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination according to claim 2, wherein, The output motion of the first conical gear is two orthogonal motions of rotation around the axis of the fourth revolute pair and revolution around the fifth revolute pair, and the rotating speed of the two output motions of the first conical gear of the output motion is equal to the rotating speed of the input motion planet carrier And the rotational speed of the second conical gear Is determined according to a formula.
  4. 4. A wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear combination according to claim 3 wherein the rotational speed of the two output motions of the first conical gear of the output motions is determined by the rotational speed of the input motion planet carrier And the rotational speed of the second conical gear When determined according to the formula, the method comprises the following steps: (a) When (when) In the time-course of which the first and second contact surfaces, The first conical gear of the motion output component only outputs the rotation speed around the fifth revolute pair And (5) revolution motion.
  5. 5. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 4, wherein the rotational speeds of the two output motions of the first conical gear wheel of the output motion are determined by the rotational speed of the input motion planet carrier And the rotational speed of the second conical gear When determined according to the formula, the method further comprises the following steps: (b) When (when) In this case, the first conical gear wheel of the motion output member outputs only the fourth revolute pair Rotating at a rotating speed.
  6. 6. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 5, wherein the rotational speeds of the two output motions of the first conical gear wheel of the output motion are determined by the rotational speed of the input motion planet carrier And the rotational speed of the second conical gear When determined according to the formula, the method further comprises the following steps: (c) When (when) The first conical gear of the motion output member outputs motion around the fourth revolute pair Is rotated and wound around a fifth revolute pair The rotation shaft is orthogonal to the revolution shaft, and the rotation speed driven by the first rotation And a rotational speed of the second rotational drive And the combination realizes the rotation and revolution rotational speed movement of the first conical gear at any rotational speed of the motion output.
  7. 7. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 6, wherein when the first rotation drives the rotation speed And a rotational speed of the second rotational drive When the condition (a) is satisfied, the method comprises: in the space SRSP-RR type 6 connecting rod mechanism, a fourth component is fixedly connected with the first conical gear, and the fourth component takes the rotating speed as the rotating speed around a fifth revolute pair The third component drives the second component to rotate through the third revolute pair, the second component drives the first component to rotate through the second revolute pair, and the first component drives the upper arm/thigh of the human body to abduct through the first revolute pair.
  8. 8. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 7, wherein when the first rotation drives the rotation speed And a rotational speed of the second rotational drive When the condition (a) is satisfied, further comprising: when the third rotation drive is equal to zero, the upper arm/thigh of the human body only abducts and does not rotate around the axis of the first rotation pair.
  9. 9. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 8, wherein when the first rotation drives the rotation speed And a rotational speed of the second rotational drive When the condition (b) is satisfied, the method comprises: in the space SRSP-RR type 6-rod mechanism, a fourth component is fixedly connected with the first conical gear, and the fourth component rotates around the axis of a fourth revolute pair at a speed The third component drives the second component to rotate through the third revolute pair, the second component drives the first component to rotate through the second revolute pair, and the first component drives the upper arm/thigh of the human body to lift forwards through the first revolute pair; In the driving process, if the third rotation driving is not equal to zero, the upper arm/thigh of the human body rotates around the axis of the first rotation pair, and if the third rotation driving is equal to zero, the upper arm/thigh of the human body only abducts and does not rotate around the axis of the first rotation pair.
  10. 10. The wearable exoskeleton mechanism for a shoulder and hip space 6-link and differential gear train combination of claim 9 wherein when the first rotation drives the rotation speed And a rotational speed of the second rotational drive When the condition (c) is satisfied, comprising: In the space SRSP-RR type 6 connecting rod mechanism, a fourth component is fixedly connected with the first bevel gear, and the fourth component winds a fourth revolute pair to rotate at a speed of rotation Rotating around the fifth revolute pair at the same time Revolution, wherein the rotation rotating shaft is orthogonal to the revolution rotating shaft; the third component drives the second component to rotate through the third revolute pair, the second component drives the first component to rotate through the second revolute pair, and the first component drives the upper arm/thigh of the human body to realize combined movement of forward lifting and abduction through the first revolute pair; In the driving process, if the third rotation driving is not equal to zero, the upper arm/thigh of the human body rotates around the axis of the first rotation pair, and if the third rotation driving is equal to zero, the upper arm/thigh of the human body performs combined movement of lifting and abduction, does not rotate around the axis of the first rotation pair, and drives the rotating speed through the first rotation And a rotational speed of the second rotational drive Different parameter combinations of the upper arm/thigh of the human body in the motion space and the motion speed.

Description

Wearable exoskeleton mechanism for shoulder joint and hip joint space 6 connecting rod and differential gear train combination Technical Field The invention relates to the technical field of rehabilitation engineering, in particular to a wearable exoskeleton mechanism for a shoulder joint and hip joint space 6 connecting rod and differential gear train combination. Background Along with the aging of population in China, the contradiction between supply and demand of rehabilitation medical resources is outstanding, the wearable rehabilitation exoskeleton is taken as an important solution, the practical and adaptive demands are increasingly urgent, and the development of the related technology to the light weight, easy operation and high adaptation is promoted. Traditional wearable upper limb rehabilitation exoskeleton is provided with a fixed base, so that the action range of a patient is severely limited, and the overall quality is large. For example, the Co-Exos exoskeleton developed by the national academy of sciences automation institute and Beijing industry university is used for compensating the axle center drift of the joint by increasing the passive degrees of freedom, but the joint of the human body still needs to be aligned precisely, and 9 degrees of freedom of the exoskeleton correspond to a plurality of driving motors, so that the movement control is complex, meanwhile, the adaptability is poor, the requirements of diversified rehabilitation and assistance of people with different heights and body types are difficult to meet, and the joint injury of the human body can be caused by the joint alignment deviation. Therefore, it is necessary to design a wearable exoskeleton mechanism for combining a shoulder joint and hip joint space 6 connecting rod and a differential gear train, so as to solve the problems that the control is complex due to the fact that the exoskeleton degree of freedom in the prior art is large, the human body joints are required to be aligned strictly, the quality is large, the suitability is poor, and the wearing convenience and the rehabilitation safety are affected. Disclosure of Invention In view of the above, the invention provides a wearable exoskeleton mechanism for combining a shoulder joint and hip joint space 6 connecting rod and a differential gear train, which aims to solve the problems that the control is complex due to the fact that the degree of freedom of the exoskeleton in the prior art is large, the human body joint needs to be aligned strictly, the quality is large, the suitability is poor, and the wearing convenience and the rehabilitation safety are affected. In one aspect, the present invention provides a wearable exoskeleton mechanism for a shoulder and hip space 6 link and differential gear train combination, comprising: The 2-degree-of-freedom differential gear train comprises a frame 1, a first conical gear 7, a planet carrier 8, a second conical gear 9, a gear pair 15, a fourth rotating pair 16, a fifth rotating pair 17, a sixth rotating pair 18, a first rotating drive 19 and a second rotating drive 20, wherein the first conical gear 7 is connected with the planet carrier 8 through the fourth rotating pair 16 and is connected with the second conical gear 9 through the gear pair 15, the planet carrier 8 is connected with the frame 1 through the fifth rotating pair 17, the second conical gear 9 is connected with the frame 1 through the sixth rotating pair 18, the first rotating drive 19 is applied to the planet carrier 8 through the fourth rotating pair 16, and the second rotating drive 20 is applied to the second conical gear 9 through the sixth rotating pair 18; The space SRSP-RR type 6 link mechanism comprises a frame 1, a human upper arm/thigh 2, a first member 3, a second member 4, a third member 5, a fourth member 6, a shoulder joint/hip joint ball pair 10, a first revolute pair 11, a second revolute pair 12, a third revolute pair 13, a movable pair 14 and a third rotary drive 21, wherein the human upper arm/thigh 2 is connected with the frame 1 through the shoulder joint/hip joint ball pair 10, the first member 3 is connected with the human upper arm/thigh 2 through the first revolute pair 11, the second member 4 is connected with the third member 5 through the second revolute pair 12, the third member 5 is connected with the fourth member 6 through the third revolute pair 13, the axis of the first revolute pair 11, the axis of the second revolute pair 12 and the axis of the third revolute pair 13 are mutually orthogonal, the third member 5 is connected with the fourth member 6 through the movable pair 14, the movable axis of the movable pair 14 is orthogonal with the axis of the third revolute pair 13, and the fourth member 6 is fixedly connected with the first conical gear 7. Further, the transmission relation of the 2-degree-of-freedom differential gear train is as follows: (1)(2) wherein: The rotation speed of the first conical gear wheel 7