CN108789382A - A kind of portable passive exoskeleton robot of upper limb power-assisted - Google Patents
A kind of portable passive exoskeleton robot of upper limb power-assisted Download PDFInfo
- Publication number
- CN108789382A CN108789382A CN201810955671.1A CN201810955671A CN108789382A CN 108789382 A CN108789382 A CN 108789382A CN 201810955671 A CN201810955671 A CN 201810955671A CN 108789382 A CN108789382 A CN 108789382A
- Authority
- CN
- China
- Prior art keywords
- support
- support unit
- assisted
- upper limb
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 16
- 230000001154 acute effect Effects 0.000 claims abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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 kind of portable passive exoskeleton robots of upper limb power-assisted, including the first support unit and the second support unit, the first end of first support unit is fixed on trunk, second end is hinged the first end of second support unit, the second end of second support unit is provided with arm support, relatively described second support unit of first support unit forms acute angle to constitute power-assisted station, and relatively described second support unit of first support unit forms obtuse angle to constitute non-power-assisted station.The present invention has at least the following advantages：It can effectively reduce human body large arm strength, when reducing off working state, influence that arm powered ectoskeleton interferes human motion.
Description
Technical field
The present invention relates to power-assisting robot technical field more particularly to a kind of passive ectoskeleton machines of portable upper limb power-assisted
People.
Background technology
In ectoskeleton field, the existing passive support equipment case that arm support torque is provided on trunk,
But above-mentioned case still has larger limitation.Passive support equipment as escribed above intends the upper of oneself of resting in wearer
When arm, support torque cannot be cut down or substantially reduced automatically, and the support function that torque reduces automatically can not be provided.The above problem
When then can cause wearer that need not support or when inoperative posture, passive support equipment can inhibit wearer motion and so that wear
Wearer generates uncomfortable.
Invention content
The technical problem to be solved in the present invention is to provide a kind of portable passive exoskeleton robots of upper limb power-assisted, can
Effectively reduce human body large arm strength, when reducing off working state, influence that arm powered ectoskeleton interferes human motion.
In order to solve the above technical problem, the present invention provides a kind of portable passive exoskeleton robot of upper limb power-assisted,
Including the first support unit and the second support unit, the first end of first support unit is fixed on trunk, second
The first end of hinged second support unit in end, the second end of second support unit are provided with arm and support, and described first
Support unit second support unit relatively forms acute angle to constitute power-assisted station, first support unit relatively described the
Two support units form obtuse angle to constitute non-power-assisted station.
Further, first support unit include the first support arm, be arranged on first support arm and with institute
The offset adjuster that trunk is fixedly connected is stated, adjustment pin is provided on the offset adjuster, the adjustment pin is for adjusting
Save the gradient of the relatively described offset adjuster of first support arm.
Further, the offset adjuster is horizontally disposed.
Further, second support unit include the second support arm, the energy storage that is arranged in second support arm
Device and connecting rope, the connecting rope first end is arranged on the accumulator, second end is arranged on first support unit,
The accumulator drives the connecting rope to move along the second support arm extending direction.
Further, the second end of second support arm is provided with idler wheel, and the connecting rope is separate by the accumulator
First support unit one end is drawn and is attached on the idler wheel with wrapping up in, and turns back to first support unit.
Further, the end-rack adjustment axis for adjusting the connecting rope position is provided on first support unit,
The connecting rope is fixed in the end-rack adjustment axis.
Further, the storage tank for housing the accumulator, the storage tank are opened on second support arm
Side wall on be provided with accumulator adjustment axis for adjusting accumulator position.
Further, the junction of first support unit and the second support unit is provided with connection axis pin.
Further, the cam for abutting or detaching the connecting rope is provided on the connection axis pin.
By above-mentioned technical proposal, the present invention has at least the following advantages：By being provided with the first support unit and second
Support unit, when in running order, first support unit and second support unit form acute angle and are helped with constituting
Power station can provide upper arm to wearer and support torque, reduce torque needed for wearer's shoulder；When in off working state
When, first support unit and second support unit form obtuse angle to constitute non-power-assisted station, can preferably reduce
Torque is supported, the upper arm of wearer is not hindered to rest；The switching of above two state is freely, adaptable.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the power-assisted station angle schematic diagram of the present invention；
Fig. 3 is the power-assisted station structure schematic diagram of the present invention；
Fig. 4 is the power-assisted station stress sketch of the present invention；
Fig. 5 is the non-power-assisted station angle schematic diagram of the present invention；
Fig. 6 is the non-power-assisted station structure schematic diagram of the present invention；
Fig. 7 is the non-power-assisted station stress sketch of the present invention.
In the figures above：1, arm supports；2, the first support arm；3, offset adjuster；4, adjustment pin；5, the second support arm；6,
Accumulator；7, connecting rope；8, idler wheel；9, end-rack adjustment axis；10, storage tank；11, accumulator adjustment axis；12, axis pin is connected；13,
Cam；14, acute angle；15, obtuse angle.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
In conjunction with shown in Fig. 1, the invention discloses a kind of portable passive exoskeleton robots of upper limb power-assisted, including first
Support unit and the second support unit, the first end of first support unit is fixed on trunk, second end is hinged described
The second end of the first end of second support unit, second support unit is provided with arm support 1.The first support unit packet
The offset adjuster 3 for including the first support arm 2, being arranged on first support arm 2 and being fixedly connected with the trunk, institute
It states and is provided with adjustment pin 4 on offset adjuster 3, the adjustment pin 4 is adjusted for adjusting first support arm 2 relative to the offset
Save the gradient of device 3.The accumulator that second support unit includes the second support arm 5, is arranged in second support arm 5
6 and connecting rope 7,7 first end of the connecting rope is arranged on the accumulator 6, second end is arranged in first support unit
On, the accumulator 6 drives the connecting rope 7 to move along 5 extending direction of the second support arm.By being provided with the first support
Unit and the second support unit, when in running order, first support unit and second support unit form sharp
Angle 14 can provide upper arm to wearer and support torque, reduce torque needed for wearer's shoulder to constitute power-assisted station；When in
When off working state, first support unit and second support unit form obtuse angle 15 to constitute non-power-assisted station, energy
It is enough preferably to reduce support torque, do not hinder the upper arm of wearer to rest；The switching of above two state is freely, adaptable.
In the present invention, the end-rack adjustment axis for adjusting 7 position of the connecting rope is provided on first support unit
9, the connecting rope 7 is fixed in the end-rack adjustment axis 9.In the present invention, preferably described 3 level of offset adjuster is set
It sets.The second end of second support arm 5 is provided with idler wheel 8, and the connecting rope 7 is by the accumulator 6 far from described first
Support unit one end, which is drawn, to be attached to wrapping up on the idler wheel 8, and is turned back to first support unit.
In the present invention, the storage tank 10 for housing the accumulator 6, the appearance are opened on second support arm 5
Set the accumulator adjustment axis 11 being provided on the side wall of slot 10 for adjusting 6 position of accumulator.First support unit and
The junction of two support units, which is provided with, connects axis pin 12, the connecting pin, is provided on 12 for abutting or detaching the company
The cam 13 of splicing.
In conjunction with shown in Fig. 2 to Fig. 4, relatively described second support unit of first support unit forms acute angle 14 to constitute
Power-assisted station can provide upper arm to wearer and support torque, reduce torque needed for wearer's shoulder.If specifically dressing at this time
Person's large arm stress, first support arm 2 and trunk junction F1 forced downwards are rotation point to connect axis pin 12
Torque is analysed, the accumulator 6 conducts power F2 to connecting rope 7, and the power F2 acted at this time by accumulator 6 is multiplied by torque and can be formed
One booster torquemoment M2, for offsetting the torque M1 that weighs of part F1 formation.In conjunction with shown in Fig. 5 to Fig. 7, first support is single
Relatively described second support unit of member forms obtuse angle 15 to constitute non-power-assisted station, can preferably reduce support torque, not hinder
The upper arm of wearer is hindered to be rested.Specifically power F2 is constant at this time, and L2 becomes the radius of cam 13, is formed by torque M2 and is essentially
Zero, and then enable to wearer that can be rested.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (9)
1. a kind of portable passive exoskeleton robot of upper limb power-assisted, which is characterized in that including the first support unit and second
Unit is supportted, the first end of first support unit is fixed on trunk, second end is hinged second support unit
The second end of first end, second support unit is provided with arm support, relatively described second support of first support unit
Unit forms acute angle to constitute power-assisted station, and relatively described second support unit of first support unit forms obtuse angle to constitute
Non- power-assisted station.
2. the portable passive exoskeleton robot of upper limb power-assisted as described in claim 1, which is characterized in that first support
The offset adjusted that unit includes the first support arm, is arranged on first support arm and is fixedly connected with the trunk
Device is provided with adjustment pin on the offset adjuster, and the adjustment pin is for adjusting first support arm relative to the offset
The gradient of adjuster.
3. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 2, which is characterized in that the offset adjusted
Device is horizontally disposed.
4. the portable passive exoskeleton robot of upper limb power-assisted as described in claim 1, which is characterized in that second support
The accumulator and connecting rope, the connecting rope first end that unit includes the second support arm, is arranged in second support arm are set
Set on the accumulator, second end be arranged on first support unit, the accumulator prolongs along second support arm
Length direction drives the connecting rope movement.
5. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that second support
The second end of arm is provided with idler wheel, and the connecting rope is drawn by the accumulator far from first support unit one end attached to wrap up in
On the idler wheel, and turn back to first support unit.
6. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that first support
The end-rack adjustment axis for adjusting the connecting rope position is provided on unit, the connecting rope is fixed at the end-rack tune
On nodal axisn.
7. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that second support
It is opened in the storage tank for housing the accumulator on arm, is provided on the side wall of the storage tank for adjusting accumulator position
The accumulator adjustment axis set.
8. the portable passive exoskeleton robot of upper limb power-assisted as described in claim 1, which is characterized in that first support
The junction of unit and the second support unit is provided with connection axis pin.
9. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 8, which is characterized in that the connection axis pin
On be provided with cam for abutting or detaching the connecting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955671.1A CN108789382B (en) | 2018-08-21 | Portable upper limb power-assisted passive exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955671.1A CN108789382B (en) | 2018-08-21 | Portable upper limb power-assisted passive exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789382A true CN108789382A (en) | 2018-11-13 |
| CN108789382B CN108789382B (en) | 2024-04-26 |
Family
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107835675A (en) * | 2015-05-18 | 2018-03-23 | 加利福尼亚大学董事会 | Method and apparatus for human arm supporting ectoskeleton |
| CN208744819U (en) * | 2018-08-21 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107835675A (en) * | 2015-05-18 | 2018-03-23 | 加利福尼亚大学董事会 | Method and apparatus for human arm supporting ectoskeleton |
| CN208744819U (en) * | 2018-08-21 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Applicant after: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Address before: 215100 F003 workstation, 3rd floor, 58 South Tiancheng Road, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Applicant before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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Effective date of registration: 20210831 Address after: 215100 room d306, South third floor, huanxiuhu building (formerly Yicheng Horticulture), high speed railway new town, Xiangcheng District, Suzhou, Jiangsu Province Applicant after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Applicant before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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| GR01 | Patent grant |