CN108789373B - Passive upper limb assistance exoskeleton device capable of realizing human body energy transfer - Google Patents
Passive upper limb assistance exoskeleton device capable of realizing human body energy transfer Download PDFInfo
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- CN108789373B CN108789373B CN201810707571.7A CN201810707571A CN108789373B CN 108789373 B CN108789373 B CN 108789373B CN 201810707571 A CN201810707571 A CN 201810707571A CN 108789373 B CN108789373 B CN 108789373B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a passive upper limb assistance exoskeleton device capable of realizing human body energy migration, which comprises a shoulder and bank assembly, wherein two sides of the shoulder and bank assembly are respectively provided with a manual air compressor, the manual air compressors are fixed with the shoulder and bank assembly through sleeves, two sides of the front of the shoulder and bank assembly are respectively provided with pneumatic muscles, the lower ends of the pneumatic muscles are fixed with forearm sleeves through forearm support buckles, the back of the shoulder and bank assembly is provided with a back support, the back support is provided with an air pressure control system, the air pressure control system is respectively connected with the pneumatic muscles, the manual air compressors and a hand pressure sensing device, and the hand pressure sensing device, the manual air compressors and the shoulder and bank assembly are respectively fixedly worn on a palm, an upper arm and a shoulder through binding bands or fastening buckles. The invention has no external energy supply, can realize the power assisting function by depending on the self energy of the human body, has simple structure and light weight and can work in any environment.
Description
Technical Field
The invention belongs to the technical field of rehabilitation physiotherapy auxiliary equipment, and particularly relates to a passive upper limb assistance exoskeleton device capable of realizing human body energy transfer.
Background
The upper limb assistance exoskeleton is a wearable human-computer integrated intelligent assistance device for enhancing the functions of upper limbs, and is widely applied to the fields of military affairs, industrial production, medical rehabilitation and the like to help soldiers, workers, nurses, old people and disabled people lift weights or perform rehabilitation training. Therefore, the design and development of the power-assisted exoskeleton robot have important significance.
In 1960, the liquid-electricity hybrid driving upper limb assisting exoskeleton 'Hardiman' is designed for the first time by GE general company in America, and the strength of a wearer can be increased by 25 times. Subsequently, the university of california, usa developed a hydraulically driven exoskeleton arm mechanical system that the wearer could lift 4000 pounds of weight. The Japan Shenchuan research and development institute has specially developed the whole body ectoskeleton of air pressure drive formula for the nurse, can effectively assist the nurse to take care of heavy patient. An upper limb rehabilitation exoskeleton RUPERT is developed by State university of Arizona, USA, and the exoskeleton can be driven by pneumatic muscles to move so as to assist patients to realize various exercise training and daily basic actions. At present, the research institutes for researching the upper limb assisting exoskeleton in China include Qinghua university, Zhejiang university, Harbin industry university and the like, wherein the Hagongda and the Zhejiang research and develop a motor-driven five-degree-of-freedom upper limb exoskeleton and a pneumatic six-degree-of-freedom upper limb exoskeleton respectively.
In the prior art, the upper limb assistance exoskeleton is driven by supplying energy to a hydraulic, motor or pneumatic driving device by virtue of an external power supply, and the active upper limb assistance exoskeleton is large in driving force, complex in structure, large in weight and limited in working range by the power supply. The document "Design of a passive, iso-elastic upper limb exoskeleton for mobility compensation" describes a passive upper limb exoskeleton that can only act as an assistance force after a weight is lifted to help the wearer maintain a long-term lifting state and cannot act as an assistance force during lifting.
Disclosure of Invention
In view of the above, the invention provides a passive upper limb assisting exoskeleton device capable of realizing human body energy migration, which can collect and store energy in an arm swinging process and transfer and release the energy to pneumatic muscles when lifting a heavy object so as to assist a wearer in lifting the heavy object, and overcomes the main technical problems that the existing active upper limb assisting exoskeleton device is complex in structure, large in weight, limited in working range by a power supply and the like.
The technical scheme of the invention is as follows:
the utility model provides a can realize passive upper limbs helping hand ectoskeleton device of human energy migration, includes the shoulder bank subassembly, the both sides of shoulder bank subassembly are provided with manpower air compressor respectively, manpower air compressor passes through the sleeve and fixes with the shoulder bank subassembly, the preceding both sides of shoulder bank subassembly are provided with pneumatic muscle respectively, pneumatic muscle's lower extreme is held in the palm through the forearm and is detained and fix with the forearm sleeve, the back of shoulder bank subassembly is provided with the back support, be provided with pneumatic control system on the back support, pneumatic control system is connected with pneumatic muscle, manpower air compressor and hand pressure sensing device respectively, hand pressure sensing device, manpower air compressor, shoulder bank subassembly are detained respectively through bandage or tie and are fixed dress at palm, upper arm and shoulder.
Preferably, the shoulder bank component comprises a left shoulder bank, a first hinge, a high-pressure gas storage tank support frame, a second hinge, a right shoulder bank and a valve island, the left shoulder bank and the right shoulder bank are respectively connected with the valve island through the second hinge and the first hinge, the high-pressure gas storage tank support frame is fixed above the valve island, two vertical rods are arranged on the lower end face of the valve island, and the first vertical rods are sequentially penetrated and fixed with the first pneumatic control valve, the second pneumatic control valve and the valve.
Preferably, the shoulder bank component adopts the design of bionic shape and can closely fit with human shoulder, and the inside is provided with the pad that increases the wearing travelling comfort, the material of pad is sponge or memory cotton.
Preferably, the manpower air compressor includes annular cylinder and rocker, annular cylinder's upper end equipartition in proper order is provided with the check valve of admitting air one, the check valve of exhausting two, the check valve of admitting air two and the check valve of admitting air second, the check valve of bleeding one is connected with the multichannel opening of shunt three respectively with the check valve of exhausting two, and annular cylinder blast pipe is connected to the one-way opening of shunt three, the other end and the gas accuse valve one of annular cylinder blast pipe are connected, the rocker includes the connecting rod and fixes the U type piston on the connecting rod top, U type piston and annular cylinder sliding connection are provided with the bandage fixed with the upper arm on the connecting rod.
Preferably, the annular cylinder comprises a semicircular cylinder body, a first accommodating cavity and a second accommodating cavity are symmetrically formed in the cylinder body, a second limiting groove is formed in the middle of the second accommodating cavity, an air inlet hole II and an air outlet hole II are formed in the end, away from the open end of the cylinder body, of the second accommodating cavity respectively, the air outlet hole II is communicated with an exhaust check valve II, the air inlet hole II is communicated with an air inlet check valve II, a first limiting groove is formed in the middle of the first accommodating cavity, an air inlet hole I and an air outlet hole I are formed in the end, away from the open end of the cylinder body, of the first accommodating cavity respectively, the air outlet hole I is communicated with the exhaust check valve I, and the air inlet hole I is communicated with the air.
Preferably, the pneumatic control system includes the high-pressure gas storage jar fixed with the back support, high-pressure gas storage jar both ends are connected with intake pipe and blast pipe respectively, the blast pipe passes through shunt one and is connected with gas accuse valve one respectively, intake pipe and one connection of gas accuse valve, pneumatic muscle passes through pneumatic muscle intake pipe and is connected with the valve, and pneumatic muscle blast pipe and gas accuse valve two are connected, gas accuse valve two with the valve respectively with the multichannel opening of shunt two be connected, the one-way opening and the hand pressure sense device blast pipe of shunt two are connected, the other end and the hand pressure sense device of hand pressure sense device blast pipe are connected.
Compared with the prior art, the passive upper limb assisting exoskeleton device capable of realizing human body energy transfer provided by the invention adopts the manpower air compressor consisting of the annular cylinder and the rocker, can effectively collect energy in human body upper limb swinging, and can store the energy in the high-pressure air storage tank. When a wearer lifts heavy objects, the energy of high-pressure gas in the high-pressure gas storage tank can be transferred into pneumatic muscles, and the pneumatic muscles expand and contract to pull the forearm to swing so as to assist the wearer in realizing the lifting process. After the lifting is successful, the shoulder can bear the weight of a part of objects through the shoulder sill component and the pneumatic muscle, and the force applied by the arm when carrying heavy objects is reduced.
In the whole power assisting process, the upper limb power assisting exoskeleton does not need external energy supply, and can realize the power assisting function completely through the management and the migration of the energy of the human body, so that the limitation of a power supply on the working range of the exoskeleton is eliminated. In addition, the whole exoskeleton device is driven by air pressure, and the driving device is pneumatic muscle, so that the whole exoskeleton is simple in structure and light in weight.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural view of a human air compressor assembly of the present invention;
fig. 3 is a schematic structural view of the shoulder rest assembly of the present invention;
FIG. 4 is a schematic diagram of the pneumatic muscle assembly of the present invention;
FIG. 5 is a schematic structural view of the annular cylinder of the present invention;
fig. 6 is a left side view of the overall structure of the present invention.
Reference numerals:
1. a hand pressure sensing device; 2. a forearm sleeve; 3. a forearm support buckle; 4. a pneumatic muscle; 5. a manual air compressor; 6. an annular cylinder exhaust pipe; 7. a pneumatic muscle air inlet pipe; 8. a shoulder ridge assembly; 9. a high-pressure gas storage tank gas inlet pipe; 10. a high-pressure gas storage tank; 11. a high pressure gas storage tank vent line; 12. a first pneumatic control valve; 13. a second pneumatic control valve; 14. and a valve; 15. a pneumatic muscle exhaust pipe; 16. a hand pressure sensing device exhaust pipe; 17. a first air inlet check valve; 18. a first exhaust check valve; 19. a second exhaust check valve; 20. a second air inlet check valve; 21. an annular cylinder; 2101. a cylinder body; 2102. a first accommodating cavity; 2103. a first limit groove; 2104. a first air inlet; 2105. a first exhaust hole; 2106. a second exhaust hole; 2107. a second air inlet; 2108. a second limit groove; 2109. a second accommodating cavity; 22. a rocker; 23. a left shoulder ridge; 24. a first hinge; 25. a high pressure gas storage tank support; 26. a second hinge; 27. a right shoulder ridge; 28. a valve island; 29. a pneumatic muscle air admission valve; 30. pneumatic muscle exhaust valve.
Detailed Description
The invention provides a passive upper limb assistance exoskeleton device capable of realizing human body energy transfer, which is described below with reference to the structural schematic diagrams of fig. 1 to 6.
As shown in fig. 1 and fig. 6, the passive upper limb assisting exoskeleton device capable of realizing human body energy migration provided by the invention comprises a shoulder sill assembly 8, the two sides of the shoulder ridge component 8 are respectively provided with a manual air compressor 5, the manual air compressor 5 is fixed with the shoulder ridge component 8 through a sleeve, pneumatic muscles 4 are respectively arranged on two sides of the front of the shoulder ridge component 8, the lower ends of the pneumatic muscles 4 are fixed with a forearm sleeve 2 through a forearm support buckle 3, the back of the shoulder ridge component 8 is provided with a back bracket, the back bracket is provided with an air pressure control system, the air pressure control system is respectively connected with the pneumatic muscle 4, the manpower air compressor 5 and the hand pressure sensing device 1, the hand pressure sensing device 1, the manual air compressor 5 and the shoulder ridge component 8 are fixedly worn on the palm, the upper arm and the shoulders through binding bands or fastening buckles respectively.
Further, as shown in fig. 3, the shoulder bank assembly 8 includes a left shoulder bank 23, a first hinge 24, a high-pressure gas storage tank support frame 25, a second hinge 26, a right shoulder bank 27 and a valve island 28, the left shoulder bank 23 and the right shoulder bank 27 are respectively connected with the valve island 28 through the second hinge 26, the first hinge 24, the high-pressure gas storage tank support frame 25 is fixed above the valve island 28, two vertical rods are arranged on the lower end surface of the valve island 28, and the first vertical rods sequentially penetrate through the first fixed pneumatic control valve 12, the second pneumatic control valve 13 and the valve 14.
Furthermore, the shoulder bank component 8 can be tightly attached to the shoulders of the human body by adopting a bionic shape design, a liner for improving the wearing comfort is arranged inside the shoulder bank component, and the material of the liner is sponge or memory cotton.
Further, as shown in fig. 2, the manual air compressor 5 comprises an annular cylinder 21 and a rocker 22, a first air inlet check valve 17, a first air outlet check valve 18, a second air outlet check valve 19 and a second air inlet check valve 20 are sequentially and uniformly distributed at the upper end of the annular cylinder 21, the second air inlet check valve 20 and the first air inlet check valve 17 are communicated with external air, the first air outlet check valve 18 and the second air outlet check valve 19 are respectively connected with a multi-way opening of a third flow divider, the single-way opening of the third flow divider is connected with an annular cylinder exhaust pipe 6, the other end of the annular cylinder exhaust pipe 6 is connected with a first air control valve 12, the rocker 22 comprises a connecting rod and a U-shaped piston fixed at the top end of the connecting rod, the U-shaped piston is connected with the annular cylinder 21 in a sliding manner, and a binding band fixed.
Further, as shown in fig. 5, the annular cylinder 21 includes a semi-annular cylinder body 2101, a first accommodating chamber 2102 and a second accommodating chamber 2109 are symmetrically disposed in the cylinder body 2101, a second limiting groove 2108 is disposed in the middle of the second accommodating chamber 2109, an air inlet hole two 2107 and an air outlet hole two 2106 are respectively disposed at one end of the second accommodating chamber 2109 away from the open end of the cylinder body 2101, the air outlet hole two 2106 is communicated with the exhaust check valve two 19, the air inlet hole two 2107 is communicated with the air inlet check valve two 20, a first limiting groove 2103 is disposed in the middle of the first accommodating chamber 2102, an air inlet hole 2104 and an air outlet hole 2105 are respectively disposed at one end of the first accommodating chamber 2102 away from the open end of the cylinder body 2101, the air outlet hole one 2105 is communicated with the exhaust check valve one 18, and the air inlet hole 2104 is communicated with the air inlet check valve one 17.
Further, the atmospheric control system includes the high-pressure gas storage jar 10 fixed with the back support, high-pressure gas storage jar 10 both ends are connected with intake pipe 9 and blast pipe 11 respectively, blast pipe 11 is connected with first 12 of gas accuse valve and with valve 14 respectively through shunt one, intake pipe 9 is connected with first 12 of gas accuse valve, pneumatic muscle 4 passes through pneumatic muscle intake pipe 7 and is connected with valve 14, and pneumatic muscle blast pipe 15 and gas accuse valve two 13 are connected, gas accuse valve two 13 with valve 14 respectively with the multichannel opening of shunt two be connected, the one-way opening and the hand pressure sensing device blast pipe 16 of shunt two are connected, the other end and the hand pressure sensing device 1 of hand pressure sensing device blast pipe 16 are connected.
The invention provides a passive upper limb assistance exoskeleton device capable of realizing human body energy migration, which comprises a hand pressure sensing device 1, a forearm sleeve 2, a forearm support buckle 3, a pneumatic muscle 4, a manual air compressor 5, an annular cylinder exhaust pipe 6, a pneumatic muscle intake pipe 7, a shoulder ridge assembly 8, a high-pressure gas storage tank intake pipe 9, a high-pressure gas storage tank 10, a high-pressure gas storage tank exhaust pipe 11, a first pneumatic control valve 12, a second pneumatic control valve 13, an AND valve 14, a pneumatic muscle exhaust pipe 15 and a hand pressure sensing device exhaust pipe 16.
The hand pressure sensing device 1, the manual air compressor 5 and the shoulder ridge assembly 8 can be fixed on the palm, the upper arm and the shoulder of the human body through straps or fasteners, and accordingly the upper limb exoskeleton is worn on the human body.
Wherein, the manpower air compressor 5 is fixed on both sides of the shoulder ridge component 8, and shoulder joints on both sides of the upper limb assistance exoskeleton are formed. The shoulder bank component 8 is connected with the forearm sleeve 2 through the pneumatic muscle 4, the upper end of the pneumatic muscle 4 is fixedly connected with the front side of the shoulder bank component 8, the lower end of the pneumatic muscle 4 is fixedly connected with the upper part of the forearm support buckle 3, and the forearm support buckle 3 is fixedly connected with the forearm sleeve 2.
The pneumatic muscle 4 is parallel to biceps brachii muscle of upper arm of human body, and drives elbow joint of upper limb assisting exoskeleton to move. Manpower air compressor 5 includes annular cylinder 21 and rocker 22, and the swing of upper limbs can drive manpower air compressor 5 and provide high-pressure gas for high-pressure gas storage jar 10 to with the gas pressure energy that upper limbs wobbling energy conversion stored high-pressure gas storage jar 10, collection and storage of energy when realizing the upper limbs swing. A first air control valve 12 is further arranged between the manual air compressor 5 and the high-pressure gas storage tank 10, when the air pressure in the high-pressure gas storage tank 10 is reduced to a low-pressure preset value, the first air control valve 12 is opened, the air compressor can press the high-pressure gas into the storage tank 10, when the air pressure in the storage tank 10 is increased back to the high-pressure preset value, the first air control valve 12 is closed, and the high-pressure gas is supplemented.
The hand pressure sensing device 1 is installed at the palm of the wearer, and the opening and closing of the valve 14 and the pneumatic control valve II 13 are determined according to signals sent by the hand pressure sensing device 1 when goods are conveyed, so that the control of the power output of the upper limb assisting exoskeleton is realized. The hand pressure sensing device 1 can control the high-pressure gas storage tank 10 to provide power for the upper limb power-assisted exoskeleton, and the swinging energy of the upper limb is transferred to the pneumatic muscle 4 to assist a wearer in lifting heavy objects. When a wearer lifts heavy objects, the hand pressure sensing device 1 is compressed, so that the air inlet and the valve 14 of the pneumatic muscle 4 are opened, the air control valve II 13 at the air outlet is closed, high-pressure air stored in the high-pressure air storage tank 10 flows into the pneumatic muscle 4, the pneumatic muscle 4 is expanded, the length of the pneumatic muscle is contracted, and the upper limb of the wearer is pulled to move so as to provide assistance. When a wearer puts down a heavy object, the hand pressure sensing device 1 restores to the original state, the air inlet of the pneumatic muscle 4 is closed with the valve 14, the air control valve II 13 at the air outlet is opened, and high-pressure gas in the pneumatic muscle 4 flows out to restore to the original state. Before the wearer lifts the heavy object for the next time, the wearer needs to continuously swing the upper limb to supplement the high-pressure gas for the high-pressure gas storage tank 10, and then the wearer can provide the assistance for the upper limb again.
The upper limb swinging energy can be collected through the manpower air compressor 5, the upper limb swinging energy is stored in the high-pressure gas storage tank 10, the collected and stored energy is released to the pneumatic muscle 4 to pull the arm to lift when a heavy object is lifted, and finally the upper limb swinging energy is transferred to the pneumatic muscle 4 to assist the upper limb lifting heavy object.
In the passive upper limb assisting exoskeleton device capable of realizing human body energy transfer in the embodiment, the hand pressure sensing device 1, the manual air compressor 5 and the shoulder ridge component 8 are respectively and fixedly connected with the palm, the upper arm and the shoulder through the binding bands or the fastening buckles, so that synchronous stretching and bending movement of the upper limbs and the exoskeleton of the human body is realized. The middle of the shoulder ridge component 8 is connected by a hinge, and the freedom degree of the shoulder ridge component 8 is increased so as to adapt to the inward contraction and the outward expansion of the shoulders of a human body. The human air compressor 5 is fixedly connected with the shoulder ridge assembly to form a shoulder joint of the upper limb exoskeleton. The upper end of the pneumatic muscle 4 is connected with a through hole at the front side of the shoulder bank component 8, and the lower end is connected with the forearm sleeve 2 through the forearm support buckle 3, so as to simulate the relative position of biceps brachii muscle in a human body. The high-pressure gas storage tank 10, the first pneumatic control valve 12, the second pneumatic control valve 13 and the valve 14 are directly fixed on the back of the shoulder sill assembly 8.
The swing of the arm can drive the manual air compressor 5 to provide high-pressure air for the high-pressure air storage tank 10, so that the energy of the swing of the upper limb is converted into the air pressure energy stored in the high-pressure air storage tank 10, and the collection and storage of the energy during the swing of the arm are realized. The manual air compressor 5 is composed of a ring-shaped cylinder 21 and a rocker 22, wherein a first air inlet check valve 17, a first air outlet check valve 18, a second air outlet check valve 19 and a second air inlet check valve 20 are arranged on the ring-shaped cylinder 21, the first air inlet check valve 17 and the second air inlet check valve 20 are directly connected with external air, and the first air outlet check valve 18 and the second air outlet check valve 19 are connected with a first air control valve 12 through a ring-shaped cylinder exhaust pipe 6.
The first accommodating chamber 2102 and the U-shaped piston at the upper end of the rocker 22 form a first cylinder, and the second accommodating chamber 2109 and the U-shaped piston at the upper end of the rocker 22 form a second cylinder.
The working process of the manpower air compressor 5 is as follows: when the upper limb swings forwards, the manual air compressor 5 can swing forwards along with the upper limb, the first air inlet check valve 17 and the second air outlet check valve 19 on the annular cylinder 21 are closed, the first air outlet check valve 18 and the second air inlet check valve 20 are opened, namely the second cylinder of the annular cylinder 21 is used for air inlet, and the first cylinder is used for pressing air into the high-pressure gas storage tank 10; when the arm swings backwards, the process is reversed. The first air control valve 12 is used for controlling storage of high-pressure gas, when the air pressure in the high-pressure gas storage tank 10 is reduced to a low-pressure preset value, the first air control valve 12 is opened, the high-pressure gas can be pressed into the storage tank 10 by the air compressor 5, when the air pressure in the storage tank 10 is increased back to the high-pressure preset value, the first air control valve 12 is closed, and high-pressure gas supplement is finished.
The fore-and-aft swing of the forearm of the human body drives the rocker to do the fore-and-aft swing motion through the binding band, so that the air in the compressed annular cylinder enters the air storage tank through the exhaust valve. When the air pressure in the air storage tank is higher than a preset value, the first air control valve 12 is closed, and the air inflation is stopped. When goods are conveyed, gas in the hand pressure sensing device is compressed to open the pneumatic control valve II 13, high-pressure gas in the gas storage tank is pressed into pneumatic muscles to cause the pneumatic muscles to contract to drive the arms to lift the goods, and the whole device transfers energy of arm swing to the pneumatic muscles to assist in conveying the goods.
The hand pressure sensing device 1 controls the driving of the pneumatic muscle 4. When the wearer lifts a heavy object, the hand pressure sensing device 1 is compressed, and the gas in the hand pressure sensing device 1 is pressed into the pneumatic control valve II 13 and the pneumatic control valve 14 through the hand pressure sensing device exhaust pipe 16. At this time, the second pneumatic control valve 13 is closed, the second pneumatic control valve 14 is opened, and the high-pressure gas in the high-pressure gas storage tank 10 can enter the pneumatic muscles 4 through the high-pressure gas storage tank exhaust pipe 11, the second pneumatic control valve 14 and the pneumatic muscle intake pipe 7, so that the pneumatic muscles expand and contract in length, and the upper limbs of the wearer are pulled to move, and assistance is provided for the lifting process. When the wearer puts down the heavy object, the hand pressure sensing device 1 recovers the original shape, the second pneumatic control valve 13 is opened and is closed with the valve 14, and the high-pressure gas in the pneumatic muscle 4 flows out through the pneumatic muscle exhaust pipe 15 and recovers the original shape. Before the wearer lifts the heavy object for the next time, the wearer needs to continuously swing the upper limb to supplement the high-pressure gas for the high-pressure gas storage tank 10, and then the wearer can provide the assistance for the upper limb again.
As shown in fig. 1 and 6, the shoulder-sill assembly 8 is designed in a bionic shape and can be closely attached to the shoulders of a human body, the back of the shoulder-sill assembly is connected with the shoulder-sill assembly through a hinge so as to adapt to the inward contraction and the outward expansion of the shoulders, and a soft gasket can be added in the shoulder-sill assembly to improve the wearing comfort. The manual air compressor 5 is matched with the sleeve and fixed on two sides of the shoulder ridge component 8. The forearm sleeve 2 is designed by adopting a bionic shape and can be fixed on the forearm of a human body. The forearm sleeve 2 is connected with the shoulder and ridge assembly 8 through the pneumatic muscle 4, wherein the upper end of the pneumatic muscle 4 is connected with the front side through hole of the shoulder and ridge assembly 8, and the lower end of the pneumatic muscle 4 is connected with the forearm sleeve 2 through the forearm support buckle. The high-pressure gas storage tank 10, the first pneumatic control valve 12, the second pneumatic control valve 13 and the valve 14 are fixed to the back of the shoulder sill assembly 8 through a back support. The hand pressure sensing device 1, the manual air compressor 5 and the shoulder ridge component 8 are fixed on the palm, the upper arm and the shoulder through binding bands or fastening buckles and connected, and the upper limb exoskeleton can be worn.
Referring to fig. 2, the manual air compressor assembly 5 is composed of a first inlet check valve 17, a first outlet check valve 18, a second outlet check valve 19, a second inlet check valve 20, a ring cylinder 21 and a rocker 22. The first air inlet check valve 17, the first exhaust check valve 18, the second exhaust check valve 19 and the second air inlet check valve 20 are uniformly distributed above the annular cylinder 21, and the annular cylinder 21 is matched with the U-shaped piston at the upper end of the rocker 22. The inner space of the annular cylinder 21 is divided into a first holding cavity and a second holding cavity which are symmetrical and are not communicated with each other, a first air inlet check valve 17 and a first air outlet check valve 18 are arranged on the first holding cavity, the first holding cavity is in sliding connection with the U-shaped piston, a second air outlet check valve 19 and a second air inlet check valve 20 are arranged on the second holding cavity, and the second holding cavity is in sliding connection with the U-shaped piston. The first accommodating cavity and the second accommodating cavity are both provided with limiting grooves, and the limiting effect of the U-shaped piston is achieved. The first air inlet check valve 17 and the second air inlet check valve 20 are directly connected with external air, and the first air outlet check valve 18 and the second air outlet check valve 19 are connected with the first air control valve 12 through the annular cylinder exhaust pipe 6.
As shown in fig. 3, the shoulder sill assembly 8 is composed of a left shoulder sill 23, a first hinge 24, a high-pressure gas storage tank support 25, a second hinge 26, a right shoulder sill 27 and a valve island 28. The left shoulder 23 and the right shoulder 27 are connected with the second hinge 26 through the first hinge 24 and the valve island 28. The degree of freedom of the shoulder ridge component 8 in the coronal plane can be increased through the first hinge 24 and the second hinge 26, the abduction and adduction of the exoskeleton shoulder are achieved, and the bionic design is carried out on the shoulder ridge component. The valve island 28 is fixed on the back of the shoulder bank component 8 through being connected with the first hinge 24 and the second hinge 26, the upper end of the valve island is fixed with the high-pressure gas storage tank support frame 25 through bolts, and the lower end of the valve island 28 is connected with the first pneumatic control valve 12, the second pneumatic control valve 13 and the valve 14 in series through two rods and is connected with the three valve bodies through bolts to be fixed on the valve island 28.
As shown in fig. 4, the inflow and outflow of high-pressure gas are controlled at both ends of the pneumatic muscle 4 by a pneumatic muscle inlet valve 29 and a pneumatic muscle outlet valve 30, wherein the pneumatic muscle inlet valve 29 is connected with the pneumatic muscle inlet pipe 7, and the pneumatic muscle outlet valve 30 is connected with the pneumatic muscle outlet pipe 15. The upper end of the pneumatic muscle 4 is connected with the front side through hole of the shoulder bank component 8, and the lower end is connected with the forearm sleeve 2 through the forearm support buckle 3.
Wherein, the pneumatic muscle 4 adopts pneumatic tendon DMSP5 of FESTO.
In this case, ZK-PK-3-6/3 of FESTO was used as the AND valve 14.
The passive upper limb assisting exoskeleton device capable of realizing human body energy transfer, provided by the invention, adopts a manpower air compressor consisting of the annular cylinder and the rocker, can effectively collect energy in human body upper limb swinging, and can store the energy in the high-pressure gas storage tank. When a wearer lifts heavy objects, the energy of high-pressure gas in the high-pressure gas storage tank can be transferred into pneumatic muscles, and the pneumatic muscles expand and contract to pull the forearm to swing so as to assist the wearer in realizing the lifting process. After the lifting is successful, part of the weight of the object can be transmitted to the shoulder and threshold assembly through pneumatic muscles, then transmitted to the shoulder through the shoulder and threshold assembly, and finally the shoulder bears the weight of the part of the object, so that the force applied by the arm in the process of carrying the weight is reduced.
In the whole power assisting process, the upper limb power assisting exoskeleton does not need external energy supply, and can realize the power assisting function completely through the management and the migration of the energy of the human body, so that the limitation of a power supply on the working range of the exoskeleton is eliminated. In addition, the whole exoskeleton device is driven by air pressure, and the driving device is pneumatic muscle, so that the whole exoskeleton is simple in structure and light in weight. The invention has good practicability, can be applied to the fields of military operation, rehabilitation and the like, and is worth popularizing.
The above disclosure is only for the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (5)
1. The utility model provides a can realize passive upper limbs helping hand ectoskeleton device of human energy migration, a serial communication port, including shoulder bank subassembly (8), the both sides of shoulder bank subassembly (8) are provided with manpower air compressor (5) respectively, manpower air compressor (5) are fixed through sleeve and shoulder bank subassembly (8), the preceding both sides of shoulder bank subassembly (8) are provided with pneumatic muscle (4) respectively, the lower extreme of pneumatic muscle (4) is held in the palm through the forearm and is detained (3) and fix with forearm sleeve (2), the back of shoulder bank subassembly (8) is provided with the back support, be provided with the pneumatic control system on the back support, the pneumatic control system is connected with pneumatic muscle (4), manpower air compressor (5) and hand pressure sensing device (1) respectively, hand pressure sensing device (1), manpower air compressor (5), The shoulder ridge component (8) is fixedly worn on the palm, the upper arm and the shoulder through a bandage or a fastening buckle respectively; the manual air compressor (5) comprises an annular cylinder (21) and a rocker (22), the upper end of the annular cylinder (21) is uniformly provided with a first air inlet check valve (17), a first air outlet check valve (18), a second air outlet check valve (19) and a second air inlet check valve (20) in sequence, the second air inlet check valve (20) and the first air inlet check valve (17) are communicated with the external air, the first exhaust check valve (18) and the second exhaust check valve (19) are respectively connected with the multi-way through hole of the third flow divider, the single-way through hole of the third flow divider is connected with the annular cylinder exhaust pipe (6), the other end of the annular cylinder exhaust pipe (6) is connected with a first pneumatic control valve (12), the rocker (22) comprises a connecting rod and a U-shaped piston fixed at the top end of the connecting rod, the U-shaped piston is connected with the annular cylinder (21) in a sliding manner, and a binding belt fixed with the upper arm is arranged on the connecting rod; the annular cylinder (21) comprises a semi-annular cylinder body (2101), a first containing cavity (2102) and a second containing cavity (2109) are symmetrically arranged in the cylinder body (2101), a second limit groove (2108) is arranged in the middle of the second accommodating cavity (2109), one end of the second accommodating cavity (2109) far away from the open end of the cylinder body (2101) is respectively provided with a second air inlet hole (2107) and a second air outlet hole (2106), the second exhaust hole (2106) is communicated with the second exhaust check valve (19), the second air inlet hole (2107) is communicated with the second air inlet check valve (20), a first limit groove (2103) is arranged in the middle of the first accommodating cavity (2102), one end of the first accommodating cavity (2102) far away from the open end of the cylinder body (2101) is respectively provided with a first air inlet hole (2104) and a first air outlet hole (2105), the first exhaust hole (2105) is communicated with the first exhaust check valve (18), and the first air inlet hole (2104) is communicated with the first air inlet check valve (17).
2. The passive upper limb assistance exoskeleton device capable of realizing human body energy migration according to claim 1, wherein the shoulder bank component (8) comprises a left shoulder bank (23), a first hinge (24), a high-pressure gas storage tank support frame (25), a second hinge (26), a right shoulder bank (27) and a valve island (28), the left shoulder bank (23) and the right shoulder bank (27) are connected through the second hinge (26), the first hinge (24) and the valve island (28) respectively, the high-pressure gas storage tank support frame (25) is fixed above the valve island (28), two vertical rods are arranged on the lower end face of the valve island (28), and a first fixed pneumatic control valve (12), a second pneumatic control valve (13) and a valve (14) are sequentially arranged on the vertical rods in a penetrating manner.
3. The passive upper limb assisting exoskeleton device capable of realizing human body energy transfer as claimed in claim 2, wherein the shoulder-ridge component (8) adopts a bionic shape design to be closely attached to the shoulders of the human body, a pad for increasing wearing comfort is arranged inside the shoulder-ridge component, and the pad is made of sponge or memory cotton.
4. The passive upper limb assistance exoskeleton device capable of realizing human energy transfer is characterized in that a pneumatic control system comprises a high-pressure gas storage tank (10) fixed with a back support, both ends of the high-pressure gas storage tank (10) are respectively connected with an air inlet pipe (9) and an air outlet pipe (11), the air outlet pipe (11) is respectively connected with a first pneumatic control valve (12) and a valve (14) through a first flow divider, the air inlet pipe (9) is connected with the first pneumatic control valve (12), the pneumatic muscle (4) is connected with the valve (14) through a first pneumatic muscle air inlet pipe (7), a pneumatic muscle air outlet pipe (15) is connected with a second pneumatic control valve (13), the second pneumatic control valve (13) and the valve (14) are respectively connected with multi-way ports of the second flow divider, and a single-way port of the second flow divider is connected with an air outlet pipe (16) of a hand pressure sensing device, the other end of the hand pressure sensing device exhaust pipe (16) is connected with the hand pressure sensing device (1).
5. The passive upper limb assisting exoskeleton device capable of realizing human body energy transfer as claimed in claim 1, wherein the hand pressure sensing device (1) adopts an air bag.
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| CN201810707571.7A CN108789373B (en) | 2018-07-02 | 2018-07-02 | Passive upper limb assistance exoskeleton device capable of realizing human body energy transfer |
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| CN201810707571.7A CN108789373B (en) | 2018-07-02 | 2018-07-02 | Passive upper limb assistance exoskeleton device capable of realizing human body energy transfer |
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| TR201909434A2 (en) * | 2019-06-25 | 2021-01-21 | Goekhan Bursoy | Wearable Force Support System for Upper Limbs |
| CN113319824B (en) * | 2021-06-01 | 2022-06-24 | 西安航空学院 | Flexible exoskeleton with energy clutch management device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7703562B2 (en) * | 2007-05-25 | 2010-04-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | Energy efficient robotic system |
| US10231851B2 (en) * | 2014-08-29 | 2019-03-19 | Conor J. MADDRY | Pneumatic electromyographic exoskeleton |
| CN104523405A (en) * | 2014-12-05 | 2015-04-22 | 中国康复研究中心 | Energy storing type front-mounted rigid bracket walking aided exoskeleton |
| CN105415353B (en) * | 2016-01-26 | 2018-01-30 | 哈尔滨工业大学 | A kind of Pneumatic power-assisted device Arm structure |
| CN107084161A (en) * | 2016-02-14 | 2017-08-22 | 范红兵 | A kind of robot energy storage servomechanism |
| TWI584801B (en) * | 2016-04-15 | 2017-06-01 | 龍華科技大學 | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training |
| CN107042504B (en) * | 2017-04-06 | 2023-10-20 | 杭州程天科技发展有限公司 | Jump-increasing mechanical exoskeleton system with energy recycling function and jump-increasing method thereof |
| CN107049711B (en) * | 2017-06-20 | 2019-06-21 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
| CN107242959B (en) * | 2017-06-26 | 2023-11-17 | 上海理工大学 | Unpowered walking booster |
| CN107984461A (en) * | 2017-12-06 | 2018-05-04 | 哈尔滨工业大学 | Towards the pneumatic upper limb assistance exoskeleton robot for carrying work |
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