CN109571435A - A kind of shoulder power-assisted lifts ectoskeleton - Google Patents
A kind of shoulder power-assisted lifts ectoskeleton Download PDFInfo
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- CN109571435A CN109571435A CN201811484395.1A CN201811484395A CN109571435A CN 109571435 A CN109571435 A CN 109571435A CN 201811484395 A CN201811484395 A CN 201811484395A CN 109571435 A CN109571435 A CN 109571435A
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- main casing
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- bearing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
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Abstract
A kind of shoulder power-assisted lifts ectoskeleton, including power-assisted module, power transmission module and main body link block, main body link block includes the corset for being worn on waist and size adjustable, the shoulder belt of size adjustable is fixedly connected with corset, corset back is vertical with lower adjustable plate to be fixedly connected, lower connecting plate is fixedly connected with main connecting plate is adjusted, and main body link block is primarily subjected to whole lift power；The position of first connecting rod and second connecting rod in power transmission module is alterable, can transmit and lift power, expands the movable range of shoulder, meets the needs of head movement flexibility；Power-assisted module includes main casing, is arranged in main casing and ties up tool as the cam-type spring energy-storage module of power-assisted and the upper arm being fixedly connected on main casing pedestal, upper arm ties up the upper arm that tool is fixed on user, power-assisted module, which can be realized adaptively, carries out power-assisted to shoulders of human body, and freely swing no influence between chest nonclient area below on arm, have the characteristics that flexibility height, non-resistance, light easily wear.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of shoulder power-assisted lifts ectoskeleton.
Background technique
In operative scenarios such as factory, warehouses, worker is needed to lift weight for a long time.Repeated upper limb operation easily causes
Upper limb skeletal muscle illness；It manually lifts weight and prolonged stand is easy to cause back pain and cirsoid generation.Shoulder
Portion's ectoskeleton can provide the support of shoulder portion, and when worker lifts weight, it can effectively reduce shoulder stress and make user
It can work long hours, reduce the damage of worker's shoulder muscle.
Existing upper limb ectoskeleton mostly provides power with motor, hydraulic etc., and is mainly used in rehabilitation field.It is existing dynamic
Power upper limb ectoskeleton is mainly by adding motor in joints such as shoulders, to play the role of power-assisted to arm.But the drive of motor
Under flowing mode, ectoskeleton is whole heavy, continues a journey low, therefore mainly apply to the upper limb healing of fixed position.And it is led in industry
Domain does not need the big power-assisted of the offers such as motor, can pass through the passive devices such as spring, hydraulic stem when repetition upper limb lifts operation
Power-assisted is carried out to human body.U.S.'s associated companies devise a kind of shoulder ectoskeleton, and the operating space more than chest is to people's shoulder
Power-assisted is played, mainly by the mode of spring energy-storage, but shoulder freedom degree is single, reduces the flexibility of shoulder joint；And in non-work
Under operation mode, for arm below chest when space operation, ectoskeleton still has a strong effect arm, affects the normal of wearer
Activity.
Therefore existing wearable shoulder, which lifts the problem of ectoskeleton is primarily present, is:
1, existing upper limb ectoskeleton is mostly based on power drive, and the heaviness of dynamical type upper limb ectoskeleton, continuation of the journey are short etc., unfavorable
The wearing of worker uses in industrial circle.
2, ectoskeleton freedom degree is single, and scope of activities is more limited to, and it is flexible that mainly it is impossible to meet human bodies at shoulder joint
The needs of movement.
3, under non-operating mode or when wearer's arm bottom, ectoskeleton generates resistance to arm, interferes wearer's
Normal activity.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose that a kind of shoulder power-assisted lifts dermoskeleton
Bone can be improved the flexibility of movement, and adaptivity carries out power-assisted to people and will not generate resistance to arm, have flexibility
Height, non-resistance, light the characteristics of easily wearing.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of shoulder power-assisted lifts ectoskeleton, including power-assisted module, power transmission module and main body link block；
The main body link block includes the corset 1 for being worn on waist and size adjustable, the shoulder belt 7 and corset of size adjustable
1 is fixedly connected, and 1 back of corset is vertical with lower adjustable plate 2 to be fixedly connected, and lower connecting plate 2 fixes company with main connecting plate 3 is adjusted
It connects, the top of main connecting plate 3 is fixedly connected with pipe limit base 11, and pipe limit base 11 is symmetrical set；
The power transmission module include with the main casing lid 9 of power-assisted module rotation connection first connecting rod 6, first connecting rod 6 two
End face is provided with square groove, and the square protrusion of axis connection block 23 is inserted in one of in square groove fixed, the insertion axis connection of connecting shaft 24
It is fixed in block 23, in another square groove of the square column protrusion insertion first connecting rod 6 of intermediate mass 22 and it is fixedly connected, two planes
Bearing 20 is respectively embedded into the two sides circular groove of intermediate mass 22, and the another side of two plane bearings 20 is respectively embedded into lower capping 21
In the circular groove being provided with upper capping 19, lower capping 21 is fixedly connected with two circular holes of upper capping 19, is connected with forming first
The relative rotation of bar 6 and second connecting rod 5, it is upper capping 19, intermediate mass 22, it is lower capping 21 through-hole in insertion pin limited, under
It in the square groove of the square column protrusion insertion second connecting rod 5 of capping 21 and is fixedly connected, the rectangle protrusion of 18 tail portions of lower capping is inserted
Entering in the hole of 5 end of second connecting rod and fixes, two plane bearings 17 are respectively embedded into the two sides circular groove of linear slider 14, and two
The another side of a plane bearing 17 is respectively embedded into the circular groove that lower capping 18 and upper capping 16 are provided with, lower capping 18 and upper envelope
Lid 16 is fixedly connected, and is inserted into pin in the lower intermediate throughholes for covering 18, plane bearing 17, linear slider 14 and upper capping 16, with
Form the relative rotation of linear slider 14 and lower capping 18；14 one side of linear slider for being provided with through-hole is opened there are two circular trough,
Installation is provided with the linear bearing 13 of through-hole in circular trough, and guide pipe 15 passes through through-hole and is slidably connected with it, guide pipe 15 two ends
It is fixed that insertion tube limit base 11 is distinguished in face；
The power-assisted module includes consolidating the main casing constituted by main casing lid 9 and main casing pedestal 8, being arranged in main casing and make
Tool 10 is tied up for the cam-type spring energy-storage module of power-assisted and the upper arm that is fixedly connected on main casing pedestal 8, upper arm ties up 10 sizes of tool
Upper arm adjustable and that user is snugly fixed on by bandage.
The cam-type spring energy-storage module includes the pipe fixing seat 34 being arranged in inside main casing, pipe fixing seat 34 and master
Shell pedestal 8 is fixedly connected, and the wide face of pipe fixing seat 34 is driveed there are two hole, in the hole of 32 one end insertion tube fixing seat 34 of spring guide
Fixed, in the hole that 32 other end of spring guide insertion sliding block 31 opens up, the distance that spring guide 32 slides in hole is greater than energy storage
The deformation quantity of spring 33,33 sets of energy-stored spring on spring guide 32, and without interference, first bearing between two energy-stored springs 33
Capping 28 and second bearing capping 30 are oppositely arranged and consolidate with sliding block 31, first bearing capping 28 and second bearing capping 30
Driven bearing 29 is inserted into limit its movement from two sides by cylindrical projection thereon, and the opposite first bearing of driven bearing 29 covers
28 and second bearing capping 30 protrusion rotation；Driven bearing 29 is contacted with cam 26, and 26 one end of cam is provided with circular hole, can be placed in
On the protruding column of main casing pedestal 8, and contacted by plane bearing 25 with main casing pedestal 8, the square hole that 26 other end of cam is provided with
The cylindrical body of interior placement connecting shaft 24, spindle 24 is inserted into the circular hole of main casing lid 9, and passes through the plane bearing 27 and main casing of connection
Lid 9 contacts.
The lower adjustable plate 2 is provided with circular hole, and main connecting plate 3 is adjusted and is provided with circular hole corresponding with lower adjustable plate 2, lowers
It saves plate 2 and is adjusted between main connecting plate 3 and be bolted to connection, the position change lower connecting plate 2 of circular hole consolidation is adjusted
With the entire length that main connecting plate 3 is adjusted, to meet the wearing demand of different height wearers.
Bearing cap 12 is fixed in the linear slider 14, bearing cap 12 is located at the side of linear bearing 13, to straight line
Bearing 13 is limited.
Capsule 4 is fixed on the main connecting plate 3, capsule 4 is provided with strip slot in order to which linear slider 14 is transported in it
It is dynamic.
The main casing inner space height and 34 height phase of pipe fixing seat that the main casing lid 9, the consolidation of main casing pedestal 8 are constituted
Together, to limit pipe fixing seat 34 in the intracorporal change in location of main casing.
The main casing inner space height that the main casing lid 9, the consolidation of main casing pedestal 8 are constituted is identical as 31 height of sliding block, with
Limitation sliding block 31 can only be slided in main casing.
It is the curved-surface structure for meeting ergonomics that the upper arm, which ties up tool 10, and upper arm is tied up and is provided with circular hole on tool 10, passes through bolt
It is fixedly connected with main casing pedestal 8.
The present invention is mainly held using main body link block, power transmission module and the big module of power-assisted module three, main body link block
Power is lifted by entirety, the wearing of wearer can be facilitated；The position of first connecting rod and second connecting rod in power transmission module is variable
Change, can transmit and lift power, while expand the movable range of shoulder, meet the needs of head movement flexibility；In power-assisted module
The main casing that main casing pedestal and main casing lid consolidation are constituted can be rotated relative to first connecting rod, be capable of increasing scope of activities, increased
The flexibility of movement；Power-assisted module, which can be realized adaptively, carries out power-assisted to shoulders of human body, and in chest non-work below
Make section, freely swings no influence on arm.
Further, the cam-type spring energy-storage module in main casing as power-assisted is set in power-assisted module, it can be with
Spring is power assist element, lifts space more than chest, and the power-assisted to shoulder is realized by the energy storage and release of spring element.
In addition, the present invention can adapt to different height crowds, the needs of different shoulder breadth users are adapted to.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that shoulder power-assisted of the embodiment of the present invention lifts ectoskeleton.
Fig. 2 is the structural schematic diagram of the main body link block of the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the power transmission module of the embodiment of the present invention.
Fig. 4 is the configuration schematic diagram of the power transmission module of the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the cam-type spring energy-storage module of the embodiment of the present invention.
Fig. 6 is the configuration schematic diagram of the cam-type spring energy-storage module of the embodiment of the present invention.
Fig. 7 is the motor function schematic diagram of the cam-type spring energy-storage module of the embodiment of the present invention.
Fig. 8 (1) is the contact position figure of driven 29 opposing cam 26 of bearing；(2) convex under different contact position for the two
Wheeled spring energy-storage module provides the schematic diagram of upward support force.
Appended drawing reference is as follows: 1- corset；Adjustable plate under 2-；The main connecting plate of 3-；4- capsule；5- second connecting rod；6- first connects
Bar；7- shoulder belt；8- main casing pedestal；9- main casing lid；10- upper arm ties up tool；11- pipe limit base；12- bearing cap；13- linear bearing；
14- linear slider；15- guide pipe；It is covered on 16-；17- plane bearing；It is covered under 18-；It is covered on 19-；20- plane bearing；
It is covered under 21-；22- intermediate mass；23- axis connection block；24- connecting shaft；The first plane bearing of 25-；26- cam；The second plane of 27-
Bearing；The capping of 28- first bearing；The driven bearing of 29-；The capping of 30- second bearing；31- sliding block；32- spring guide；33- energy storage
Spring；34- pipe fixing seat.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of shoulder power-assisted lifts ectoskeleton, including power-assisted module, power transmission module and main body link block.
Referring to Fig. 1, Fig. 2, the main body link block includes the corset 1 for being worn on waist and size adjustable, size adjustable
Shoulder belt 7 be fixedly connected with corset 1,1 back of corset is vertical with lower adjustable plate 2 to be fixedly connected, and lower connecting plate 2 and main company is adjusted
Fishplate bar 3 is fixedly connected, and is primarily subjected to whole power of lifting, and the lower adjustable plate 2 is provided with circular hole, and main connecting plate 3 is adjusted and is provided with
Circular hole corresponding with lower adjustable plate 2, lower adjustable plate 2 and being adjusted between main connecting plate 3 are bolted to connection, and are adjusted
The position change lower connecting plate 2 of circular hole consolidation and the entire length that main connecting plate 3 is adjusted, to meet different height wearers'
Wearing demand.The top of main connecting plate 3 is fixedly connected with pipe limit base 11, and pipe limit base 11 is symmetrical set；The main company
Capsule 4 is fixed on fishplate bar 3, capsule 4 is provided with strip slot in order to which linear slider 14 moves in it.
Referring to Fig. 3, Fig. 4, the power transmission module includes the first connecting rod 6 with the rotation connection of the main casing lid 9 of power-assisted module, the
One 6 two, connecting rod end face is provided with square groove, and the square protrusion of axis connection block 23 is inserted in one of in square groove, the one of square groove
The fixed first connecting rod 6 of bolt is inserted into face and axis connection block 23, connecting shaft 24 are inserted into axis connection block 23, are fixed with bolt,
It in another square groove of the square column protrusion insertion first connecting rod 6 of intermediate mass 22 and is fixedly connected, two plane bearings 20 are distinguished
It is embedded in the two sides circular groove of intermediate mass 22, the another side of two plane bearings 20 is respectively embedded into lower capping 21 and upper capping 19
In the circular groove being provided with, two circular holes of lower capping 21 and upper capping 19 are bolted to connection, to form intermediate mass 22
21 relative rotation is covered with lower, so that the relative rotation of first connecting rod 6 and second connecting rod 5 is ultimately formed, upper capping 19, centre
Block 22, it is lower capping 21 through-hole in insertion pin limited, it is lower capping 21 square column protrusion insertion second connecting rod 5 square groove in
And be fixedly connected, in the hole of rectangle protrusion insertion 5 end of second connecting rod of 18 tail portions of lower capping, it is bolted to connection,
The lower assemble sequence for covering 18, plane bearing 17, linear slider 14 and upper capping 16 is successively are as follows: two plane bearings 17 are distinguished embedding
Enter in the two sides circular groove of linear slider 14, the another side of two plane bearings 17 is respectively embedded into lower capping 18 and upper capping 16
In the circular groove being provided with, lower capping 18 is fixedly connected with upper capping 16 by two circular holes thereon and bolt, it is lower cover 18,
Plane bearing 17, linear slider 14 and it is upper capping 16 intermediate throughholes in can be inserted into pin, finally with formed linear slider 14 with
The relative rotation of lower capping 18；14 one side of linear slider for being provided with through-hole is opened there are two circular trough, and the interior installation of circular trough is provided with
The linear bearing 13 of through-hole is fixed with bearing cap 12 in the linear slider 14, and bearing cap 12 is located at the side of linear bearing 13
Face limits linear bearing 13.Guide pipe 15 passes through through-hole and is slidably connected with it, and 15 two end faces of guide pipe are inserted into respectively
Pipe limit base 11, to fix its position.
Referring to Fig. 1, the power-assisted module includes consolidating the main casing constituted by main casing lid 9 and main casing pedestal 8, being arranged in master
Tool 10 is tied up as the cam-type spring energy-storage module of power-assisted and the upper arm being fixedly connected on main casing pedestal 8 in shell, upper arm is tied up
Have 10 size adjustables and is snugly fixed on the upper arm of user by bandage.It is the song for meeting ergonomics that the upper arm, which ties up tool 10,
Face structure, upper arm are tied up and are provided with circular hole on tool 10, be fixedly connected by bolt with main casing pedestal 8.
Referring to Fig. 5, Fig. 6, the cam-type spring energy-storage module includes the pipe fixing seat 34 being arranged in inside main casing, institute
It is identical as 34 height of pipe fixing seat to state main casing lid 9, the main casing inner space height of the consolidation composition of main casing pedestal 8, so as to limit
Tubulation fixing seat 34 is in the intracorporal change in location of main casing.The leptoprosopy of pipe fixing seat 34 is provided with circular hole, can be inserted into the circle of main casing pedestal 8
Column protrusion is fixed, and the wide face of pipe fixing seat 34 is driveed there are two hole, in 32 one end insertion tube fixing seat of spring guide, 34 hole, and in bullet
The surface that spring conduit 32 is inserted into 34 hole of fixing seat is provided with aperture, while the side of corresponding position fixing seat 34 is also provided with and beats
Whole aperture is worn, pin is inserted into the position of two aperture fixed spring conduits 32 and fixing seat 34,32 other end of spring guide
In the hole that insertion sliding block 31 opens up, hole depth meets a certain distance free to slide inside of spring guide 32, which is greater than
The deformation quantity of energy-stored spring 33 in use process, the main casing inner space that the main casing lid 9, the consolidation of main casing pedestal 8 are constituted are high
Degree is identical as 31 height of sliding block, makes sliding block 31 that can only carry out sliding action in main casing.33 sets of energy-stored spring in spring guide
Be power assist element with energy-stored spring 33 on 32, and without interference between two energy-stored springs 33, by the energy storage of energy-stored spring 33 and
The power-assisted to shoulder is realized in release.First bearing capping 28 and second bearing capping 30 are oppositely arranged and consolidate with sliding block 31,
First bearing capping 28 and second bearing capping 30 pass through cylindrical projection thereon and are inserted into driven bearing 29 from two sides to limit it
Mobile, driven bearing 29 can only be rotated relative to the protrusion of first bearing capping 28 and second bearing capping 30；Driven bearing
29 contact with cam 26, and 26 one end of cam is provided with circular hole, can be placed on the protruding column of main casing pedestal 8, and pass through plane bearing
25 contact with main casing pedestal 8, and connecting shaft 24 is placed in the square hole that 26 other end of cam is provided with, and the cylindrical body of spindle 24 is inserted into main casing
In the circular hole of lid 9, and contacted by the plane bearing 27 of connection with main casing lid 9.
The specific operating mode of cam spring energy-storage module is as follows: as shown in fig. 7, when wearer's arm is along the bottom, it is convex
Wheel is 26 relatively motionless, and driven bearing 29 is rotated along cam 26, with the increase at driven 29 center of bearing to 26 centre distance of cam,
Sliding block 31 is accompanied dynamic bearing 29 and is slided, and energy-stored spring 33 is squeezed, and the contact normal of sliding bearing 29 and cam 26 is only
The cam center of circle generates eccentric force, and then hinders the arm bottom, i.e., ectoskeleton can generate the power lifted upwards to arm.When driven
Bearing 29 is further continued for down turning after turning to certain position, and driven 29 center of bearing does not change to 26 centre distance of cam, storage
Energy 33 amount of compression of spring no longer changes, and the contact normal of sliding bearing 29 and cam 26 crosses the cam center of circle, and unbiased mental and physical efforts are that is, outer
Bone no longer generates active force to arm.Fig. 8 show driven bearing 29 different location on cam 26, and ectoskeleton makees arm
Size firmly.The position a can be considered arm straight up, and the position d can be considered arm straight down.The activity interval of a to c is work
Make section, ectoskeleton lifts power to arm generation, and power maximum is lifted at b.The section of c to d, between nonclient area, ectoskeleton
To arm substantially without active force, so that arm can freely swing.Ectoskeleton is up to 30N to the power of lifting of arm.
Claims (8)
1. a kind of shoulder power-assisted lifts ectoskeleton, which is characterized in that including power-assisted module, power transmission module and main body link block；
The main body link block includes the corset (1) for being worn on waist and size adjustable, the shoulder belt (7) and corset of size adjustable
(1) it is fixedly connected, corset (1) back is vertical with lower adjustable plate (2) to be fixedly connected, and lower connecting plate (2) and main connecting plate is adjusted
(3) it is fixedly connected, the top of main connecting plate (3) is fixedly connected with pipe limit base (11), and pipe limit base (11) is symmetrical set；
The power transmission module includes the first connecting rod (6) with the rotation connection of the main casing lid (9) of power-assisted module, first connecting rod (6) two
A end face is provided with square groove, and the square protrusion of axis connection block (23) is inserted in one of in square groove fixed, connecting shaft (24) insertion
It is fixed in axis connection block (23), it is in another square groove of square column protrusion insertion first connecting rod (6) of intermediate mass (22) and fixed
Connection, two plane bearings (20) are respectively embedded into the two sides circular groove of intermediate mass (22), two plane bearings (20) it is another
It is respectively embedded into the circular groove that lower capping (21) and upper capping (19) are provided on one side, lower capping (21) and the two of upper capping (19)
A circular hole is fixedly connected, to form the relative rotation of first connecting rod (6) and second connecting rod (5), upper capping (19), intermediate mass
(22), insertion pin is limited in the through-hole of lower capping (21), the side of square column protrusion insertion second connecting rod (5) of lower capping (21)
In shape slot and it is fixedly connected, it is fixed in the hole of rectangle protrusion insertion second connecting rod (5) end of lower capping (18) tail portion, two
Plane bearing (17) is respectively embedded into the two sides circular groove of linear slider (14), the another side difference of two plane bearings (17)
In the circular groove that the lower capping (18) of insertion and upper capping (16) are provided with, lower capping (18) is fixedly connected with upper capping (16), under
It covers in the intermediate throughholes of (18), plane bearing (17), linear slider (14) and upper capping (16) and is inserted into pin, to form straight line
The relative rotation of sliding block (14) and lower capping (18)；Linear slider (14) one side for being provided with through-hole is opened there are two circular trough, round
Installation is provided with the linear bearing (13) of through-hole in shape slot, and guide pipe (15) passes through through-hole and is slidably connected with it, guide pipe (15) two
A end face difference insertion tube limit base (11) is fixed；
The power-assisted module includes the main casing being made of main casing lid (9) and main casing pedestal (8) consolidation, is arranged in main casing and makees
Tool (10) are tied up for the cam-type spring energy-storage module and the upper arm that is fixedly connected on main casing pedestal (8) of power-assisted, upper arm ties up tool
(10) size adjustable and the upper arm of user is snugly fixed on by bandage.
2. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that the cam-type spring energy-storage
Module includes the pipe fixing seat (34) being arranged in inside main casing, and pipe fixing seat (34) is fixedly connected with main casing pedestal (8), Guan Gu
The wide face of reservation (34) is driveed there are two hole, fixed in the hole of spring guide (32) one end insertion tube fixing seat (34), spring guide
(32) in the hole that other end insertion sliding block (31) opens up, the distance that spring guide (32) slides in hole is greater than energy-stored spring (33)
Deformation quantity, energy-stored spring (33) covers on spring guide (32), and without interference, first bearing between two energy-stored springs (33)
Capping (28) and second bearing capping (30) are oppositely arranged and consolidate with sliding block (31), and first bearing covers (28) and the second axis
It holds capping (30) and driven bearing (29) is inserted into from two sides to limit its movement, driven bearing (29) phase by cylindrical projection thereon
Protrusion rotation to first bearing capping (28) and second bearing capping (30)；Driven bearing (29) contacts with cam (26), convex
Wheel (26) one end is provided with circular hole, can be placed on the protruding column of main casing pedestal (8), and passes through plane bearing (25) and main casing pedestal
(8) it contacts, places connecting shaft (24) in the square hole that cam (26) other end is provided with, the cylindrical body of spindle (24) is inserted into main casing lid
(9) it in circular hole, and is contacted by the plane bearing (27) of connection with main casing lid (9).
3. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that the lower adjustable plate (2) is opened
There is circular hole, main connecting plate (3) is adjusted and is provided with circular hole corresponding with lower adjustable plate (2), lower adjustable plate (2) and main company is adjusted
Fishplate bar is bolted to connection between (3).
4. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that on the linear slider (14)
It is fixed with bearing cap (12), bearing cap (12) is located at the side of linear bearing (13), limits to linear bearing (13).
5. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that on the main connecting plate (3)
It is fixed with capsule (4), capsule (4) is provided with strip slot in order to which linear slider (14) moves in it.
6. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that the main casing lid (9), main casing
The main casing inner space height that pedestal (8) consolidation is constituted is identical as pipe fixing seat (34) height, to limit pipe fixing seat (34)
In the intracorporal change in location of main casing.
7. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that the main casing lid (9), main casing
The main casing inner space height that pedestal (8) consolidation is constituted is identical as sliding block (31) height, to limit sliding block (31) only in main casing
It is slided in vivo.
8. a kind of shoulder power-assisted according to claim 1 lifts ectoskeleton, which is characterized in that the upper arm ties up tool (10) and is
Meet the curved-surface structure of ergonomics, upper arm is tied up and is provided with circular hole on tool (10), is fixedly connected by bolt with main casing pedestal (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484395.1A CN109571435B (en) | 2018-12-06 | 2018-12-06 | Shoulder assistance lifting exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484395.1A CN109571435B (en) | 2018-12-06 | 2018-12-06 | Shoulder assistance lifting exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109571435A true CN109571435A (en) | 2019-04-05 |
| CN109571435B CN109571435B (en) | 2020-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811484395.1A Active CN109571435B (en) | 2018-12-06 | 2018-12-06 | Shoulder assistance lifting exoskeleton |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111631851A (en) * | 2020-06-08 | 2020-09-08 | 陈明忠 | Wearable auxiliary arm fracture fixing clamp |
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| CN113276096A (en) * | 2021-05-27 | 2021-08-20 | 重庆理工大学 | Bearing device for load exoskeleton |
| TWI792611B (en) * | 2020-10-22 | 2023-02-11 | 福寶科技股份有限公司 | Exoskeleton robotic arm assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110450139A (en) * | 2019-08-28 | 2019-11-15 | 苏州瑞步康医疗科技有限公司 | A kind of upper limb praises power assisting device |
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| CN111993393B (en) * | 2020-09-02 | 2022-02-11 | 三一建筑机器人(西安)研究院有限公司 | Limb driver and power assisting device |
| TWI792611B (en) * | 2020-10-22 | 2023-02-11 | 福寶科技股份有限公司 | Exoskeleton robotic arm assembly |
| CN112372625A (en) * | 2020-11-30 | 2021-02-19 | 北京精密机电控制设备研究所 | Shoulder joint power-assisted passive exoskeleton robot |
| CN113276096A (en) * | 2021-05-27 | 2021-08-20 | 重庆理工大学 | Bearing device for load exoskeleton |
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