CN108789382B - Portable upper limb power-assisted passive exoskeleton robot - Google Patents
Portable upper limb power-assisted passive exoskeleton robot Download PDFInfo
- Publication number
- CN108789382B CN108789382B CN201810955671.1A CN201810955671A CN108789382B CN 108789382 B CN108789382 B CN 108789382B CN 201810955671 A CN201810955671 A CN 201810955671A CN 108789382 B CN108789382 B CN 108789382B
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- China
- Prior art keywords
- supporting unit
- support
- energy accumulator
- connecting rope
- upper limb
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 14
- 230000001154 acute effect Effects 0.000 claims abstract description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005303 weighing Methods 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a portable upper limb power-assisted passive exoskeleton robot which comprises a first supporting unit and a second supporting unit, wherein the first end of the first supporting unit is fixed on a human body trunk, the second end of the first supporting unit is hinged with the first end of the second supporting unit, an arm support is arranged at the second end of the second supporting unit, the first supporting unit forms an acute angle relative to the second supporting unit to form a power-assisted station, and the first supporting unit forms an obtuse angle relative to the second supporting unit to form a non-power-assisted station. The invention has at least the following advantages: the human body large arm strength can be effectively reduced, and the influence of the arm power-assisted exoskeleton on human body movement interference in a non-working state is reduced.
Description
Technical Field
The invention relates to the technical field of power-assisted robots, in particular to a portable upper limb power-assisted passive exoskeleton robot.
Background
In the field of exoskeletons, there are cases of passive support devices that are mounted on the torso of a person to provide arm support torque, but these cases still have significant limitations. For example, the passive support device described above cannot automatically cut or greatly reduce the support moment when the wearer intends to rest his or her upper arm, nor can it provide the function of automatically reducing the support moment. The above problems can result in passive support devices that inhibit movement of the wearer and cause discomfort to the wearer when the wearer does not need support or is in a non-working position.
Disclosure of Invention
The invention aims to solve the technical problem of providing a portable upper limb power-assisted passive exoskeleton robot which can effectively reduce the large arm strength of a human body and reduce the influence of the arm power-assisted exoskeleton on the movement interference of the human body in a non-working state.
In order to solve the technical problems, the invention provides a portable upper limb power-assisted passive exoskeleton robot which comprises a first supporting unit and a second supporting unit, wherein the first end of the first supporting unit is fixed on a human body trunk, the second end of the first supporting unit is hinged with the first end of the second supporting unit, an arm support is arranged at the second end of the second supporting unit, the first supporting unit forms an acute angle relative to the second supporting unit to form a power-assisted station, and the first supporting unit forms an obtuse angle relative to the second supporting unit to form a non-power-assisted station.
Further, the first support unit comprises a first support arm and an offset adjuster which is arranged on the first support arm and fixedly connected with the human body trunk, an adjusting pin is arranged on the offset adjuster, and the adjusting pin is used for adjusting the inclination of the first support arm relative to the offset adjuster.
Further, the offset adjuster is horizontally disposed.
Further, the second support unit comprises a second support arm, an energy accumulator and a connecting rope, wherein the energy accumulator and the connecting rope are arranged in the second support arm, the first end of the connecting rope is arranged on the energy accumulator, the second end of the connecting rope is arranged on the first support unit, and the energy accumulator drives the connecting rope to move along the extension direction of the second support arm.
Further, a roller is arranged at the second end of the second supporting arm, and the connecting rope is led out from one end of the energy accumulator, which is far away from the first supporting unit, so as to be wrapped on the roller and folded back to the first supporting unit.
Further, an end frame adjusting shaft for adjusting the position of the connecting rope is arranged on the first supporting unit, and the connecting rope is fixedly arranged on the end frame adjusting shaft.
Further, the second supporting arm is provided with a containing groove for containing the energy accumulator, and the side wall of the containing groove is provided with an energy accumulator adjusting shaft for adjusting the position of the energy accumulator.
Further, a connecting pin shaft is arranged at the joint of the first supporting unit and the second supporting unit.
Further, a cam for abutting against or separating the connecting rope is arranged on the connecting pin shaft.
By means of the technical scheme, the invention has at least the following advantages: by arranging the first supporting unit and the second supporting unit, when the device is in a working state, the first supporting unit and the second supporting unit form an acute angle to form a power assisting station, so that an upper arm supporting moment can be provided for a wearer, and the torque required by the shoulders of the wearer is reduced; when the support device is in a non-working state, the first support unit and the second support unit form an obtuse angle to form a non-power-assisted station, so that the support moment can be well reduced, and the upper arm of a wearer is not hindered from resting; the two states are free to switch and have strong adaptability.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the booster station angle of the present invention;
FIG. 3 is a schematic view of the booster station of the present invention;
FIG. 4 is a simplified force-bearing diagram of a booster station of the present invention;
FIG. 5 is a schematic view of the non-assisted station angle of the present invention;
FIG. 6 is a schematic view of the non-power assisted station configuration of the present invention;
FIG. 7 is a simplified non-assisted station force diagram of the present invention.
In the above figures: 1. an arm support; 2. a first support arm; 3. an offset adjuster; 4. an adjusting pin; 5. a second support arm; 6. an energy storage; 7. a connecting rope; 8. a roller; 9. an end frame adjusting shaft; 10. a receiving groove; 11. an accumulator adjustment shaft; 12. a connecting pin shaft; 13. a cam; 14. acute angle; 15. obtuse angle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
The invention discloses a portable upper limb power-assisted passive exoskeleton robot, which is shown in combination with fig. 1, and comprises a first supporting unit and a second supporting unit, wherein the first end of the first supporting unit is fixed on a human body trunk, the second end of the first supporting unit is hinged with the first end of the second supporting unit, and the second end of the second supporting unit is provided with an arm support 1. The first support unit comprises a first support arm 2 and an offset adjuster 3 which is arranged on the first support arm 2 and fixedly connected with the human body trunk, wherein an adjusting pin 4 is arranged on the offset adjuster 3, and the adjusting pin 4 is used for adjusting the inclination of the first support arm 2 relative to the offset adjuster 3. The second support unit comprises a second support arm 5, an energy accumulator 6 and a connecting rope 7, wherein the energy accumulator 6 and the connecting rope 7 are arranged in the second support arm 5, the first end of the connecting rope 7 is arranged on the energy accumulator 6, the second end of the connecting rope is arranged on the first support unit, and the energy accumulator 6 drives the connecting rope 7 to move along the extending direction of the second support arm 5. By providing the first support unit and the second support unit, when in an operating state, the first support unit and the second support unit form an acute angle 14 to form a power assisting station, an upper arm support moment can be provided for a wearer, and the torque required by the shoulders of the wearer is reduced; when the support device is in a non-working state, the first support unit and the second support unit form an obtuse angle 15 to form a non-power-assisted station, so that the support moment can be well reduced, and the upper arm of a wearer is not hindered from resting; the two states are free to switch and have strong adaptability.
In the invention, the first supporting unit is provided with an end frame adjusting shaft 9 for adjusting the position of the connecting rope 7, and the connecting rope 7 is fixedly arranged on the end frame adjusting shaft 9. In the present invention, the offset adjuster 3 is preferably disposed horizontally. The second end of the second supporting arm 5 is provided with a roller 8, and the connecting rope 7 is led out from one end of the energy accumulator 6 far away from the first supporting unit to be wrapped on the roller 8 and folded back to the first supporting unit.
In the invention, the second supporting arm 5 is provided with a containing groove 10 for containing the energy accumulator 6, and the side wall of the containing groove 10 is provided with an energy accumulator adjusting shaft 11 for adjusting the position of the energy accumulator 6. The connecting pin shaft 12 is arranged at the joint of the first supporting unit and the second supporting unit, and the connecting pin 12 is provided with a cam 13 for abutting against or separating the connecting rope.
Referring to fig. 2 to 4, the first support unit forms an acute angle 14 with respect to the second support unit to form a booster station, which can provide an upper arm support moment to the wearer and reduce the torque required by the shoulders of the wearer. Specifically, if the wearer's arm is under force at this time, the connection portion between the first support arm 2 and the torso is subjected to a downward force F1, and the connection pin 12 is used as a rotation analysis moment, the energy accumulator 6 transmits the force F2 to the connection rope 7, and at this time, the force F2 acted by the energy accumulator 6 multiplies the moment to form a power-assisted torque M2, so as to offset the weighing torque M1 formed by the portion F1. Referring to fig. 5 to 7, the first supporting unit forms an obtuse angle 15 with respect to the second supporting unit to form a non-power assisting station, so that the supporting moment can be reduced well, and the upper arm rest of the wearer is not hindered. In particular, at this point the force F2 is unchanged, the L2 becomes the radius of the cam 13, the moment M2 formed is substantially zero, and the wearer can be allowed to rest.
The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. The portable upper limb power-assisted passive exoskeleton robot is characterized by comprising a first supporting unit and a second supporting unit, wherein the first end of the first supporting unit is fixed on a human body trunk, the second end of the first supporting unit is hinged with the first end of the second supporting unit, an arm support is arranged at the second end of the second supporting unit, the first supporting unit forms an acute angle relative to the second supporting unit to form a power-assisted station, and the first supporting unit forms an obtuse angle relative to the second supporting unit to form a non-power-assisted station;
The first support unit comprises a first support arm and an offset adjuster which is arranged on the first support arm and fixedly connected with the human body trunk, and an adjusting pin is arranged on the offset adjuster and used for adjusting the inclination of the first support arm relative to the offset adjuster; the second support unit comprises a second support arm, an energy accumulator and a connecting rope, wherein the energy accumulator and the connecting rope are arranged in the second support arm, the first end of the connecting rope is arranged on the energy accumulator, the second end of the connecting rope is arranged on the first support unit, and the energy accumulator drives the connecting rope to move along the extension direction of the second support arm.
2. The portable upper limb assist passive exoskeleton robot of claim 1 wherein the offset adjuster is horizontally disposed.
3. The portable upper limb assist passive exoskeleton robot of claim 1 wherein the second end of the second support arm is provided with a roller, and the connecting rope is led out from the end of the energy accumulator away from the first support unit to be wrapped on the roller and folded back to the first support unit.
4. The portable upper limb assistance passive exoskeleton robot of claim 1, wherein the first support unit is provided with an end frame adjusting shaft for adjusting the position of the connecting rope, and the connecting rope is fixedly arranged on the end frame adjusting shaft.
5. The portable upper limb power-assisted passive exoskeleton robot of claim 1, wherein the second support arm is provided with a holding groove for holding the energy accumulator, and the side wall of the holding groove is provided with an energy accumulator adjusting shaft for adjusting the position of the energy accumulator.
6. The portable upper limb assistance passive exoskeleton robot of claim 1, wherein the connection of the first support unit and the second support unit is provided with a connection pin.
7. The portable upper limb assist passive exoskeleton robot of claim 6 wherein the connection pin is provided with a cam for abutting or separating the connection rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955671.1A CN108789382B (en) | 2018-08-21 | 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 | 2018-08-21 | Portable upper limb power-assisted passive exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789382A CN108789382A (en) | 2018-11-13 |
| CN108789382B true CN108789382B (en) | 2024-04-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810955671.1A Active CN108789382B (en) | 2018-08-21 | 2018-08-21 | Portable upper limb power-assisted passive exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789382B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654453B (en) * | 2022-05-06 | 2024-08-20 | 湖南固工机器人有限公司 | Exoskeleton wearable shoulder booster device |
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 |
-
2018
- 2018-08-21 CN CN201810955671.1A patent/CN108789382B/en active Active
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108789382A (en) | 2018-11-13 |
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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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