US 12,076,855 B2
Wearable cable-driven robotic arm system
Yaoyao Wang, Nanjing (CN); Hao Fu, Nanjing (CN); and Bai Chen, Nanjing (CN)
Assigned to NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, Nanjing (CN)
Appl. No. 17/926,833
Filed by NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, Nanjing (CN)
PCT Filed Jan. 28, 2021, PCT No. PCT/CN2021/074171
§ 371(c)(1), (2) Date Nov. 21, 2022,
PCT Pub. No. WO2021/238293, PCT Pub. Date Dec. 2, 2021.
Claims priority of application No. 202010449127.7 (CN), filed on May 25, 2020.
Prior Publication US 2023/0191590 A1, Jun. 22, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 17/02 (2006.01); B25J 18/04 (2006.01)
CPC B25J 9/0006 (2013.01) [B25J 9/0087 (2013.01); B25J 9/1045 (2013.01); B25J 9/108 (2013.01); B25J 13/08 (2013.01); B25J 17/0258 (2013.01); B25J 18/04 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A wearable cable-driven robotic arm system, comprising a wearing mechanism, two robotic arms located on two sides of the wearing mechanism, cable driving devices, a load trolley, and a motor controller that is a circuit board for controlling the cable driving device, wherein the two robotic arms are fixed on the two sides of the wearing mechanism respectively;
each of the cable driving devices comprises a driving portion and a driven portion, the driving portion being arranged in the load trolley, the driven portion being combined with the robotic arm, the driving portion being connected to the driven portion by means of a cable, and the motor controller being arranged in the load trolley; and the load trolley comprises a housing and casters; wherein
wherein each of the robotic arms comprises a waist module support, a first arm, a second arm and an end effector, the first arm is longer than the second arm; the waist module supports being fixed to the two sides of the wearing mechanism, one end of the first arm being fixed on the waist module support, the other end of the first arm being hinged to one end of the second arm, and the other end of the second arm being hinged to the end effector;
wherein the end effector comprises a lower wrist joint support, an upper wrist joint support, and a manipulator, one side of the lower wrist joint support being fixedly connected to the second arm, the other side of the lower wrist joint support being connected to the upper wrist joint support, and the other side of the upper wrist joint support being fixedly connected to the manipulator.