CN111098293B - Human exoskeleton, use method and application in bed, expressway and equipment maintenance - Google Patents
Human exoskeleton, use method and application in bed, expressway and equipment maintenance Download PDFInfo
- Publication number
- CN111098293B CN111098293B CN202010102306.3A CN202010102306A CN111098293B CN 111098293 B CN111098293 B CN 111098293B CN 202010102306 A CN202010102306 A CN 202010102306A CN 111098293 B CN111098293 B CN 111098293B
- Authority
- CN
- China
- Prior art keywords
- arm
- positioning
- human body
- limiting
- rod
- 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.)
- Active
Links
Images
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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a human exoskeleton, comprising: the back plate is fixed with a fixing cavity which is internally communicated with two sides and provided with a notch in the middle; a transmission rod is arranged in the fixed cavity, and two ends of the transmission rod are connected with the two groups of shoulder movable joints; the shoulder movable joint is connected with the inner wall of the fixed cavity through a bearing; a first positioning wheel which is circular and is uniformly provided with a plurality of positioning holes on the outer circumferential surface is fixed in the middle of the transmission rod, a support frame is fixed on the back plate, and a first rotation limiting part is arranged on the support frame; shoulder movable joint, shoulder arm joint, elbow joint. The advantages are that: through a plurality of human exoskeleton structures such as shoulder movable joints, shoulder-arm joints, elbow joints and the like, the problems of long-time arm lifting, muscular soreness and unsmooth blood flow caused by working after the arm lifting are effectively solved. Meanwhile, the structure of the invention can be applied to a plurality of fields and places to solve the problem that the use of upper limbs and trunk is laborious.
Description
Technical Field
The invention relates to the field of human exoskeleton, in particular to a human exoskeleton, a using method and application in bed, expressway and equipment maintenance.
Background
The arms of the human body comprise shoulder joints, large arms, upper arms and the like, and the blood supply of the arms is completed by pumping of the heart of the human body; because the human upper limb posture is used downwards or forwards for a long time, when a person acts for lifting, the arm can be pulled upwards by the muscle, but after a long time, the muscle of the upper limb is fatigued, more lactic acid is produced, and the human body has sour citrus; at the same time, insufficient blood supply occurs if this cannot be adequately alleviated, most typically indian monks hold their arms for decades, resulting in atrophy of the arms.
Meanwhile, since the arms of the human body belong to the lever which is strenuous on the lever, the arms are not too long when lifted for a long time or lifted for a long time in a supine posture, and meanwhile, the tired arms can make the article held in the hands unstable left and right.
In summary, the goal of the existing human exoskeleton structure is to assist human beings to complete high load, high agility and the like, and the existing human exoskeleton structure is rarely used for making up for the natural structural defects of the upper limbs of the human beings.
Meanwhile, few solutions are provided for the defects caused by long-time and unbalanced arm use.
Disclosure of Invention
The invention aims to provide a human exoskeleton and a using method, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a human exoskeleton comprising: the back plate is fixed with a fixing cavity which is internally communicated with two sides and provided with a notch in the middle; a transmission rod is arranged in the fixed cavity, and two ends of the transmission rod are connected with the two groups of shoulder movable joints; the shoulder movable joint is connected with the inner wall of the fixed cavity through a deep groove bearing; a first positioning wheel which is circular and is uniformly provided with a plurality of positioning holes on the outer circumferential surface is fixed in the middle of the transmission rod, a support frame is fixed on the back plate, and a first rotation limiting part for limiting the rotation of the first positioning wheel is arranged on the support frame;
the first rotation restricting portion includes: the first positioning pin reciprocates linearly relative to the support frame, a first positioning spring is sleeved between a flange on the first positioning pin and the support frame, and the end part of the first positioning pin, which is far away from the first positioning wheel, is connected with a first pull wire;
the shoulder joint includes: the circular limiting sleeve is in a mountain-shaped section, and the center of the circular limiting sleeve is fixedly connected with the swinging shaft through the torque flexible shaft; the outer circumferential surface of the swinging shaft is connected with a shoulder joint connecting rod through a first swinging bearing, and the inner side of the shoulder joint connecting rod is fixedly connected with a limiting inserting plate through a limiting spring; the limiting protrusion on the limiting inserting plate is inserted into the circular groove on the circular limiting sleeve;
the shoulder joint connecting rod is fixedly arranged at the center of the U-shaped first bracket, and two end parts of the U-shaped first bracket are respectively hinged with a swinging rod which is vertical to the U-shaped plane of the first bracket; the end parts of the two swing rods are hinged with one ends of the two telescopic rods through two second swing bearings, and the other ends of the two telescopic rods are hinged with the two U-shaped ends of the second support through two third swing bearings; the second swinging bearing and the third swinging bearing are hinged in the same swinging direction and are both vertical to the swinging direction of the swinging rod;
the telescopic link includes: the sleeve is connected with the third swing bearing, and the inner rod is connected with the second swing bearing; the inner rod is arranged in the sleeve, and two compression springs are respectively arranged on the inner walls of the bulges on the inner rod to the two ends of the sleeve;
two ends of the second support are in transmission connection with the two elbow joints through two connecting rods respectively;
the elbow joint includes: the second positioning wheel is fixedly connected with the connecting rod, and the elbow arm is fixedly connected with the connecting rod; the elbow arm is fixed with the small arm through a fixing device; a plurality of positioning holes are uniformly formed in the outer circumferential surface of the second positioning wheel, and the elbow arm is connected with the center of the second positioning wheel in a swinging mode; the elbow arm is of a hollow structure, and a second positioning pin is arranged in the elbow arm; and a second positioning spring is arranged between the bump on the second positioning pin and the hollow cavity in the elbow arm, and the free end of the second positioning pin extending into the elbow arm is connected with a second stay wire.
Further, the bottom edge of the back plate is hinged with the pressing plate; the surfaces of the back plate and the pressure plate opposite to each other are respectively hinged with one end of the first support rod and one end of the second support rod; the other end of the first support rod and the other end of the second support rod are hinged with the pull rod; a plurality of pull ropes are further fixed on the pull rod, and the free end of each pull rope is wound on the transmission rod clockwise or anticlockwise.
A method of using a human exoskeleton, comprising:
a1, a human body takes a supine posture on a bed, and a back plate suitable for the back curve of the human body is fixed on the back of the human body;
step a2, fixing the elbow arm and the upper arm of the human body;
step a3, the connection between the protrusions on the limiting inserting plate and the limiting sleeve is cancelled, the left arm and the right arm are adjusted to be opened up and down to a proper angle, and then the protrusions on the limiting inserting plate are inserted into the limiting sleeve to keep a proper reading distance from the wrist to the eye;
step a4, canceling the connection between the first positioning pin and the first positioning wheel, adjusting the angle between the whole upper support arm and the body, and inserting the first positioning pin into the positioning hole of the first positioning wheel;
step a5, the connection between a second positioning pin and a second positioning wheel is cancelled, the proper opening angle of the elbow joint is adjusted, and then the second positioning pin is inserted into a positioning eye of the second positioning wheel;
and step a5, limiting the upper limbs of the prone position human body by the exoskeleton support, and realizing prone position office under the condition of not influencing the blood circulation of the upper limbs.
Use of a human exoskeleton in a bed, comprising: a bed; the person working in the bed is supported by the human exoskeleton.
Another method of use of a human exoskeleton, comprising:
b1, taking a standing posture by a human body, holding the warning sign by hand, and fixing a back plate suitable for a back curve of the human body to the back of the human body;
step b2, fixing the elbow arm and the upper arm of the human body;
step b3, on the basis that the first positioning pin is inserted into the first positioning wheel, the connection between the protrusion on the limiting inserting plate and the limiting sleeve is cancelled, the first support on the left side or the right side is adjusted to be at a right angle with the back plate, and then the protrusion on the limiting inserting plate is inserted into the limiting sleeve;
step b4, the connection between a second positioning pin and a second positioning wheel is cancelled, the elbow arm is kept parallel to the telescopic rod, and then the second positioning pin is inserted into a positioning hole of the second positioning wheel;
b5, enabling the upper arm of the human body to swing up and down in a sector reciprocating mode by means of a limiting spring to warn a mark; meanwhile, the upper arm is twisted by means of outward rotation and inward rotation of the torque flexible shaft.
An application of human exoskeleton in high-speed artificial early warning comprises a highway with one side temporarily closed due to road construction; the early warning flag is held by the hands of the warning personnel on the expressway, and the early warning flag is vibrated up and down through the torque resilience force of the limiting springs.
A method of using a human exoskeleton, comprising:
step c1, when a person is in a narrow space and faces upwards to maintain equipment, the distance between the top working position and the ground needs to be judged in advance, and the height H between the back plate and the pressing plate is determined according to the arm operation range of the operator;
step c2, on the basis that the limiting inserting plate is inserted into the limiting sleeve, the shoulder movable joint rotates to drive the transmission rod to retract and release the pull rope in a forward rotation or reverse rotation mode, and the stretching height of the back plate and the pressing plate reaches H;
step c3, on the basis that the first positioning pin is inserted into the first positioning wheel, the connection between the protrusions on the limiting inserting plate and the limiting sleeve is cancelled, the first supports on the two sides are adjusted to be vertically upward, and then the protrusions on the limiting inserting plate are inserted into the limiting sleeve;
c4, fixing a back plate suitable for the back curve of the human body to the back of the human body, and fixing the elbow arm and the upper arm of the human body;
c5, the human body takes a supine posture, and a back plate suitable for the back curve of the human body is fixed on the back of the human body;
c2, fixing the elbow arm and the upper arm of the human body;
c3, tightening the second pull wire to cancel the connection between the second positioning pin and the second positioning wheel, controlling the elbow arm and the telescopic rod to keep a proper bending angle by the upper arm of the human body, and loosening the second pull wire to enable the second positioning pin to be inserted into the positioning hole of the second positioning wheel;
and c4, enabling the human body to face upwards, and simultaneously enabling the arm to perform equipment maintenance by utilizing the torque rotation function of the shoulder-arm joint structure according to the requirement of a wrist control tool.
Use of the human exoskeleton on a maintenance device, the device requiring maintenance at the bottom; an operator servicing at the bottom of the device wears the human exoskeleton.
Compared with the prior art, the invention has the beneficial effects that: the invention effectively solves the problems of long-time arm lifting, muscle soreness and unsmooth blood flow caused by working after lifting and the like through a plurality of human body exoskeleton structures such as shoulder movable joints, shoulder and arm joints, elbow joints and the like. Meanwhile, the structure of the invention can be applied to a plurality of fields and places to solve the problem that the use of upper limbs and the trunk is laborious.
Drawings
FIG. 1 is a schematic view of an angle of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is a schematic view showing the internal structure of the fixing chamber according to the present invention;
FIG. 4 is a partial schematic view of the shoulder joints, upper arm and lower arm;
FIG. 5 is a schematic view of a shoulder joint;
FIG. 6 is a schematic view showing the internal structure of the elbow joint;
fig. 7 is a schematic view of the internal structure of the compression spring according to the present invention.
In the figure: the device comprises a back plate 1, a first support rod 11, a fixed cavity 21, a transmission rod 22, a first positioning wheel 23, a support frame 24, a first positioning pin 25, a first positioning spring 26, a first pull wire 27, a pressing plate 3, a second support rod 31, a pull rod 32, a pull rope 33, a shoulder movable joint A, a limit sleeve A1, a deep groove bearing A11, a torque flexible shaft A2, a swing shaft A3, a limit inserting plate A4, a limit spring A5, a first swing bearing A6, a shoulder joint connecting rod A7, a shoulder arm joint B1, a first support B2, a swing rod B2, a second swing bearing B3, a telescopic rod B4, an inner rod B41, a sleeve B42, a compression spring B43, a bulge B44, a third swing bearing B5, a second support B6, a connecting rod B7, a C elbow joint, a second positioning wheel C1, a C2 elbow arm, a second pull wire C3, a second positioning pin C4, a bump C5 and a second positioning spring C6.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical problems that arms and human bodies are labor-consuming levers and therefore the arms are prone to muscle soreness and ischemia when lifted are solved; especially when the arm is elevated, it is also necessary for the arm to operate the tool to perform some movements. In fig. 1 and 7 there is disclosed a human exoskeleton comprising: the backboard 1 is fixed in a way that the backboard 1 is adaptive to the curve of the back of a human body, and the fixing mode can be a conventional binding mode or an integral fixing mode. As shown in fig. 3, a fixing cavity 21 having a notch in the middle and having an inner portion and both sides penetrating is fixed at the rear of the back plate 1; a transmission rod 22 is arranged in the fixed cavity 21, and two ends of the transmission rod 22 are connected with the two groups of shoulder movable joints A; the shoulder movable joint A is connected with the inner wall of the fixed cavity 21 through a deep groove bearing A11; a first positioning wheel 23 which is circular and provided with a plurality of positioning holes uniformly on the outer circumferential surface is fixed in the middle of the transmission rod 22, a support frame 24 is fixed on the back plate 1, and a first rotation limiting part for limiting the rotation of the first positioning wheel 23 is arranged on the support frame 24. As shown in fig. 3, the first rotation restricting portion includes: a first positioning pin 25 which reciprocates linearly relative to the support frame 24, wherein a first positioning spring 26 is sleeved between a flange on the first positioning pin 25 and the support frame 24, and the end part of the first positioning pin 25 far away from the first positioning wheel 23 is connected with a first pull wire 27; the first positioning pin 25 can be selectively inserted into or removed from the first positioning wheel 23 by tightening or loosening the first pull wire 27.
As shown in fig. 4 and 5, the shoulder joint a includes: the section of the circular limiting sleeve A1 is in a mountain shape, and the center of the circular limiting sleeve A1 is fixedly connected with the swinging shaft A3 through the torque flexible shaft A2; the outer circumferential surface of the swinging shaft A3 is connected with a shoulder joint connecting rod A7 through a first swinging bearing A6, and the inner side of the shoulder joint connecting rod A7 is fixedly connected with a limiting inserting plate A4 through a limiting spring A5; the limiting protrusion on the limiting inserting plate A4 is inserted into the circular groove on the circular limiting sleeve A1; here, the limiting spring A5 is used not only to cooperate with the torque flexible shaft A2 to realize the overall twisting of the shoulder movable joint a, but also to better transmit the torque to the transmission rod 22 through the limiting spring A5. In the invention, the torque flexible shaft A2 can be a flexible shaft which is used for transmitting torque and is conventionally seen in the prior art, and the flexible shaft has a certain bending coefficient.
As shown in fig. 1 and fig. 2, the shoulder joint connecting rod A7 fixes the center of the U shape of the first bracket B1, and the two ends of the U shape of the first bracket B1 are respectively hinged with a swinging rod B2 which is vertical relative to the U-shaped plane of the first bracket B1; the end parts of the two swing rods B2 are hinged with one ends of two telescopic rods B4 through two second swing bearings B3, and the other ends of the two telescopic rods B4 are hinged with the two U-shaped ends of a second support B6 through two third swing bearings B5; the hinged swinging directions of the second swinging bearing B3 and the third swinging bearing B5 are consistent and are both vertical to the swinging direction of the swinging rod B2; the invention utilizes two groups of mutually vertical swinging and hinging kinematic pairs to realize the swinging and twisting of the upper arm of the arm, and simultaneously utilizes a four-bar structure formed by two groups of telescopic rods B4, a first bracket B1 and a second bracket B6 to compensate the distance difference caused by the swinging of the arm and the torque difference caused by the bending of the arm and the self-rotation of the arm.
As shown in fig. 7, the telescopic rod B4 of the present invention may include: a sleeve B42 connected to the third rocking bearing B5, an inner rod B41 connected to the second rocking bearing B3; the inner rod B41 is arranged in the sleeve B42, and two compression springs B43 are respectively arranged on the inner walls from the bulge B44 on the inner rod B41 to the two ends of the sleeve B42. And two ends of the second support B6 are in transmission connection with the two elbow joints C through two connecting rods B7 respectively.
In order to allow a stable angle between the raised forearm and the upper arm, as shown in fig. 1 and 6, the elbow joint C comprises: a second positioning wheel C1 fixedly connected with the connecting rod B7, and an elbow arm C2; the elbow arm C2 is fixed with the small arm through a fixing device; a plurality of positioning holes are uniformly formed in the outer circumferential surface of the second positioning wheel C1, and the elbow arm C2 is connected with the center of the second positioning wheel C1 in a swinging mode; the elbow arm C2 is of a hollow structure, and a second positioning pin C4 is arranged in the elbow arm C2; a second positioning spring C6 is arranged between the convex block C5 on the second positioning pin C4 and the hollow cavity inside the elbow arm C2, and the free end of the second positioning pin C4 extending into the elbow arm C2 is connected with a second pull wire C3. The worker can connect and disconnect the second aligning pin C4 to and from the second aligning wheel C1 by tightening or loosening the second pulling wire C3.
The invention aims to solve the discomfort caused by lifting arms for a long time, but has a plurality of implementation methods in use so as to be suitable for use under different environments. Such as patients lying in bed or people who like to work in bed with a prone position. For the use method, the implementation of the invention needs to comprise the following steps: a bed; on which the upper limbs of the human body are supported by the exoskeleton of the human body. The specific use can be implemented according to the following steps:
a1, a human body takes a supine posture on a bed, and a back plate 1 which is suitable for the back curve of the human body is fixed on the back of the human body;
step a2, fixing the elbow arm C2 and the upper arm of the human body; the fixing mode comprises binding or utilizing a high-molecular bandage used in the process of skeleton, and the bandage can be better attached to a human body and has a reliable shaping effect.
Step a3, the connection between the protrusions on the limiting inserting plate A4 and the limiting sleeve A1 is cancelled, the left arm and the right arm are adjusted to be opened up and down to a proper angle, and then the protrusions on the limiting inserting plate A4 are inserted into the limiting sleeve A1, so that a proper reading distance is kept from the wrist to the eyes;
step a4, canceling the connection between the first positioning pin 25 and the first positioning wheel 23, adjusting the angle between the whole upper arm and the body, and inserting the first positioning pin 25 into the positioning hole of the first positioning wheel 23;
step a5, the connection between a second positioning pin C4 and a second positioning wheel C1 is cancelled, the proper opening angle of the elbow joint is adjusted, and then the second positioning pin C4 is inserted into a positioning eye of the second positioning wheel C1; the upper arm and the lower arm of the arm can not cause unsmooth blood flow due to a small included angle through a reasonable opening angle.
And step a5, limiting the upper limbs of the prone position human body by the exoskeleton support, and realizing prone position office under the condition of not influencing the blood circulation of the upper limbs.
Through the use steps, a user lies on the bed, a stable support is provided for the arms through the exoskeleton support, muscles of the user cannot be fatigued for a long time when the arms are lifted, and meanwhile, sufficient blood circulation can be provided for the arms, and the arms cannot feel sour and swollen.
Another method of use of the present invention is in road surveillance, especially in highway changes, where artificial flags are used. For such an embodiment needs to include: an expressway having one side temporarily closed due to road construction; the early warning flag is held by the hands of the warning personnel on the expressway, and the early warning flag is vibrated up and down through the torque resilience force of the limiting spring A5.
The implementation steps comprise: b1, taking a standing posture by a human body, holding the warning sign by hand, and fixing a back plate 1 suitable for a back curve of the human body to the back of the human body;
step b2, fixing the elbow arm C2 with the upper arm of the human body;
step B3, on the basis that the first positioning pin 25 is inserted into the first positioning wheel 23, the connection between the protrusion on the limiting inserting plate A4 and the limiting sleeve A1 is cancelled, the first bracket B1 on the left side or the right side is adjusted to be in a right angle with the back plate 1, and then the protrusion on the limiting inserting plate A4 is inserted into the limiting sleeve A1;
step B4, the connection between a second positioning pin C4 and a second positioning wheel C1 is cancelled, the elbow arm C2 is kept parallel to the telescopic rod B4, and then the second positioning pin C4 is inserted into a positioning hole of the second positioning wheel C1;
b5, enabling the upper arm of the human body to swing up and down in a sector reciprocating mode by means of a limiting spring A5 to warn the mark; meanwhile, the upper arm is twisted by the outward rotation and the inward rotation of the torque flexible shaft A2.
On the basis of the above, the specific structure of the present invention may further include: the bottom edge of the back plate 1 is hinged with the pressing plate 3; the opposite surfaces of the back plate 1 and the pressure plate 3 are respectively hinged with one end of a first support rod 11 and one end of a second support rod 31; the other end of the first support rod 11 and the other end of the second support rod 31 are hinged with a pull rod 32; a plurality of pull ropes 33 are also fixed on the pull rod 32, and the free end of each pull rope 33 is wound on the transmission rod 22 clockwise or anticlockwise.
With such a structure, the use method of the invention is mainly used for people who need to work face up, such as environments of maintaining automobile chassis or working face up in narrow space. The implementation of this environment needs to include: equipment with the bottom needing maintenance; an operator servicing at the bottom of the device wears the human exoskeleton. In this case, the method of use of the present invention comprises:
step c1, when a person is in a narrow space and faces upwards to maintain equipment, the distance between the top working position and the ground needs to be judged in advance, and the height H between the back plate 1 and the pressing plate 3 is determined according to the arm operation range of an operator;
step c2, on the basis that the limiting inserting plate A4 is inserted into the limiting sleeve A1, the shoulder movable joint A rotates to drive the transmission rod 22 to retract and release the pull rope 33 in a forward rotation or reverse rotation mode, and the opening height of the back plate 1 and the pressing plate 3 reaches H;
step c3, on the basis that the first positioning pin 25 is inserted into the first positioning wheel 23, the connection between the protrusions on the limiting inserting plate A4 and the limiting sleeve A1 is cancelled, the first supports B1 on the two sides are adjusted to be vertically upward, and then the protrusions on the limiting inserting plate A4 are inserted into the limiting sleeve A1;
step C4, fixing the back plate 1 suitable for the curve of the back of the human body to the back of the human body, and fixing the elbow arm C2 with the upper arm of the human body;
c5, the human body takes a supine posture, and the back plate 1 which is suitable for the back curve of the human body is fixed on the back of the human body;
c2, fixing the elbow arm C2 with the upper arm of the human body;
step C3, the second pull wire C3 is tightened to cancel the connection between the second positioning pin C4 and the second positioning wheel C1, the upper arm of the human body controls the elbow arm C2 and the telescopic rod B4 to keep a proper bending angle, and then the second pull wire C3 is loosened to enable the second positioning pin C4 to be inserted into the positioning hole of the second positioning wheel C1;
and c4, enabling the human body to face upwards, and simultaneously enabling the arm to perform equipment maintenance by utilizing the torque rotation function of the shoulder-arm joint B structure according to the requirement of a wrist control tool.
The human exoskeleton of the present invention can also be applied to other aspects, such as rehabilitation of arm fractures, and the like. In the structure, the burden on the arms caused by long-time arm-lifting is well solved mainly through the mutual synergistic effect of a plurality of structures; meanwhile, the normal use of the lifted arm is not influenced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A human exoskeleton, comprising: the back plate (1), a fixing cavity (21) which is internally and bilaterally communicated and is provided with a notch in the middle is fixed behind the back plate (1); a transmission rod (22) is arranged in the fixed cavity (21), and two ends of the transmission rod (22) are connected with the two groups of shoulder movable joints (A); the shoulder movable joint (A) is connected with the inner wall of the fixed cavity (21) through a deep groove bearing (A11); a first positioning wheel (23) which is circular and provided with a plurality of positioning holes uniformly in the outer circumferential surface is fixed in the middle of the transmission rod (22), a support frame (24) is fixed on the back plate (1), and a first rotation limiting part for limiting the rotation of the first positioning wheel (23) is arranged on the support frame (24);
the first rotation restricting portion includes: the first positioning pin (25) linearly reciprocates relative to the support frame (24), a first positioning spring (26) is sleeved between a flange on the first positioning pin (25) and the support frame (24), and the end part, far away from the first positioning wheel (23), of the first positioning pin (25) is connected with a first pull wire (27);
the shoulder joint (A) comprises: the section of the circular limiting sleeve (A1) is in a mountain shape, and the center of the circular limiting sleeve (A1) is fixedly connected with the swinging shaft (A3) through the torque flexible shaft (A2); the outer circumferential surface of the swinging shaft (A3) is connected with a shoulder joint connecting rod (A7) through a first swinging bearing (A6), and the inner side of the shoulder joint connecting rod (A7) is fixedly connected with a limiting inserting plate (A4) through a limiting spring (A5); the limiting protrusion on the limiting inserting plate (A4) is inserted into the circular groove on the circular limiting sleeve (A1);
the U-shaped center of the first support (B1) is fixed on the shoulder joint connecting rod (A7), and two U-shaped end parts of the first support (B1) are hinged with swinging rods (B2) which are vertical relative to the U-shaped plane of the first support (B1) respectively; the end parts of the two swing rods (B2) are hinged with one ends of two telescopic rods (B4) through two second swing bearings (B3), and the other ends of the two telescopic rods (B4) are hinged with the two U-shaped ends of a second support (B6) through two third swing bearings (B5); the second swinging bearing (B3) and the third swinging bearing (B5) are hinged and swing in the same direction and are both vertical to the swinging direction of the swinging rod (B2);
the telescopic rod (B4) comprises: a sleeve (B42) connected to the third rocking bearing (B5), and an inner lever (B41) connected to the second rocking bearing (B3); the inner rod (B41) is arranged in the sleeve (B42), and two compression springs (B43) are respectively arranged from the bulge (B44) on the inner rod (B41) to the inner walls of the two ends of the sleeve (B42);
two ends of the second support (B6) are respectively in transmission connection with the two elbow joints (C) through two connecting rods (B7);
the elbow joint (C) comprises: a second positioning wheel (C1) fixedly connected with the connecting rod (B7), and an elbow arm (C2); the elbow arm (C2) is fixed with the small arm through a fixing device; a plurality of positioning holes are uniformly formed in the outer circumferential surface of the second positioning wheel (C1), and the elbow arm (C2) is connected with the center of the second positioning wheel (C1) in a swinging mode; the elbow arm (C2) is of a hollow structure, and a second positioning pin (C4) is arranged in the elbow arm; and a second positioning spring (C6) is arranged between a convex block (C5) on the second positioning pin (C4) and a hollow cavity in the elbow arm (C2), and the free end of the second positioning pin (C4) extending to the elbow arm (C2) is connected with a second stay wire (C3).
2. The human exoskeleton of claim 1, wherein: the bottom edge of the back plate (1) is hinged with the pressing plate (3); the surfaces of the back plate (1) and the pressure plate (3) which are opposite are respectively hinged with one end of the first support rod (11) and one end of the second support rod (31); the other end of the first support rod (11) and the other end of the second support rod (31) are hinged with a pull rod (32); a plurality of pull ropes (33) are also fixed on the pull rod (32), and the free end of each pull rope (33) is wound on the transmission rod (22) clockwise or anticlockwise.
3. A method of using the human exoskeleton of claim 1, wherein: the method comprises the following steps:
a1, a human body takes a supine posture on a bed, and a back plate (1) suitable for the back curve of the human body is fixed on the back of the human body;
step a2, fixing the elbow arm (C2) with the upper arm of the human body;
step a3, the connection between the protrusions on the limiting inserting plate (A4) and the limiting sleeve (A1) is cancelled, the left arm and the right arm are adjusted to be opened up and down to a proper angle, and then the protrusions on the limiting inserting plate (A4) are inserted into the limiting sleeve (A1) to keep a proper reading distance from the wrist to the eyes;
step a4, canceling the connection between the first positioning pin (25) and the first positioning wheel (23), adjusting the angle between the whole upper arm and the body, and inserting the first positioning pin (25) into the positioning hole of the first positioning wheel (23);
step a5, canceling the connection between a second positioning pin (C4) and a second positioning wheel (C1), adjusting a proper opening angle at the elbow joint, and inserting the second positioning pin (C4) into a positioning eye of the second positioning wheel (C1);
and step a5, limiting the upper limbs of the prone position human body by the exoskeleton support, and realizing prone position office under the condition of not influencing the blood circulation of the upper limbs.
4. Use of the human exoskeleton of claim 1 in a bed, comprising: a bed; the person working in the bed is supported by the human exoskeleton.
5. A method of using the human exoskeleton of claim 1, wherein: the method comprises the following steps:
b1, taking a standing posture by a human body, holding the warning sign by hand, and fixing a back plate (1) suitable for a back curve of the human body to the back of the human body;
step b2, fixing the elbow arm (C2) with the upper arm of the human body;
step B3, on the basis that the first positioning pin (25) is inserted into the first positioning wheel (23), the connection between the protrusion on the limiting inserting plate (A4) and the limiting sleeve (A1) is cancelled, the first support (B1) on the left side or the right side is adjusted to be in a right angle with the back plate (1), and then the protrusion on the limiting inserting plate (A4) is inserted into the limiting sleeve (A1);
step B4, the connection between a second positioning pin (C4) and a second positioning wheel (C1) is cancelled, the elbow arm (C2) is kept parallel to the telescopic rod (B4), and then the second positioning pin (C4) is inserted into a positioning eye of the second positioning wheel (C1);
b5, enabling the upper arm of the human body to swing up and down in a sector reciprocating mode by means of a limiting spring (A5) to warn the mark; meanwhile, the upper arm is twisted by means of outward rotation and inward rotation of the torque flexible shaft (A2).
6. Use of the human exoskeleton of claim 1 in high-speed artificial forewarning, wherein: including an expressway having one side temporarily closed due to road construction; the hand of the warning personnel on the expressway is provided with the early warning flag, and the early warning flag is enabled to vibrate up and down through the torque resilience force of the limiting spring (A5).
7. A method of using the human exoskeleton of claim 2, wherein: the method comprises the following steps:
step c1, when a person faces upwards to maintain equipment in a narrow space, the distance between the top working position and the ground needs to be judged in advance, and the height H between the back plate (1) and the pressing plate (3) is determined according to the arm operation range of the operator;
step c2, on the basis that the limiting inserting plate (A4) is inserted into the limiting sleeve (A1), the driving transmission rod (22) is driven to retract and release the pull rope (33) in a forward rotation or reverse rotation mode through the rotation of the shoulder movable joint (A), so that the opening height of the back plate (1) and the pressing plate (3) reaches H;
step c3, on the basis that the first positioning pin (25) is inserted into the first positioning wheel (23), the connection between the protrusions on the limiting inserting plate (A4) and the limiting sleeve (A1) is cancelled, the first supports (B1) on two sides are adjusted to be vertically upward, and then the protrusions on the limiting inserting plate (A4) are inserted into the limiting sleeve (A1);
c4, fixing the back plate (1) suitable for the back curve of the human body to the back of the human body, and fixing the elbow arm (C2) and the upper arm of the human body;
c5, the human body takes a supine posture, and the back plate (1) suitable for the back curve of the human body is fixed on the back of the human body;
c2, fixing the elbow arm (C2) with the upper arm of the human body;
c3, tightening the second stay wire (C3) to cancel the connection between the second positioning pin (C4) and the second positioning wheel (C1), controlling the elbow arm (C2) and the telescopic rod (B4) to keep a proper bending angle by the upper arm of the human body, and loosening the second stay wire (C3) to enable the second positioning pin (C4) to be inserted into the positioning hole of the second positioning wheel (C1);
and c4, enabling the human body to face upwards, and simultaneously enabling the arm to perform equipment maintenance by utilizing the torque rotating function of the shoulder-arm joint (B) structure according to the requirement of a wrist control tool.
8. Use of the human exoskeleton of claim 2 in a maintenance device, wherein: equipment with the bottom needing maintenance; an operator servicing at the bottom of the device wears the human exoskeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010102306.3A CN111098293B (en) | 2020-02-19 | 2020-02-19 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010102306.3A CN111098293B (en) | 2020-02-19 | 2020-02-19 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111098293A CN111098293A (en) | 2020-05-05 |
| CN111098293B true CN111098293B (en) | 2023-03-24 |
Family
ID=70428084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010102306.3A Active CN111098293B (en) | 2020-02-19 | 2020-02-19 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111098293B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200822920A (en) * | 2007-12-11 | 2008-06-01 | Univ Chang Gung | Pulling and stretching auxiliary wood for angle-adjustable type mobile joint |
| CN102350705A (en) * | 2011-08-01 | 2012-02-15 | 山东康泰实业有限公司 | Rotary joint locking device |
| CN105055111A (en) * | 2015-08-11 | 2015-11-18 | 昆明理工大学 | Mechanical arm for exoskeleton rehabilitation training |
| CN105055096A (en) * | 2015-07-07 | 2015-11-18 | 周学蒙 | Intelligent geriatric healthcare bed |
| CN106109167A (en) * | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| CN107320910A (en) * | 2017-06-29 | 2017-11-07 | 浙江大学 | A kind of submissive rehabilitation ectoskeleton of upper limbs |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| CN109363889A (en) * | 2018-11-15 | 2019-02-22 | 上海理工大学 | A kind of upper limb exoskeleton robot right-hand man's device for interchanging |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
-
2020
- 2020-02-19 CN CN202010102306.3A patent/CN111098293B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200822920A (en) * | 2007-12-11 | 2008-06-01 | Univ Chang Gung | Pulling and stretching auxiliary wood for angle-adjustable type mobile joint |
| CN102350705A (en) * | 2011-08-01 | 2012-02-15 | 山东康泰实业有限公司 | Rotary joint locking device |
| CN105055096A (en) * | 2015-07-07 | 2015-11-18 | 周学蒙 | Intelligent geriatric healthcare bed |
| CN105055111A (en) * | 2015-08-11 | 2015-11-18 | 昆明理工大学 | Mechanical arm for exoskeleton rehabilitation training |
| CN106109167A (en) * | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| CN107320910A (en) * | 2017-06-29 | 2017-11-07 | 浙江大学 | A kind of submissive rehabilitation ectoskeleton of upper limbs |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| CN109363889A (en) * | 2018-11-15 | 2019-02-22 | 上海理工大学 | A kind of upper limb exoskeleton robot right-hand man's device for interchanging |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111098293A (en) | 2020-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| US10987271B2 (en) | Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging | |
| CN101181177A (en) | Device for healing and training shoulder joint | |
| CN104721016A (en) | 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot | |
| CN105396262B (en) | Multi-angle regulation, upper and lower extremities coorinated training healing robot | |
| CN108836732B (en) | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN206896694U (en) | A kind of self-suspension formula Multifunctional retractor | |
| CN201189266Y (en) | Shoulder joint rehabilitation training set | |
| CN102641195A (en) | Bed type lower limb external skeleton recovery robot | |
| CN107261403A (en) | Limb movement rehabilitator | |
| CN107296719A (en) | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot | |
| CN112057292A (en) | Six-degree-of-freedom series-parallel upper limb rehabilitation robot | |
| CN111098293B (en) | Human exoskeleton, use method and application in bed, expressway and equipment maintenance | |
| CN206183606U (en) | Low limbs ectoskeleton robot | |
| CN108721047B (en) | Wearable upper limbs rehabilitation training device | |
| CN112870019B (en) | Lower limb rehabilitation training device based on gravity balance | |
| CN107569367B (en) | Lower limb rehabilitation training device | |
| CN211356566U (en) | Six-freedom-degree series-parallel upper limb rehabilitation robot | |
| CN115778750A (en) | Left-right hand exchange mechanism and upper limb exoskeleton rehabilitation robot thereof | |
| CN115317321A (en) | Wearable upper limb rehabilitation robot | |
| CN105935333A (en) | Active-passive wearable rehabilitation training manipulator | |
| CN109620640A (en) | A kind of adjustable device for healing and training elbow joint of forearm | |
| CN213285527U (en) | Lower limb rehabilitation exercise device for orthopedic nursing | |
| CN213261794U (en) | Bionic sword-tooth tiger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |