CN104097213B - Based on the upper limbs ectoskeleton in parallel drive joint - Google Patents

Abstract

An upper extremity exoskeleton based on parallel drive joints relates to a power-assisted robot to solve the problems of poor motion accuracy, large volume and small range of motion of existing upper extremity exoskeleton robots. The present invention comprises shoulder joint, elbow joint and wrist joint. The elbow fixing frame on the joint is set up and down, the second connecting long groove on the elbow connecting plate is slidingly connected with the first connecting long groove on the shoulder fixing frame, and the fourth connecting long groove on the elbow connecting plate is connected with the first connecting long groove on the elbow fixing frame. Three-link long-slot sliding connection. The invention is used for helping the elderly and the disabled, medical rehabilitation and the like.

Description

Upper limb exoskeleton based on parallel drive joints

technical field

The invention relates to an assisting robot, in particular to an upper limb exoskeleton based on parallel drive joints.

Background technique

At present, the exoskeleton robot can bear the load for the human body and increase the mobility of the human body. It has great application prospects in various aspects, such as military marching, earthquake rescue, and human muscle rehabilitation. However, the existing upper extremity exoskeletons Skeletal design is mostly based on serial structure design, which has poor motion accuracy, and each degree of freedom is driven by a separate motor, which makes the motor burden heavy, resulting in an increase in the size of the motor. However, the existing parallel structures are mostly in the form of connecting rod hinges, and the range of motion is also greatly limited.

Contents of the invention

The present invention proposes an upper limb exoskeleton based on parallel drive joints in order to solve the problems of poor motion accuracy, large volume, and small motion range of existing upper limb exoskeleton robots.

The present invention includes the shoulder joint, elbow joint and wrist joint;

Shoulder joint includes shoulder inner ring driving motor, shoulder outer ring driving motor, shoulder inner ring reducer, shoulder outer ring reducer, shoulder inner ring transmission gear, shoulder outer ring transmission gear, shoulder support frame, shoulder inner ring spur gear, shoulder Inner ring bevel gear, shoulder outer ring spur gear, shoulder outer ring bevel gear, shoulder drive support frame, shoulder left bevel gear, shoulder right bevel gear, shoulder left drive pinion, left drive large gear, right drive large gear, shoulder right Drive pinion, left gearbox cover, right gearbox cover, shoulder mount and shoulder support plate;

The shoulder support frame is circular, and the shoulder support plate is arranged at the end face of the shoulder support frame. The output shafts of the reducer and the shoulder outer ring reducer pass through the shoulder support plate, the shoulder inner ring drive motor is connected with the shoulder inner ring reducer, the shoulder outer ring drive motor is connected with the shoulder outer ring reducer, and the shoulder inner ring transmission gear passes through The key is fixed on the output shaft of the shoulder inner ring reducer, the transmission gear of the shoulder outer ring is fixed on the output shaft of the shoulder outer ring reducer through the key, the spur gear of the shoulder inner ring meshes with the transmission gear of the shoulder inner ring, and the bevel gear of the shoulder inner ring Set side by side with the spur gear of the shoulder inner ring and set coaxially, the bevel gear of the shoulder inner ring and the spur gear of the shoulder inner ring are connected by screws to form a ring of the inner ring of the shoulder, and the ring of the inner ring of the shoulder is set on the outer diameter of the shoulder support frame through a needle bearing Above, the spur gear of the shoulder outer ring meshes with the transmission gear of the shoulder outer ring, the bevel gear of the shoulder outer ring and the spur gear of the shoulder outer ring are arranged side by side and coaxially, the bevel gear of the shoulder outer ring and the spur gear of the shoulder outer ring are connected by screws to form the shoulder outer ring The ring, the ring of the outer ring of the shoulder is set on the outer diameter of the ring of the inner ring of the shoulder through a needle bearing;

The shoulder drive support frame includes a shoulder support ring, a shoulder left gearbox and a shoulder right gearbox. The structures of the shoulder left gearbox and the shoulder right gearbox are the same, and the shoulder left gearbox and the shoulder right gearbox are symmetrical based on the axis of the shoulder support ring. Set on the inner wall of the shoulder support ring, the shoulder left gear box is provided with a shoulder left bevel gear shaft hole along the thickness direction, the inner side of the shoulder left gear box is provided with a left transmission large gear shaft groove, the axis of the shoulder left bevel gear shaft hole It is set parallel to the axis of the shaft groove of the left transmission large gear and on the same horizontal plane, the axis of the shaft hole of the left shoulder bevel gear is perpendicular to the axis of the support ring of the shoulder, and the right gear box of the shoulder is arranged along the thickness direction with the shaft of the left bevel gear of the shoulder. The hole is opposite to the shaft hole of the right shoulder bevel gear, and the inner end surface of the right shoulder gearbox is provided with a shaft groove of the right transmission large gear opposite to the shaft groove of the left transmission large gear. The shoulder support ring is arranged on the shoulder support frame through a needle bearing. inside diameter;

The shoulder left bevel gear meshes with the shoulder bevel gear of the outer ring, the shoulder left bevel gear is arranged outside the shoulder left gearbox, and the gear shaft on the shoulder left bevel gear passes through the shoulder left bevel gear shaft hole, the gear shaft of the shoulder left bevel gear The ball bearing is fixed in the shaft hole of the left shoulder bevel gear, the left shoulder transmission pinion is set in the left shoulder gearbox, and the left shoulder transmission pinion is fixed on the gear shaft of the left shoulder bevel gear through a key, and the left transmission large gear is connected to the left shoulder bevel gear. The left transmission pinion gear is engaged with the shoulder, and one end of the gear shaft of the left transmission large gear is fixed in the shaft groove of the left transmission large gear through a ball bearing, and the other end of the gear shaft of the left transmission large gear is arranged in the left gearbox cover through a ball bearing. The left gearbox cover is installed on the shoulder left gearbox through screws;

The shoulder right bevel gear meshes with the shoulder inner ring bevel gear, the shoulder right bevel gear is arranged outside the shoulder right gearbox, and the gear shaft on the shoulder right bevel gear passes through the shoulder right bevel gear shaft hole, the gear shaft of the shoulder right bevel gear The ball bearing is fixed in the shaft hole of the shoulder right bevel gear, the shoulder right transmission pinion is set in the shoulder right gearbox, and the shoulder right transmission pinion is fixed on the gear shaft of the shoulder right bevel gear through a key, the right transmission large gear and The right transmission pinion gear of the shoulder is meshed, and one end of the gear shaft of the right transmission large gear is fixed in the shaft groove of the right transmission large gear through a ball bearing, and the other end of the gear shaft of the right transmission large gear is set in the right gearbox cover through a ball bearing. The gearbox cover is installed on the shoulder right gearbox through screws;

The shoulder fixing frame is arranged between the shoulder left gear box and the shoulder right gear box. a first connecting long slot parallel to the axis of the support ring;

The elbow joint includes elbow fixing frame, elbow connecting plate, elbow support plate, elbow inner ring driving motor, elbow outer ring driving motor, elbow inner ring reducer, elbow outer ring reducer, elbow inner ring transmission gear, elbow outer ring transmission gear , elbow support frame, elbow inner ring spur gear, elbow inner ring bevel gear, elbow outer ring spur gear, elbow outer ring bevel gear, elbow drive support frame, elbow left bevel gear, elbow right bevel gear, elbow left drive pinion, Toggle right drive pinion, three toggle left planetary gears and three toggle right planetary gears;

The elbow support frame is circular, the elbow support plate is arranged at the end face of the elbow support frame, the elbow support plate and the axis of the elbow support frame are vertically arranged, the elbow connecting plate is arranged on the outside of the elbow support plate, and the elbow connecting plate and the elbow support frame The axis of the elbow is set parallel to the axis, the elbow connecting plate is provided with a second connecting long groove parallel to the axis of the elbow support frame, the elbow inner ring reducer and the elbow outer ring reducer are arranged in parallel, and the elbow inner ring reducer and the elbow outer ring reducer The output shafts pass through the elbow support plate, the driving motor of the inner elbow ring is connected with the reducer of the inner elbow ring, the driving motor of the outer elbow ring is connected with the reducer of the outer elbow ring, and the transmission gear of the inner elbow ring is fixed on the inner elbow ring reducer through a key. On the output shaft of the elbow outer ring, the transmission gear of the elbow outer ring is fixed on the output shaft of the elbow outer ring reducer through a key, the elbow inner ring spur gear meshes with the elbow inner ring transmission gear, the elbow inner ring bevel gear and the elbow inner ring spur gear are side by side and Coaxial setting, the bevel gear of the inner ring of the elbow and the spur gear of the inner ring of the elbow are connected by screws to form the ring of the inner ring of the elbow. The transmission gears of the outer ring of the elbow mesh, the bevel gear of the outer ring of the elbow and the spur gear of the outer ring of the elbow are arranged side by side and coaxially, the bevel gear of the outer ring of the elbow and the spur gear of the outer ring of the elbow are connected by screws to form the ring of the outer ring of the elbow, the ring of the outer ring of the elbow Set on the outer diameter of the inner ring of the elbow through a needle bearing;

The elbow drive support frame includes an elbow support ring, an elbow left gearbox and an elbow right gearbox. The structures of the elbow left gearbox and the elbow right gearbox are the same, and the elbow left gearbox and the elbow right gearbox are symmetrical based on the axis of the elbow support ring. Set on one end face of the elbow support ring, the elbow left gear box is provided with an elbow left bevel gear shaft hole along the thickness direction, and an elbow left planetary coaxial with the elbow left bevel gear shaft hole is arranged on the inner side of the elbow left gear box The gear groove, the elbow left planetary gear groove is provided with the elbow left internal gear along the inner wall of the circumference, and the elbow right gear box is provided with the elbow right bevel gear shaft hole facing the elbow left bevel gear shaft hole along the thickness direction, and the inner side of the elbow right gear box The end face is provided with an elbow right planetary gear groove directly opposite to the elbow left planetary gear groove, and the elbow right planetary gear groove is provided with an elbow right internal gear along the inner wall of the circumference, and the axes and shoulders of the elbow left bevel gear shaft hole and the elbow right bevel gear shaft hole The axes of the shaft hole of the left bevel gear and the shaft hole of the shoulder right bevel gear are perpendicular, and the elbow support ring is arranged in the inner diameter of the elbow support frame through a needle bearing;

The elbow left bevel gear meshes with the elbow outer bevel gear, the elbow left bevel gear is arranged outside the elbow left gearbox, and the gear shaft on the elbow left bevel gear passes through the elbow left bevel gear shaft hole, the gear shaft of the elbow left bevel gear The ball bearing is fixed in the shaft hole of the left elbow bevel gear, the left elbow transmission pinion is fixed on the gear shaft of the left elbow bevel gear through a key, and the three planetary gears of the left elbow are arranged between the left transmission pinion and the internal gear of the left elbow , each toggle left planetary gear meshes with the toggle left drive pinion and the toggle left internal gear;

The elbow right bevel gear meshes with the elbow inner ring bevel gear, the elbow right bevel gear is set outside the elbow right gear box, and the gear shaft on the elbow right bevel gear passes through the elbow right bevel gear shaft hole, the gear shaft of the elbow right bevel gear The ball bearing is fixed in the shaft hole of the elbow right bevel gear, the elbow right transmission pinion is fixed on the gear shaft of the elbow right bevel gear through a key, and the three elbow right planetary gears are arranged between the elbow right transmission pinion and the elbow right internal gear , each elbow right planetary gear meshes with the elbow right transmission pinion and the elbow right internal gear;

The elbow fixing frame is arranged between the elbow left gear box and the elbow right gear box. A third connecting slot parallel to the axis of the elbow support ring;

Wrist joint includes wrist connection plate, wrist support plate, wrist inner ring drive motor, wrist outer ring drive motor, wrist inner ring reducer, wrist outer ring reducer, wrist inner ring transmission gear, wrist outer ring transmission gear, wrist support frame , Wrist inner ring spur gear, wrist inner ring bevel gear, wrist outer ring spur gear, wrist outer ring bevel gear, wrist drive support frame, wrist left bevel gear, wrist right bevel gear, wrist left drive pinion, wrist right drive small gears, wrist grip, three wrist left planetary gears and three wrist right planetary gears;

The wrist support frame is circular, and the wrist support plate is arranged at the end face of the wrist support frame. The axis of the wrist support plate and the wrist support frame is vertically arranged. The axis of the wrist is set parallel to the axis, the wrist connecting plate is provided with the fourth connecting long groove parallel to the axis of the wrist support frame, the reducer of the inner ring of the wrist is set in parallel with the reducer of the outer ring of the wrist, and the reducer of the inner ring of the wrist and the reducer of the outer ring of the wrist The output shafts pass through the wrist support plate, the drive motor of the inner wrist ring is connected with the reducer of the inner wrist ring, the drive motor of the outer ring of the wrist is connected with the reducer of the outer ring of the wrist, and the transmission gear of the inner wrist ring is fixed on the reducer of the inner wrist ring through a key. On the output shaft of the wrist outer ring, the transmission gear of the wrist outer ring is fixed on the output shaft of the wrist outer ring reducer through a key, the wrist inner ring spur gear meshes with the wrist inner ring transmission gear, the wrist inner ring bevel gear and the wrist inner ring spur gear are side by side and Coaxial setting, the bevel gear of the inner wrist ring and the spur gear of the inner wrist ring are connected by screws to form the ring of the inner wrist ring. The bevel gear of the wrist outer ring and the spur gear of the wrist outer ring are arranged side by side and coaxially. The bevel gear of the wrist outer ring and the spur gear of the wrist outer ring are connected by screws to form the ring of the outer ring of the wrist. The ring of the outer ring of the wrist Set on the outer diameter of the inner ring of the wrist through a needle bearing;

The wrist drive support frame includes a wrist support ring, a left wrist gearbox and a right wrist gearbox. The structures of the left wrist gearbox and the right wrist gearbox are the same, and the left wrist gearbox and the right wrist gearbox are symmetrical based on the axis of the wrist support ring. Set on one end face of the wrist support ring, the left wrist gearbox is provided with a wrist left bevel gear shaft hole along the thickness direction, and the inner side of the wrist left gearbox is provided with a wrist left planet coaxial with the wrist left bevel gear shaft hole The gear groove, the wrist left planetary gear groove is provided with the wrist left internal gear along the inner wall of the circumference, the wrist right gear box is provided with the wrist right bevel gear shaft hole facing the wrist left bevel gear shaft hole along the thickness direction, and the inner side of the wrist right gear box The end face is provided with the wrist right planetary gear groove facing the wrist left planetary gear groove. The axes of the shaft hole of the left bevel gear and the shaft hole of the elbow right bevel gear are perpendicular, and the wrist support ring is arranged in the inner diameter of the wrist support frame through a needle bearing;

The wrist left bevel gear meshes with the wrist bevel gear. The wrist left bevel gear is set outside the wrist left gearbox, and the gear shaft on the wrist left bevel gear passes through the wrist left bevel gear shaft hole. The wrist left bevel gear gear shaft The ball bearing is fixed in the shaft hole of the left wrist bevel gear. The left wrist transmission pinion is fixed on the gear shaft of the left wrist bevel gear through a key. The three left wrist planetary gears are arranged between the left wrist transmission pinion and the left wrist internal gear. , each left wrist planetary gear meshes with the left wrist drive pinion and the left wrist internal gear;

The wrist right bevel gear meshes with the wrist inner ring bevel gear, and the wrist right bevel gear is set outside the wrist right gearbox, and the gear shaft on the wrist right bevel gear passes through the wrist right bevel gear shaft hole, and the gear shaft of the wrist right bevel gear The ball bearing is fixed in the shaft hole of the wrist right bevel gear, the wrist right transmission pinion is fixed on the gear shaft of the wrist right bevel gear through a key, and the three wrist right planetary gears are arranged between the wrist right transmission pinion and the wrist right internal gear , each wrist right planetary gear meshes with the wrist right transmission pinion and the wrist right internal gear;

The wrist joint grip is arranged between the wrist left gear box and the wrist right gear box, and the two ends of the wrist joint grip are respectively fixedly connected with the gear shafts of the corresponding wrist left transmission pinion and the wrist right transmission pinion;

Shoulder joints, elbow joints and wrist joints are arranged sequentially, the elbow connecting plate on the elbow joint and the shoulder fixing frame on the shoulder joint are arranged up and down, the wrist connecting plate on the wrist joint and the elbow fixing frame on the elbow joint are arranged up and down, and the second connection The long slot is slidably connected with the first connecting long slot, and the fourth connecting long slot is slidably connected with the third connecting long slot.

Compared with the prior art, the present invention has the following beneficial effects:

One, because the shoulder joint, elbow joint and wrist joint of the present invention are all independent parts, each part has adopted the mode of parallel drive, and transmission mode all adopts gear transmission, has increased the precision of motion and range of motion, and motion precision Compared with the existing technology, it has more than doubled.

2. In the present invention, the shoulder joint and the elbow joint are slidingly connected through the first connecting long groove and the second connecting long groove, and the elbow joint and the wrist joint are slidingly connected through the third connecting long groove and the fourth connecting long groove, and each The length of the long groove can be adjusted according to the size of the human body, so that the performance of the present invention is improved.

3. The present invention has two motors for each degree of freedom movement, sharing the burden of the motors, and the motors are arranged in parallel, thereby reducing the volume of the motors and increasing the compactness.

Description of drawings

Fig. 1 is a perspective view of the overall structure of the present invention;

2 is a perspective view of the structure of the shoulder joint A;

Fig. 3 is a perspective view of the positional relationship between the shoulder inner ring spur gear 8, the shoulder inner ring bevel gear 9 and the shoulder support frame 7;

Fig. 4 is a perspective view of the positional relationship between the shoulder outer ring spur gear 10, the shoulder outer ring bevel gear 11, the shoulder drive support frame 12 and the shoulder support frame 7;

Fig. 5 is a structural perspective view of the shoulder drive support frame 12;

Fig. 6 is a structural perspective view of the shoulder drive support frame 12 (opposite to the direction of view of Fig. 5);

Fig. 7 is a perspective view of the positional relationship between the left shoulder bevel gear 13, the left shoulder transmission pinion 15, the left transmission large gear 16 and the left gear box 12-2;

Fig. 8 is a perspective view of the positional relationship between the shoulder right bevel gear 14, the shoulder right transmission pinion 18, the right transmission large gear 17 and the right gear box 12-3;

Fig. 9 is a perspective view of the structure of the elbow joint B;

Fig. 10 is an elbow inner ring drive motor 31, an elbow outer ring drive motor 32, an elbow inner ring reducer 33, an elbow outer ring reducer 34, an elbow inner ring transmission gear 35, an elbow outer ring transmission gear 36, and an elbow inner ring spur gear 38. A three-dimensional view of the positional relationship between the elbow inner ring bevel gear 39 and the elbow support frame 37;

Fig. 11 is the structure of elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive support frame 42, elbow left bevel gear 43, elbow right bevel gear 44, elbow left transmission pinion 45 and three elbow left planetary gears 46. Stereoscopic map of positional relationship;

Fig. 12 is the structure of elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive support frame 42, elbow left bevel gear 43, elbow right bevel gear 44, elbow right transmission pinion 48 and three elbow right planetary gears 47. Stereoscopic view of positional relationship (opposite to the direction of view in Figure 11);

Fig. 13 is a perspective view of the structure of the wrist joint C;

Fig. 14 is a three-dimensional view of the positional relationship between wrist connecting plate 49, wrist support plate 50, wrist inner ring transmission gear 55, wrist outer ring transmission gear 56, wrist outer ring spur gear 60, wrist outer ring bevel gear 61 and wrist drive support frame 62 ;

Fig. 15 is a three-dimensional view of the positional relationship between the wrist connecting plate 49, the wrist support plate 50, the wrist inner ring transmission gear 55, the wrist outer ring transmission gear 56, the wrist support frame 57 and the third connecting long groove 49-1;

Fig. 16 is a perspective view of the positional relationship between the spur gear 58 of the wrist inner ring, the bevel gear 59 of the inner ring of the wrist and the wrist support frame 57;

Fig. 17 is the structure of wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist drive support frame 62, wrist left bevel gear 63, wrist right bevel gear 64, wrist left transmission pinion 65 and three wrist left planetary gears 66 Stereoscopic map of positional relationship;

Fig. 18 is the structure of wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist drive support frame 62, wrist left bevel gear 63, wrist right bevel gear 64, wrist right transmission pinion 68 and three wrist right planetary gears 67 Three-dimensional diagram of positional relationship.

detailed description

Specific Embodiment 1: This embodiment is described with reference to Figures 1 to 18. This embodiment includes a shoulder joint A, an elbow joint B and a wrist joint C;

Shoulder joint A includes inner shoulder drive motor 1, shoulder outer drive motor 2, shoulder inner ring reducer 3, shoulder outer ring reducer 4, shoulder inner ring transmission gear 5, shoulder outer ring transmission gear 6, and shoulder support frame 7 , Shoulder inner ring spur gear 8, shoulder inner ring bevel gear 9, shoulder outer ring spur gear 10, shoulder outer ring bevel gear 11, shoulder driving support frame 12, shoulder left bevel gear 13, shoulder right bevel gear 14, shoulder left transmission Pinion 15, left transmission bull gear 16, right transmission bull gear 17, shoulder right transmission pinion 18, left gear case cover 19, right gear case cover 20, shoulder fixing frame 21 and shoulder supporting plate 22;

The shoulder support frame 7 is circular, the shoulder support plate 22 is arranged at the end face of the shoulder support frame 7, the axis of the shoulder support plate 22 and the elbow support frame 37 is vertically arranged, the shoulder inner ring reducer 3 and the shoulder outer ring reducer 4 It is arranged in parallel, and the output shafts of the shoulder inner ring reducer 3 and the shoulder outer ring reducer 4 pass through the shoulder support plate 22, and the shoulder inner ring reducer 3 and the shoulder outer ring reducer 4 are fixed on the shoulder support plate 22, Shoulder inner ring drive motor 1 is connected to shoulder inner ring reducer 3, shoulder outer ring drive motor 2 is connected to shoulder outer ring reducer 4, and shoulder inner ring transmission gear 5 is fixed on the output shaft of shoulder inner ring reducer 3 through keys , the transmission gear 6 of the outer ring of the shoulder is fixed on the output shaft of the reducer 4 of the outer ring of the shoulder through a key, as shown in Fig. The ring spur gears 8 are arranged side by side and coaxially. The shoulder inner ring bevel gear 9 and the shoulder inner ring spur gear 8 are connected by screws to form a shoulder inner ring ring, and the shoulder inner ring ring is set on the outer shoulder support frame 7 through a needle bearing. On the diameter, the shoulder inner ring spur gear 8 and the shoulder inner ring bevel gear 9 can rotate relative to the shoulder support frame 7, and the rotation of the shoulder inner ring driving motor 1 can directly drive the shoulder inner ring spur gear 8 and the shoulder inner ring bevel gear 9 rotation, see Fig. 3, the shoulder outer ring spur gear 10 meshes with the shoulder outer ring transmission gear 6, the shoulder outer ring bevel gear 11 and the shoulder outer ring spur gear 10 are arranged side by side and coaxially, the shoulder outer ring bevel gear 11 and the shoulder outer ring The spur gear 10 is connected by screws to form the shoulder outer ring, the shoulder outer ring is set on the outer diameter of the shoulder inner ring through a needle bearing, the shoulder outer ring, the shoulder inner ring and the shoulder support frame 7 can do independent rotational movement, can directly drive the rotation of shoulder outer ring spur gear 10 and shoulder outer ring bevel gear 11 by the rotation of shoulder outer ring drive motor 2, see Fig. 4;

Shoulder drive support frame 12 comprises shoulder supporting ring 12-1, shoulder left gear box 12-2 and shoulder right gear box 12-3, and the structure of shoulder left gear box 12-2 and shoulder right gear box 12-3 is identical, and shoulder left The gear box 12-2 and the right shoulder gear box 12-3 are symmetrically arranged on the inner wall of the shoulder support ring 12-1 with the axis of the shoulder support ring 12-1 as the reference, and the left shoulder gear box 12-2 is arranged along the thickness direction. Shoulder left bevel gear shaft hole 12-4, the inboard end face of shoulder left gear box 12-2 is provided with left transmission large gear shaft groove 12-5, and the axis of shoulder left bevel gear shaft hole 12-4 and left transmission large gear shaft groove The axis of 12-5 is parallel and arranged on the same horizontal plane, the axis of shoulder left bevel gear shaft hole 12-4 is vertically arranged with the axis of shoulder support ring 12-1, and the shoulder right gear box 12-3 is provided along the thickness direction with Shoulder left bevel gear shaft hole 12-4 is opposite to shoulder right bevel gear shaft hole 12-6, and the inboard end face of shoulder right gear case 12-3 is provided with the right transmission large gear that is opposite to left transmission large gear shaft groove 12-5. The gear shaft groove 12-7, the shoulder support ring 12-1 are arranged in the inner diameter of the shoulder support frame 7 through needle bearings, and the shoulder drive support frame 12 can do independent rotational movement, see Fig. 4, Fig. 5 and Fig. 6;

The shoulder left bevel gear 13 meshes with the shoulder outer bevel gear 11, the shoulder left bevel gear 13 is arranged on the outside of the shoulder left gearbox 12-2, and the gear shaft on the shoulder left bevel gear 13 passes through the shoulder left bevel gear shaft hole 12 -4, the gear shaft of the shoulder left bevel gear 13 is fixed in the shoulder left bevel gear shaft hole 12-4 through a ball bearing, the shoulder left transmission pinion 15 is arranged in the shoulder left gearbox 12-2, and the shoulder left transmission pinion 15 is fixed on the gear shaft of the shoulder left bevel gear 13 through a key, and the left transmission large gear 16 meshes with the shoulder left transmission pinion 15, and one end of the gear shaft of the left transmission large gear 16 is fixed in the left transmission large gear shaft groove through a ball bearing In 12-5, the other end of the gear shaft of the left transmission bull gear 16 is set in the left gear case cover 19 through a ball bearing, and the left gear case cover 19 is installed on the shoulder left gear case 12-2 through screws, see Fig. 6 and Fig. 7;

The shoulder right bevel gear 14 meshes with the shoulder inner ring bevel gear 9, the shoulder right bevel gear 14 is arranged on the outside of the shoulder right gear box 12-3, and the gear shaft on the shoulder right bevel gear 14 passes through the shoulder right bevel gear shaft hole 12 -6, the gear shaft of the shoulder right bevel gear 14 is fixed in the shoulder right bevel gear shaft hole 12-6 through a ball bearing, the shoulder right transmission pinion 18 is arranged in the shoulder right gearbox 12-3, and the shoulder right transmission pinion 18 is fixed on the gear shaft of the shoulder right bevel gear 14 through a key, the right transmission bull gear 17 meshes with the shoulder right transmission pinion 18, and one end of the gear shaft of the right transmission bull gear 17 is fixed on the right transmission bull gear shaft groove by a ball bearing In 12-7, the other end of the gear shaft of the right transmission large gear 17 is set in the right gear case cover 20 through a ball bearing, and the right gear case cover 20 is installed on the shoulder right gear case 12-3 through screws, see Fig. 2 and Fig. 7;

Shoulder fixed mount 21 is arranged between shoulder left gear case 12-2 and shoulder right gear case 12-3, and the two ends of shoulder fixed mount 21 are respectively fixed with the gear shaft of corresponding left transmission bull gear 16 and right transmission bull gear 17 To connect, the shoulder fixing frame 21 is provided with a first connecting long groove 21-1 parallel to the axis of the shoulder supporting ring 12-1, the shoulder supporting plate 22 is fan-shaped, and the inner diameter of the fan is the same as that of the shoulder supporting frame 7;

Elbow joint B includes elbow fixing frame 28, elbow connecting plate 29, elbow support plate 30, elbow inner ring driving motor 31, elbow outer ring driving motor 32, elbow inner ring reducer 33, elbow outer ring reducer 34, elbow inner ring Transmission gear 35, elbow outer ring transmission gear 36, elbow support frame 37, elbow inner ring spur gear 38, elbow inner ring bevel gear 39, elbow outer ring spur gear 40, elbow outer ring bevel gear 41, elbow drive support frame 42, Elbow left bevel gear 43, elbow right bevel gear 44, elbow left transmission pinion 45, elbow right transmission pinion 48, three elbow left planetary gears 46 and three elbow right planetary gears 47;

The elbow support frame 37 is circular, the elbow support plate 30 is arranged at the end face of the elbow support frame 37, the elbow support plate 30 is vertically arranged with the axis of the elbow support frame 37, and the elbow connecting plate 29 is arranged on the outside of the elbow support plate 30. The elbow connecting plate 29 is arranged parallel to the axis of the elbow support frame 37, and the second connecting long groove 29-1 parallel to the axis of the elbow support frame 37 is provided on the elbow connecting plate 29. The elbow inner ring speed reducer 33 and the elbow outer ring speed reducer 34 are arranged in parallel, and the output shafts of the elbow inner ring reducer 33 and the elbow outer ring reducer 34 pass through the elbow support plate 30, the elbow inner ring drive motor 31 is connected with the elbow inner ring reducer 33, and the elbow outer ring drive motor 32 Connected with the elbow outer ring reducer 34, the elbow inner ring transmission gear 35 is fixed on the output shaft of the elbow inner ring reducer 33 through a key, and the elbow outer ring transmission gear 36 is fixed on the output shaft of the elbow outer ring reducer 34 through a key , the elbow inner ring spur gear 38 meshes with the elbow inner ring transmission gear 35, the elbow inner ring bevel gear 39 and the elbow inner ring spur gear 38 are arranged side by side and coaxially, and the elbow inner ring bevel gear 39 and the elbow inner ring spur gear 38 pass through the screw The elbow inner ring is connected to form a circular ring. The elbow inner ring ring is set on the outer diameter of the elbow support frame 37 through a needle bearing. The elbow inner ring spur gear 38 and the elbow inner ring bevel gear 39 can rotate relative to the elbow support frame 37. , the rotation of the elbow inner ring drive motor 31 can directly drive the elbow inner ring spur gear 38 and the elbow inner ring bevel gear 39 to rotate, as shown in Figure 10, the elbow outer ring spur gear 40 meshes with the elbow outer ring transmission gear 36, and the elbow outer ring The bevel gear 41 and the spur gear 40 of the elbow outer ring are arranged side by side and coaxially. The bevel gear 41 of the elbow outer ring and the spur gear 40 of the elbow outer ring are connected by screws to form an annular ring of the outer elbow ring. On the outer diameter of the elbow inner ring ring, the elbow outer ring ring, the elbow inner ring ring and the elbow support frame 37 can all do independent rotational motions, and the rotation of the elbow outer ring drive motor 32 can directly drive the elbow outer ring straight The rotation of gear 40 and elbow bevel gear 41 is shown in Fig. 9;

The elbow driving support frame 42 comprises an elbow supporting ring 42-1, an elbow left gear box 42-2 and an elbow right gear box 42-3, and the elbow left gear box 42-2 and the elbow right gear box 42-3 have the same structure, and the elbow left gear box 42-2 has the same structure as the elbow right gear box 42-3. The gear box 42-2 and the elbow right gear box 42-3 are symmetrically arranged on one end surface of the elbow support ring 42-1 with the axis of the elbow support ring 42-1 as the reference, and the elbow left gear box 42-2 is arranged along the thickness direction. An elbow left bevel gear shaft hole 42-4 is provided, and an elbow left planetary gear groove 42-5 coaxial with the elbow left bevel gear shaft hole 42-4 is provided on the inner side surface of the elbow left gear case 42-2. The groove 42-5 is provided with an elbow left internal gear 42-6 along the inner wall of the circumference, and the elbow right gear box 42-3 is provided with an elbow right bevel gear shaft hole 42-4 facing the elbow left bevel gear shaft hole 42-4 along the thickness direction. 7. The inner end surface of the elbow right gear box 42-3 is provided with an elbow right planetary gear groove 42-8 facing the elbow left planetary gear groove 42-5, and the elbow right planetary gear groove 42-8 is provided with an elbow right gear groove along the inner wall of the circumference. Internal gear 42-9, the axis of elbow left bevel gear shaft hole 42-4 and elbow right bevel gear shaft hole 42-7 and the axis of shoulder left bevel gear shaft hole 12-4 and shoulder right bevel gear shaft hole 12-6 Vertically, the elbow support ring 42-1 is arranged in the inner diameter of the elbow support frame 37 through a needle bearing, and the elbow drive support frame 42 can do independent rotational movement, see Fig. 11 and Fig. 12;

The elbow left bevel gear 43 meshes with the elbow outer bevel gear 41, the elbow left bevel gear 43 is arranged on the outside of the elbow left gear box 42-2, and the gear shaft on the elbow left bevel gear 43 passes through the elbow left bevel gear shaft hole 42 -4, the gear shaft of the elbow left bevel gear 43 is fixed in the shaft hole 42-4 of the elbow left bevel gear through a ball bearing, and the elbow left transmission pinion 45 is fixed on the gear shaft of the elbow left bevel gear 43 through a key. The left planetary gear 46 is arranged between the elbow left transmission pinion 45 and the elbow left internal gear 42-6, and each elbow left planetary gear 46 is meshed with the elbow left transmission pinion 45 and the elbow left internal gear 42-6, each The left elbow planetary gear 46 is installed on the left elbow gear box 42-2 through a ball bearing, the elbow support plate 30 is fan-shaped, and the inner diameter of the fan is the same as that of the elbow support frame 37, see Fig. 9, Fig. 11 and Fig. 12;

The elbow right bevel gear 44 meshes with the elbow inner ring bevel gear 39, the elbow right bevel gear 44 is arranged on the outside of the elbow right gear box 42-3, and the gear shaft on the elbow right bevel gear 44 passes through the elbow right bevel gear shaft hole 42 -7, the gear shaft of the elbow right bevel gear 44 is fixed in the elbow right bevel gear shaft hole 42-7 through a ball bearing, and the elbow right transmission pinion 48 is fixed on the gear shaft of the elbow right bevel gear 44 through a key. The right planetary gear 47 is arranged between the elbow right transmission pinion 48 and the elbow right internal gear 42-9, and each elbow right planetary gear 47 is meshed with the elbow right transmission pinion 48 and the elbow right internal gear 42-9, each The elbow right planetary gear 47 is installed on the elbow right gear box 42-3 through a ball bearing, see Fig. 9, Fig. 11 and Fig. 12;

The elbow holder 28 is arranged between the elbow left gear box 42-2 and the elbow right gear box 42-3. The shaft is fixedly connected, and the elbow holder 28 is provided with a third connecting long groove 28-1 parallel to the axis of the elbow support ring 42-1, see Fig. 9, Fig. 11 and Fig. 12;

Wrist joint C comprises wrist connecting plate 49, wrist support plate 50, wrist inner ring drive motor 51, wrist outer ring drive motor 52, wrist inner ring reducer 53, wrist outer ring reducer 54, wrist inner ring transmission gear 55, wrist Outer ring transmission gear 56, wrist support frame 57, wrist inner ring spur gear 58, wrist inner ring bevel gear 59, wrist outer ring spur gear 60, wrist outer ring bevel gear 61, wrist drive support frame 62, wrist left bevel gear 63 , wrist right bevel gear 64, wrist left transmission pinion 65, wrist right transmission pinion 68, wrist joint grip 69, three wrist left planetary gears 66 and three wrist right planetary gears 67;

Wrist support frame 57 is circular, and wrist support plate 50 is arranged on the end face place of wrist support frame 57, and the axis of wrist support plate 50 and wrist support frame 57 is vertically arranged, and wrist connecting plate 49 is arranged on the outside of wrist support plate 50, Wrist connecting plate 49 is arranged in parallel with the axis of wrist support frame 57, and wrist connecting plate 49 is provided with the 4th connection long groove 49-1 parallel with wrist support frame 57 axes, and wrist inner ring reducer 53 and wrist outer ring reducer 54 are arranged in parallel, and the output shafts of the wrist inner ring reducer 53 and the wrist outer ring reducer 54 all pass through the wrist support plate 50, the wrist inner ring drive motor 51 is connected with the wrist inner ring reducer 53, and the wrist outer ring drive motor 52 Connected with the wrist outer ring reducer 54, the wrist inner ring transmission gear 55 is fixed on the output shaft of the wrist inner ring reducer 53 through a key, and the wrist outer ring transmission gear 56 is fixed on the output shaft of the wrist outer ring reducer 54 through a key , the wrist inner ring spur gear 58 meshes with the wrist inner ring transmission gear 55, the wrist inner ring bevel gear 59 and the wrist inner ring spur gear 58 are arranged side by side and coaxially, as shown in Figure 16, the wrist inner ring bevel gear 59 and the wrist inner ring straight gear Gear 58 is formed wrist inner circle annulus by screw connection, and wrist inner circle annulus is sleeved on the outer diameter of wrist support frame 57 by needle bearing, and wrist inner circle spur gear 58 and wrist inner circle bevel gear 59 can be connected with wrist support frame 57 relative rotational movement, the rotation of the wrist inner ring driving motor 51 can directly drive the wrist inner ring spur gear 58 and the wrist inner ring bevel gear 59 to rotate, as shown in Figure 16, the wrist outer ring spur gear 60 meshes with the wrist outer ring transmission gear 56 , the bevel gear 61 of the wrist outer ring and the spur gear 60 of the wrist outer ring are arranged side by side and coaxially. The bevel gear 61 of the wrist outer ring and the spur gear 60 of the wrist outer ring are connected by screws to form the ring of the outer ring of the wrist. The needle bearing is set on the outer diameter of the inner ring of the wrist, and the outer ring of the wrist, the inner ring of the wrist and the wrist support frame 57 can all rotate independently, and the rotation of the driving motor 52 of the outer ring of the wrist can directly drive The rotation of the spur gear 60 and the bevel gear 61 of the outer ring of the wrist is shown in Fig. 14 , the wrist support plate 50 is fan-shaped, and the inner diameter of the fan is the same as the inner diameter of the wrist support frame 57;

Wrist drive support frame 62 comprises wrist supporting ring 62-1, wrist left gear box 62-2 and wrist right gear box 62-3, and the structure of wrist left gear box 62-2 and wrist right gear box 62-3 is identical, and wrist left The gear box 62-2 and the right wrist gear box 62-3 are symmetrically arranged on one end face of the wrist support ring 62-1 with the axis of the wrist support ring 62-1 as the reference, and the left wrist gear box 62-2 is arranged along the thickness direction. A wrist left bevel gear shaft hole 62-4 is provided, and the inner side end surface of the wrist left bevel gear box 62-2 is provided with a wrist left planetary gear groove 62-5 coaxial with the wrist left bevel gear shaft hole 62-4, and the wrist left planetary gear The groove 62-5 is provided with the wrist left inner gear 62-6 along the inner wall of the circumference, and the wrist right gear box 62-3 is provided with the wrist right bevel gear shaft hole 62-4 facing the wrist left bevel gear shaft hole 62-4 along the thickness direction. 7. The inner end surface of the wrist right gear box 62-3 is provided with a wrist right planetary gear groove 62-8 facing the wrist left planetary gear groove 62-5, and the wrist right planetary gear groove 62-8 is provided with a wrist right planetary gear groove 62-8 along the inner wall of the circumference. Internal gear 62-9, the axis of wrist left bevel gear shaft hole 62-4 and wrist right bevel gear shaft hole 62-7 and the axis of elbow left bevel gear shaft hole 42-4 and elbow right bevel gear shaft hole 42-7 Vertical (that is, the axes of the wrist left bevel gear shaft hole 62-4 and the wrist right bevel gear shaft hole 62-7 are parallel to the axes of the shoulder left bevel gear shaft hole 12-4 and the shoulder right bevel gear shaft hole 12-6), The wrist support ring 62-1 is arranged in the inner diameter of the wrist support frame 57 through a needle bearing, and the wrist drive support frame 62 can do independent rotational movement, see Fig. 17 and Fig. 18;

The wrist left bevel gear 63 meshes with the wrist bevel gear 61, the wrist left bevel gear 63 is arranged on the outside of the wrist left gearbox 62-2, and the gear shaft on the wrist left bevel gear 63 passes through the wrist left bevel gear shaft hole 62 -4, the gear shaft of the wrist left bevel gear 63 is fixed in the shaft hole 62-4 of the wrist left bevel gear through a ball bearing, and the wrist left transmission pinion 65 is fixed on the gear shaft of the wrist left bevel gear 63 through a key. The left planetary gear 66 is arranged between the wrist left transmission pinion 65 and the wrist left internal gear 62-6, and each wrist left planetary gear 66 is meshed with the wrist left transmission pinion 65 and the wrist left internal gear 62-6. Wrist left planetary gear 66 is installed on the wrist left gear box 62-2 through ball bearings, see Fig. 9, Fig. 11 and Fig. 12;

The wrist right bevel gear 64 meshes with the wrist inner ring bevel gear 59, the wrist right bevel gear 64 is arranged on the outside of the wrist right gear box 62-3, and the gear shaft on the wrist right bevel gear 64 passes through the wrist right bevel gear shaft hole 62 -7, the gear shaft of the wrist right bevel gear 64 is fixed in the wrist right bevel gear shaft hole 62-7 through a ball bearing, and the wrist right transmission pinion 68 is fixed on the gear shaft of the wrist right bevel gear 64 through a key. The right planetary gear 67 is arranged between the wrist right transmission pinion 68 and the wrist right internal gear 62-9, and each wrist right planetary gear 67 is meshed with the wrist right transmission pinion 68 and the wrist right internal gear 62-9. Wrist right planetary gear 67 is installed on the wrist right gear box 62-3 by ball bearing, see Fig. 13, Fig. 14, Fig. 17 and Fig. 18;

The wrist joint grip 69 is arranged between the wrist left gear box 62-2 and the wrist right gear box 62-3, and the two ends of the wrist joint grip 69 are connected with the corresponding wrist left transmission pinion 65 and wrist right transmission pinion 68 respectively. fixed connection of the gear shaft, see Figure 13;

Shoulder joint A, elbow joint B and wrist joint C are arranged in sequence, the elbow connecting plate 29 on the elbow joint B and the shoulder fixing frame 21 on the shoulder joint A are arranged up and down, and the wrist connecting plate 49 on the wrist joint C is connected to the upper and lower sides of the elbow joint B. The elbow fixing frame 28 is set up and down, the second connecting long groove 29-1 is slidably connected with the first connecting long groove 21-1 through connecting elements, the fourth connecting long groove 49-1 is connected with the third connecting long groove 28-1 Components are slip-connected. The length of the second connecting long groove 29-1 and the first connecting long groove 21-1 can be adjusted according to the size of the human body. The lengths of the fourth connecting long groove 49-1 and the third connecting long groove 28-1 can be adjusted according to the size of the human body. The axis of motion of the elbow joint B is perpendicular to the axis of motion of the shoulder joint A. The rotation axis of the wrist joint handle 69 on the wrist joint C is perpendicular to the motion axis of the elbow joint B.

Specific embodiment two: this embodiment is described in conjunction with Fig. 3, Fig. 9, Fig. 10 and Fig. 15, the shoulder support plate 22 of this embodiment is made into one with the shoulder support frame 7, see Fig. 3, the elbow support plate 30, the elbow connection Plate 29 is made into one with elbow brace 37, see Fig. 9 and Fig. 10, and wrist support plate 50, wrist connection plate 49 and wrist brace 57 are made into one, see Fig. 15. This is designed to increase the stability of the structure. Other components and connections are the same as those in the first embodiment.

Specific embodiment three: This embodiment is described in conjunction with Fig. 3, Fig. 10 and Fig. 16. The outer diameter of the shoulder inner ring bevel gear 9 of this embodiment is the same as the outer diameter of the shoulder inner ring spur gear 8, see Fig. 3, the elbow inner ring The outer diameter of ring bevel gear 39 is identical with the outer diameter of elbow inner ring spur gear 38, sees Fig. 10, and the outer diameter of wrist inner ring bevel gear 59 is identical with the outer diameter of wrist inner ring spur gear 58, sees Fig. 16. Other compositions and connections are the same as those in Embodiment 1 or 2.

Specific Embodiment Four: This embodiment is described in conjunction with Fig. 4, Fig. 9 and Fig. 14. The outer diameter of the shoulder bevel gear 11 of this embodiment is the same as that of the shoulder outer ring spur gear 10, see Fig. 4, the outer diameter of the elbow The outer diameter of ring bevel gear 41 is identical with the outer diameter of elbow outer ring spur gear 40, see Fig. 9, the outer diameter of wrist outer ring bevel gear 61 is identical with the outer diameter of wrist outer ring spur gear 60, see Fig. 14. Other components and connections are the same as those in the third embodiment.

Embodiment 5: This embodiment is described with reference to FIG. 5 . In this embodiment, the axis of the shaft hole 12-4 of the shoulder left bevel gear and the axis of the shaft groove 12-5 of the left transmission bull gear are on the same horizontal plane. Other compositions and connections are the same as those in Embodiment 1, 2 or 4.

Embodiment 6: This embodiment is described with reference to FIG. 6 . The axis of the shoulder right bevel gear shaft hole 12-6 and the axis of the right transmission bull gear shaft groove 12-7 in this embodiment are on the same horizontal plane. Other compositions and connections are the same as those in Embodiment 5.

Embodiment 7: This embodiment is described with reference to FIG. 11 and FIG. 12 . In this embodiment, three elbow left planetary gears 46 are evenly distributed along the same circumference, and three elbow right planetary gears 47 are evenly distributed along the same circumference. Other compositions and connections are the same as those in Embodiment 6.

Embodiment 8: This embodiment is described with reference to FIG. 17 and FIG. 18 . In this embodiment, three left wrist planetary gears 66 are evenly distributed along the same circumference, and three wrist right planetary gears 67 are evenly distributed along the same circumference. Other compositions and connections are the same as those in Embodiment 7.

Ninth specific embodiment: This embodiment is described in conjunction with Fig. 5, Fig. 6, Fig. 11, Fig. 12, Fig. 17 and Fig. 18, the shoulder left gearbox 12-2, the shoulder right gearbox 12-3 and the shoulder support in this embodiment Ring 12-1 is made into one, see Fig. 5 and Fig. 6, and elbow left gear case 42-2, elbow right gear case 42-3 and elbow support ring 42-1 are made into one, see Fig. 11 and Fig. 12, wrist left Gear box 62-2, wrist right gear box 62-3 and wrist support ring 62-1 are made into one, see Fig. 17 and Fig. 18. Other compositions and connections are the same as those in Embodiment 8.

Embodiment 10: This embodiment is described in conjunction with Fig. 5 and Fig. 6. The difference between this embodiment and Embodiment 9 is that it also adds a gear baffle 12-8, and the gear baffle 12-8 is located on the shoulder fixing frame 21. Below and arranged on one side of the shoulder inner ring bevel gear 9 and the shoulder outer ring bevel gear 11, the gear baffle plate 12-8 is integrated with the shoulder support ring 12-1. Gear baffle plate 12-8 blocks shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11, prevents shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11 from contacting with the arm. Other compositions and connections are the same as those in Embodiment 9.

working principle:

1. When the transmission gear 5 of the inner ring of the shoulder and the transmission gear 6 of the outer ring of the shoulder rotate in the opposite direction, the left bevel gear 13 of the shoulder and the right bevel gear 14 of the shoulder rotate in the same direction, that is, the left transmission large gear 16 and the right transmission large gear 17 Movement in the same direction drives the shoulder mount 21 to rotate in the vertical direction (that is, the shoulder mount 21 rotates around the axis of the left transmission gear 16 and the right transmission gear 17), thereby driving the elbow joint B and the wrist joint C to rotate vertically. Rotate in a straight direction.

2. When the transmission gear 5 of the inner ring of the shoulder rotates in the same direction as the transmission gear 6 of the outer ring of the shoulder, the left bevel gear 13 of the shoulder and the right bevel gear 14 of the shoulder tend to rotate in the opposite direction. The large gear 17 is fixedly connected with the shoulder fixed frame 21, so the rotational movement of the shoulder left bevel gear 13 and the shoulder right bevel gear 14 will not take place. The gear 11 meshes, the shoulder right bevel gear 14 meshes with the shoulder inner ring bevel gear 9, which is equivalent to the shoulder left bevel gear 13 being fixed on the shoulder outer ring bevel gear 11, and the shoulder right bevel gear 14 being fixed on the shoulder inner ring bevel gear 9, Shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11 rotate and will drive shoulder holder 21 to move around the axis of shoulder inner ring bevel gear 9 and shoulder outer ring bevel gear 11, that is, shoulder holder 21 does horizontal rotation. Thereby driving the elbow joint B and the wrist joint C to rotate in the horizontal direction.

3. When the transmission gear 35 of the inner ring of the elbow and the transmission gear 36 of the outer ring of the elbow rotate in opposite directions, the left elbow bevel gear 43 and the right bevel gear 44 of the elbow rotate in the same direction, that is, the left elbow transmission pinion 45 and the right elbow transmission pinion 48 moves in the same direction, and drives the elbow holder 28 to rotate around the axis of the elbow left transmission pinion 45 and the elbow right transmission pinion 48, thereby driving the wrist joint C to rotate in this direction. Three elbow left planetary gears 46 and three elbow right planetary gears 47 play the role of adjusting transmission ratio in transmission.

4. When the elbow inner ring transmission gear 35 and the elbow outer ring transmission gear 36 rotate in the same direction, the elbow left bevel gear 43 and the elbow right bevel gear 44 tend to rotate in the opposite direction, but due to the elbow left transmission pinion 45 and the elbow Right drive pinion 48 is fixedly connected with elbow holder 28, so the rotational movement of elbow left bevel gear 43 and elbow right bevel gear 44 can not take place, at this moment, due to reaction force, and elbow left bevel gear 43 and elbow outside The ring transmission gear 36 meshes, and the elbow right bevel gear 44 meshes with the elbow inner ring transmission gear 35, which is equivalent to that the elbow left bevel gear 43 is fixed on the elbow outer ring transmission gear 36, and the elbow right bevel gear 44 is fixed on the elbow inner ring transmission gear 35. Above, the rotation of the elbow inner ring transmission gear 35 and the elbow outer ring transmission gear 36 will drive the elbow holder 28 to move around the axis of the elbow inner ring transmission gear 35 and the elbow outer ring transmission gear 36, thereby driving the wrist joint C to move in this direction. turn.

5. When the wrist inner ring transmission gear 55 and the wrist outer ring transmission gear 56 rotate in opposite directions, the wrist left bevel gear 63 and wrist right bevel gear 64 rotate in the same direction, that is, the wrist left transmission pinion 65 and the wrist right transmission pinion 68 moves in the same direction, driving the wrist joint handle 69 to rotate around the axes of the left wrist transmission pinion 65 and the right wrist transmission pinion 68, and the three wrist left planetary gears 66 and three wrist right planetary gears 67 start in the transmission. It plays the role of adjusting the transmission ratio.

6. When the wrist inner ring transmission gear 55 and the wrist outer ring transmission gear 56 rotate in the same direction, the wrist left bevel gear 63 and the wrist right bevel gear 64 tend to rotate in the opposite direction, but due to the wrist left transmission pinion 65 and the wrist Right transmission pinion 68 is fixedly connected with wrist joint grip 69, so the rotary motion of wrist left bevel gear 63 and wrist right bevel gear 64 can not take place, at this moment, due to reaction force, and wrist left bevel gear 63 and wrist The outer ring transmission gear 56 meshes, the wrist right bevel gear 64 meshes with the wrist inner ring transmission gear 55, which is equivalent to the wrist left bevel gear 63 being fixed on the wrist outer ring transmission gear 56, and the wrist right bevel gear 64 being fixed on the wrist inner ring transmission gear 55, the wrist inner ring transmission gear 55 and the wrist outer ring transmission gear 56 rotate and will drive the wrist joint grip 69 to move around the axis of the wrist inner ring transmission gear 55 and the wrist outer ring transmission gear 56.

Claims (8)

1. An upper extremity exoskeleton based on parallel drive joints, characterized in that: said upper extremity exoskeleton based on parallel drive joints comprises shoulder joints (A), elbow joints (B) and wrist joints (C), The shoulder joint (A) includes a drive motor for the inner ring of the shoulder (1), a drive motor for the outer ring of the shoulder (2), a reducer for the inner ring of the shoulder (3), a reducer for the outer ring of the shoulder (4), and a transmission gear for the inner ring of the shoulder (5) , Shoulder outer ring transmission gear (6), shoulder support frame (7), shoulder inner ring spur gear (8), shoulder inner ring bevel gear (9), shoulder outer ring spur gear (10), shoulder outer ring bevel gear ( 11), shoulder driving support frame (12), shoulder left bevel gear (13), shoulder right bevel gear (14), shoulder left transmission small gear (15), left transmission large gear (16), right transmission large gear (17 ), shoulder right drive pinion (18), left gear case cover (19), right gear case cover (20), shoulder retainer (21) and shoulder support plate (22), The shoulder support frame (7) is circular, and the shoulder support plate (22) is arranged at the end face of the shoulder support frame (7), and the axis of the shoulder support plate (22) and the elbow support frame (37) is vertically arranged, and the inner ring of the shoulder The speed reducer (3) is arranged parallel to the shoulder outer ring speed reducer (4), and the output shafts of the shoulder inner ring speed reducer (3) and the shoulder outer ring speed reducer (4) pass through the shoulder support plate (22). The ring drive motor (1) is connected with the shoulder inner ring reducer (3), the shoulder outer ring drive motor (2) is connected with the shoulder outer ring reducer (4), and the shoulder inner ring transmission gear (5) is fixed in the shoulder by a key On the output shaft of the ring reducer (3), the shoulder outer ring transmission gear (6) is fixed on the output shaft of the shoulder outer ring reducer (4) through a key, and the shoulder inner ring spur gear (8) and the shoulder inner ring transmission gear (5) meshing, the bevel gear (9) of the inner ring of the shoulder and the spur gear (8) of the inner ring of the shoulder are arranged side by side and coaxially, and the bevel gear of the inner ring of the shoulder (9) and the spur gear (8) of the inner ring of the shoulder are connected by screws to form a shoulder The ring of the inner ring, the ring of the inner ring of the shoulder is set on the outer diameter of the shoulder support frame (7) through the needle bearing, the spur gear (10) of the outer ring of the shoulder meshes with the transmission gear (6) of the outer ring of the shoulder, and the cone of the outer ring of the shoulder The gear (11) and the shoulder outer ring spur gear (10) are arranged side by side and coaxially, the shoulder outer ring bevel gear (11) and the shoulder outer ring spur gear (10) are connected by screws to form the shoulder outer ring ring, and the shoulder outer ring circle The ring is seated on the outside diameter of the shoulder inner ring ring through a needle bearing, Shoulder drive support frame (12) comprises shoulder support ring (12-1), shoulder left gear box (12-2) and shoulder right gear box (12-3), shoulder left gear box (12-2) and shoulder right gear The structure of box (12-3) is identical, and shoulder left gear box (12-2) and shoulder right gear box (12-3) take the axis of shoulder support ring (12-1) as the reference and are symmetrically arranged on shoulder support ring (12 -1) on the inner wall, the shoulder left gearbox (12-2) is provided with the shoulder left bevel gear shaft hole (12-4) along the thickness direction, and the inner end surface of the shoulder left gearbox (12-2) is provided with a left transmission The axis of the large gear shaft groove (12-5), the axis of the shoulder left bevel gear shaft hole (12-4) is parallel to the axis of the left transmission large gear shaft groove (12-5) and arranged on the same horizontal plane, the shoulder left bevel gear shaft The axis of the hole (12-4) is vertically arranged with the axis of the shoulder support ring (12-1), and the right gear box (12-3) of the shoulder is provided with the shaft hole (12-4) of the left bevel gear of the shoulder along the thickness direction. To the right shoulder bevel gear shaft hole (12-6), the inner end face of the shoulder right gear box (12-3) is provided with the right transmission bull gear shaft groove (12-5) facing to the left transmission bull gear shaft groove ( 12-7), the shoulder support ring (12-1) is arranged in the inner diameter of the shoulder support frame (7) by a needle bearing, The shoulder left bevel gear (13) meshes with the shoulder bevel gear (11), the shoulder left bevel gear (13) is arranged on the outside of the shoulder left gearbox (12-2), and the gear on the shoulder left bevel gear (13) The shaft passes through the shoulder left bevel gear shaft hole (12-4), and the gear shaft of the shoulder left bevel gear (13) is fixed in the shoulder left bevel gear shaft hole (12-4) by a ball bearing, and the shoulder left transmission pinion (15 ) is arranged in the left shoulder gear box (12-2), and the left shoulder transmission pinion (15) is fixed on the gear shaft of the left shoulder bevel gear (13) through a key, and the left transmission large gear (16) and the left shoulder transmission The pinion (15) is meshed, and one end of the gear shaft of the left transmission bull gear (16) is fixed in the shaft groove (12-5) of the left transmission bull gear (12-5) through a ball bearing, and the other end of the gear shaft of the left transmission bull gear (16) passes through The ball bearing is arranged in the left gear box cover (19), and the left gear box cover (19) is installed on the shoulder left gear box (12-2) by screws, The shoulder right bevel gear (14) meshes with the shoulder inner ring bevel gear (9), the shoulder right bevel gear (14) is arranged on the outside of the shoulder right gearbox (12-3), and the gear on the shoulder right bevel gear (14) The shaft passes through the shoulder right bevel gear shaft hole (12-6), the gear shaft of the shoulder right bevel gear (14) is fixed in the shoulder right bevel gear shaft hole (12-6) by a ball bearing, and the shoulder right transmission pinion (18 ) is arranged in the shoulder right gear box (12-3), and the shoulder right transmission pinion (18) is fixed on the gear shaft of the shoulder right bevel gear (14) through a key, and the right transmission large gear (17) and the shoulder right transmission The pinion (18) is engaged, and one end of the gear shaft of the right transmission bull gear (17) is fixed in the shaft groove (12-7) of the right transmission bull gear (12-7) through a ball bearing, and the other end of the gear shaft of the right transmission bull gear (17) passes through The ball bearing is arranged in the right gear case cover (20), and the right gear case cover (20) is installed on the shoulder right gear case (12-3) by screws, Shoulder fixed mount (21) is arranged between shoulder left gear case (12-2) and shoulder right gear case (12-3), and the two ends of shoulder fixed mount (21) are respectively connected with corresponding left transmission bull gear (16) It is fixedly connected with the gear shaft of the right transmission bull gear (17), and the shoulder holder (21) is provided with the first connecting long groove (21-1) parallel to the axis of the shoulder support ring (12-1), The elbow joint (B) includes an elbow fixing frame (28), an elbow connecting plate (29), an elbow support plate (30), an elbow inner ring driving motor (31), an elbow outer ring driving motor (32), and an elbow inner ring reducer (33), elbow outer ring reducer (34), elbow inner ring transmission gear (35), elbow outer ring transmission gear (36), elbow support frame (37), elbow inner ring spur gear (38), elbow inner ring Bevel gear (39), elbow outer ring spur gear (40), elbow outer ring bevel gear (41), elbow drive support frame (42), elbow left bevel gear (43), elbow right bevel gear (44), elbow left Transmission pinion (45), elbow right transmission pinion (48), three elbow left planetary gears (46) and three elbow right planetary gears (47), The elbow support frame (37) is circular, the elbow support plate (30) is arranged at the end face of the elbow support frame (37), the axis of the elbow support plate (30) and the elbow support frame (37) is vertically arranged, and the elbow connecting plate (29) is arranged on the outside of the elbow support plate (30), the elbow connection plate (29) is arranged parallel to the axis of the elbow support frame (37), and the elbow connection plate (29) is provided with an axis parallel to the elbow support frame (37). The second connecting long groove (29-1), the elbow inner ring reducer (33) and the elbow outer ring reducer (34) are arranged in parallel, and the elbow inner ring reducer (33) and the elbow outer ring reducer (34) The output shafts pass through the elbow support plate (30), the elbow inner ring drive motor (31) is connected with the elbow inner ring reducer (33), and the elbow outer ring drive motor (32) is connected with the elbow outer ring reducer (34) , the elbow inner ring drive gear (35) is fixed on the output shaft of the elbow inner ring reducer (33) through a key, and the elbow outer ring drive gear (36) is fixed on the output shaft of the elbow outer ring reducer (34) through a key , the elbow inner ring spur gear (38) meshes with the elbow inner ring transmission gear (35), the elbow inner ring bevel gear (39) and the elbow inner ring spur gear (38) are arranged side by side and coaxially, the elbow inner ring bevel gear (39 ) and the elbow inner ring spur gear (38) are connected by screws to form the elbow inner ring ring, the elbow inner ring ring is set on the outer diameter of the elbow support frame (37) through the needle bearing, and the elbow outer ring spur gear (40) Mesh with the transmission gear (36) of the outer ring of the elbow, the bevel gear (41) of the outer ring of the elbow and the spur gear (40) of the outer ring of the elbow are arranged side by side and coaxially, the bevel gear of the outer ring of the elbow (41) and the spur gear of the outer ring of the elbow (40) The outer ring of the elbow is formed by screw connection, and the outer ring of the elbow is set on the outer diameter of the inner ring of the elbow through a needle bearing. The elbow drive support frame (42) comprises an elbow support ring (42-1), an elbow left gear box (42-2) and an elbow right gear box (42-3), an elbow left gear box (42-2) and an elbow right gear The structure of box (42-3) is identical, and elbow left gear box (42-2) and elbow right gear box (42-3) are arranged on the axis of elbow support ring (42-1) on the axis of elbow support ring (42-1) symmetrically. -1) on one side end face, the elbow left gear case (42-2) is provided with the elbow left bevel gear shaft hole (42-4) along the thickness direction, and the inner end face of the elbow left gear case (42-2) is provided with An elbow left planetary gear groove (42-5) coaxial with the elbow left bevel gear shaft hole (42-4), and an elbow left planetary gear groove (42-5) is provided with an elbow left inner gear (42-6) along the inner wall of the circumference , the elbow right gear box (42-3) is provided with the elbow right bevel gear shaft hole (42-7) facing the elbow left bevel gear shaft hole (42-4) along the thickness direction, and the elbow right gear box (42-3 ) is provided with an elbow right planetary gear groove (42-8) facing the elbow left planetary gear groove (42-5), and an elbow right planetary gear groove (42-8) is provided with an elbow right internal gear along the inner wall of the circumference (42-9), the axis of elbow left bevel gear shaft hole (42-4) and elbow right bevel gear shaft hole (42-7) and shoulder left bevel gear shaft hole (12-4) and shoulder right bevel gear shaft hole The axes of (12-6) are perpendicular, and the elbow support ring (42-1) is arranged in the inner diameter of the elbow support frame (37) by a needle bearing, The elbow left bevel gear (43) meshes with the elbow bevel gear (41), the elbow left bevel gear (43) is arranged on the outside of the elbow left gear box (42-2), and the gear on the elbow left bevel gear (43) The shaft passes through the elbow left bevel gear shaft hole (42-4), and the gear shaft of the elbow left bevel gear (43) is fixed in the elbow left bevel gear shaft hole (42-4) by a ball bearing, and the elbow left transmission pinion (45 ) is fixed on the gear shaft of the elbow left bevel gear (43) by a key, and three elbow left planetary gears (46) are arranged between the elbow left transmission pinion (45) and the elbow left internal gear (42-6), each Each elbow left planetary gear (46) is meshed with the elbow left drive pinion (45) and the elbow left internal gear (42-6), The elbow right bevel gear (44) meshes with the elbow inner ring bevel gear (39), the elbow right bevel gear (44) is arranged on the outside of the elbow right gear box (42-3), and the gear on the elbow right bevel gear (44) The shaft passes through the elbow right bevel gear shaft hole (42-7), the gear shaft of the elbow right bevel gear (44) is fixed in the elbow right bevel gear shaft hole (42-7) by a ball bearing, and the elbow right transmission pinion (48 ) is fixed on the gear shaft of the elbow right bevel gear (44) by a key, and three elbow right planetary gears (47) are arranged between the elbow right transmission pinion (48) and the elbow right internal gear (42-9), each Each elbow right planetary gear (47) is meshed with the elbow right transmission pinion (48) and the elbow right internal gear (42-9), The elbow fixed mount (28) is arranged between the left elbow gear box (42-2) and the right elbow gear box (42-3), and the two ends of the elbow fixed mount (28) are respectively connected with the corresponding elbow left transmission pinion (45 ) and the gear shaft of the elbow right transmission pinion (48) are fixedly connected, and the elbow holder (28) is provided with the third connecting long groove (28-1) parallel to the axis of the elbow support ring (42-1), The wrist joint (C) comprises a wrist connecting plate (49), a wrist support plate (50), an inner wrist ring drive motor (51), a wrist outer ring drive motor (52), a wrist inner ring reducer (53), a wrist outer ring Reducer (54), wrist inner ring transmission gear (55), wrist outer ring transmission gear (56), wrist support frame (57), wrist inner ring spur gear (58), wrist inner ring bevel gear (59), wrist Outer ring spur gear (60), wrist outer ring bevel gear (61), wrist drive support frame (62), wrist left bevel gear (63), wrist right bevel gear (64), wrist left drive pinion (65), Wrist right transmission pinion (68), wrist grip (69), three wrist left planetary gears (66) and three wrist right planetary gears (67), Wrist support frame (57) is annular, and wrist support plate (50) is arranged on the end face place of wrist support frame (57), and the axis of wrist support plate (50) and wrist support frame (57) is vertically arranged, and wrist connecting plate (49) is arranged on the outside of wrist support plate (50), and wrist connection plate (49) is arranged parallel to the axis of wrist support frame (57), and wrist connection plate (49) is provided with and is parallel to the axis of wrist support frame (57). The fourth connecting long slot (49-1), the wrist inner ring reducer (53) is set in parallel with the wrist outer ring reducer (54), and the wrist inner ring reducer (53) and the wrist outer ring reducer (54) The output shafts of each pass through the wrist support plate (50), the wrist inner ring drive motor (51) is connected with the wrist inner ring reducer (53), and the wrist outer ring drive motor (52) is connected with the wrist outer ring reducer (54) , the wrist inner ring drive gear (55) is fixed on the output shaft of the wrist inner ring reducer (53) by a key, and the wrist outer ring drive gear (56) is fixed on the output shaft of the wrist outer ring reducer (54) by a key , the wrist inner ring spur gear (58) meshes with the wrist inner ring transmission gear (55), the wrist inner ring bevel gear (59) and the wrist inner ring spur gear (58) are arranged side by side and coaxially, the wrist inner ring bevel gear (59) ) and the wrist inner ring spur gear (58) are connected by screws to form the wrist inner ring ring, and the wrist inner ring ring is sleeved on the outer diameter of the wrist support frame (57) through a needle bearing, and the wrist outer ring spur gear (60) Engage with the bevel gear (56) of the outer ring of the wrist, the bevel gear (61) of the outer ring of the wrist and the spur gear (60) of the outer ring of the wrist are arranged side by side and coaxially, the bevel gear of the outer ring of the wrist (61) and the spur gear (60) of the outer ring of the wrist ) is connected by screws to form the outer ring of the wrist, and the outer ring of the wrist is set on the outer diameter of the inner ring of the wrist through a needle bearing. Wrist drive support frame (62) comprises wrist support ring (62-1), wrist left gear box (62-2) and wrist right gear box (62-3), wrist left gear box (62-2) and wrist right gear The structure of box (62-3) is identical, and wrist left gear box (62-2) and wrist right gear box (62-3) are arranged on wrist support ring (62-1) with the axis of wrist support ring (62-1) as the reference symmetry. -1) on one side of the end face, the left wrist gear box (62-2) is provided with a wrist left bevel gear shaft hole (62-4) along the thickness direction, and the inner end surface of the left wrist gear box (62-2) is provided with The wrist left planetary gear slot (62-5) coaxial with the wrist left bevel gear shaft hole (62-4), the wrist left planetary gear slot (62-5) is provided with the wrist left inner gear (62-6) along the inner wall of the circumference , the wrist right gear box (62-3) is provided with the wrist right bevel gear shaft hole (62-7) facing the wrist left bevel gear shaft hole (62-4) along the thickness direction, and the wrist right gear box (62-3 ) is provided with a wrist right planetary gear groove (62-8) facing the wrist left planetary gear groove (62-5), and the wrist right planetary gear groove (62-8) is provided with a wrist right internal gear along the inner wall of the circumference (62-9), the axis of wrist left bevel gear shaft hole (62-4) and wrist right bevel gear shaft hole (62-7) and elbow left bevel gear shaft hole (42-4) and elbow right bevel gear shaft hole The axis of (42-7) is vertical, and wrist support ring (62-1) is arranged on the internal diameter of wrist support frame (57) by needle bearing, The wrist left bevel gear (63) meshes with the wrist bevel gear (61), the wrist left bevel gear (63) is arranged on the outside of the wrist left gear box (62-2), and the gear on the wrist left bevel gear (63) The shaft passes through the wrist left bevel gear shaft hole (62-4), and the gear shaft of the wrist left bevel gear (63) is fixed in the wrist left bevel gear shaft hole (62-4) by a ball bearing, and the wrist left transmission pinion (65 ) is fixed on the gear shaft of the wrist left bevel gear (63) through a key, and three wrist left planetary gears (66) are arranged between the wrist left transmission pinion (65) and the wrist left internal gear (62-6), each Each wrist left planetary gear (66) is all meshed with the wrist left drive pinion (65) and the wrist left internal gear (62-6), Wrist right bevel gear (64) meshes with wrist inner circle bevel gear (59), and wrist right bevel gear (64) is arranged on the outside of wrist right gear box (62-3), and the gear on the wrist right bevel gear (64) The shaft passes through the wrist right bevel gear shaft hole (62-7), and the gear shaft of the wrist right bevel gear (64) is fixed in the wrist right bevel gear shaft hole (62-7) by a ball bearing, and the wrist right transmission pinion (68 ) is fixed on the gear shaft of the wrist right bevel gear (64) through a key, and three wrist right planetary gears (67) are arranged between the wrist right transmission pinion (68) and the wrist right inner gear (62-9), each Each wrist right planetary gear (67) is all meshed with wrist right transmission pinion (68) and wrist right internal gear (62-9), The wrist joint grip (69) is arranged between the wrist left gear box (62-2) and the wrist right gear box (62-3), and the two ends of the wrist joint grip (69) are connected with the corresponding wrist left transmission pinion respectively. (65) is fixedly connected with the gear shaft of the wrist right drive pinion (68), The shoulder joint (A), the elbow joint (B) and the wrist joint (C) are arranged in sequence, and the elbow connecting plate (29) on the elbow joint (B) and the shoulder fixing frame (21) on the shoulder joint (A) are arranged up and down, The wrist connecting plate (49) on the wrist joint (C) and the elbow holder (28) on the elbow joint (B) are arranged up and down, and the second connecting long groove (29-1) and the first connecting long groove (21-1 ) sliding connection, the fourth connecting long slot (49-1) is slidingly connected with the third connecting long slot (28-1). 2. The upper extremity exoskeleton based on parallel drive joints according to claim 1, characterized in that: the shoulder support plate (22) is integrated with the shoulder support frame (7), and the elbow support plate (30) and the elbow are connected Plate (29) is made into one with elbow support frame (37), and wrist support plate (50), wrist connecting plate (49) is made into one with wrist support frame (57). 3. The upper extremity exoskeleton based on parallel drive joints according to claim 1 or 2, characterized in that: the outer diameter of the shoulder inner ring bevel gear (9) is the same as the outer diameter of the shoulder inner ring spur gear (8), and the elbow The outer diameter of inner ring bevel gear (39) is identical with the outer diameter of elbow inner ring spur gear (38), and the outer diameter of wrist inner ring bevel gear (59) is identical with the outer diameter of wrist inner ring spur gear (58). 4. The upper extremity exoskeleton based on parallel drive joints according to claim 3, characterized in that: the outer diameter of the bevel gear (11) of the shoulder outer ring is the same as that of the spur gear (10) of the outer ring of the shoulder, and the outer diameter of the elbow outer ring The outer diameter of bevel gear (41) is identical with the outer diameter of elbow outer ring spur gear (40), and the outer diameter of wrist outer ring bevel gear (61) is identical with the outer diameter of wrist outer ring spur gear (60). 5. The upper extremity exoskeleton based on parallel drive joints according to claim 1, 2 or 4, characterized in that: three elbow left planetary gears (46) are evenly distributed along the same circumference, and three elbow right planetary gears (47 ) are evenly distributed along the same circle. 6. The upper extremity exoskeleton based on parallel drive joints according to claim 5, characterized in that: three left wrist planetary gears (66) are evenly distributed along the same circumference, and three right wrist planetary gears (67) are arranged along the same circumference Uniform setting. 7. The upper extremity exoskeleton based on parallel drive joints according to claim 6, characterized in that: said shoulder left gearbox (12-2), shoulder right gearbox (12-3) and shoulder supporting ring (12- 1) In one piece, the left elbow gear box (42-2), the right elbow gear box (42-3) and the elbow support ring (42-1) are integrated, and the left wrist gear box (62-2 ), wrist right gear box (62-3) and wrist support ring (62-1) are made into one. 8. The upper extremity exoskeleton based on parallel drive joints according to claim 7, characterized in that: said shoulder drive support frame (12) also includes a gear baffle (12-8), a gear baffle (12-8) Located under the upper arm fixing frame (21) and set on one side of the inner ring bevel gear (9) and the outer ring bevel gear (11), the gear baffle (12-8) and the shoulder support ring (12-1) are made One.