CN111360790A - Passive upper limb assistance exoskeleton with gas spring energy storage function - Google Patents
Passive upper limb assistance exoskeleton with gas spring energy storage function Download PDFInfo
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- CN111360790A CN111360790A CN202010225907.3A CN202010225907A CN111360790A CN 111360790 A CN111360790 A CN 111360790A CN 202010225907 A CN202010225907 A CN 202010225907A CN 111360790 A CN111360790 A CN 111360790A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
An air spring energy storage passive upper limb assistance exoskeleton relates to an exoskeleton and comprises a back bearing device, two shoulder motion mechanisms and two upper limb assistance mechanisms; a shoulder mechanism and a large arm boosting mechanism are respectively arranged on two sides of the back bearing device; each large arm boosting mechanism comprises a large arm binding frame, an elastic expansion piece and a shoulder connecting piece; one end of the elastic expansion piece is rotatably arranged on the large arm binding frame, the other end of the elastic expansion piece is rotatably arranged on the shoulder connecting piece, the shoulder connecting piece is fixedly connected with the shoulder moving mechanism, and the large arm binding frame is rotatably arranged on the shoulder connecting piece; the rotation axis of the large arm binding frame is parallel to the rotation axes of the two ends of the elastic telescopic piece; the shoulder movement mechanism is connected with the back bearing device and used for passively moving along with the shoulders of the human body. The invention has compact structure, is beneficial to reducing the pressure load of the shoulder and the neck when workers work for a long time, and reduces the fatigue damage of wearers.
Description
Technical Field
The invention relates to an exoskeleton, in particular to an air spring energy storage passive upper limb assistance exoskeleton.
Background
The exoskeleton robot is a special robot with cooperation of a human body and a machine, and is characterized in that an operator needs to wear the exoskeleton robot on the body to operate when the exoskeleton robot is used, so that the cooperative work of the driving capability and the function of the human body of the robot is realized. The power-assisted upper limb exoskeleton device is an important branch of exoskeleton robot research, the exoskeleton system faces to normal people with healthy bodies, when the ordinary people such as an automobile chassis are assembled and disassembled, the upper limbs need to keep lifting postures for a long time, and along with the change of the motion positions of the upper limbs, the load moment of a heavy object on shoulder joints can be changed continuously, so that large fatigue damage is caused to shoulders and necks, and along with the increase of force arms, the situation becomes more serious, safety problems such as tool falling off hands and being injured easily occur, and normal operation tasks and work efficiency are influenced.
Disclosure of Invention
The invention provides the gas spring energy storage passive upper limb power-assisted exoskeleton, which overcomes the defects of the prior art, has a compact structure, is beneficial to reducing the pressure load of shoulders and necks of workers during long-term work, and avoids safety accidents.
An air spring energy storage passive upper limb assistance exoskeleton comprises a back bearing device, two shoulder motion mechanisms and two upper limb assistance mechanisms; a shoulder mechanism and a large arm boosting mechanism are respectively arranged on two sides of the back bearing device;
each large arm boosting mechanism comprises a large arm binding frame, an elastic expansion piece and a shoulder connecting piece; one end of the elastic expansion piece is rotatably arranged on the large arm binding frame, the other end of the elastic expansion piece is rotatably arranged on the shoulder connecting piece, the shoulder connecting piece is fixedly connected with the shoulder moving mechanism, and the large arm binding frame is rotatably arranged on the shoulder connecting piece; the rotation axis of the large arm binding frame is parallel to the rotation axes of the two ends of the elastic telescopic piece; the shoulder movement mechanism is connected with the back bearing device and used for passively moving along with the shoulders of the human body.
Compared with the prior art, the invention has the beneficial effects that:
when the upper limb assisting exoskeleton is in a certain state, the elastic expansion piece in the large arm assisting mechanism, the whole large arm assisting mechanism and the upper limb form stress balance, and when the driven exoskeleton is worn in the use process, the large arm is stressed, the whole large arm assisting mechanism is in a pressing-down state, so that the angle between the large arm assisting mechanism and the horizontal plane is reduced, the elastic expansion piece is compressed and contracted, a certain amount of counter force is provided, and workers are supported to keep lifting action. Through reasonable mechanical structure design, the invention can assist the upper limbs of an operator when the operator carries, lifts and the like, can enhance the force output capability of the upper limbs of the human body, and can transmit the load from the shoulder and neck parts with weaker bearing capability to the waist and back parts with stronger bearing capability through the mechanical structure, thereby reducing the bearing load of the upper limbs of the human body during long-time work, reducing the fatigue damage of a wearer and avoiding the occurrence of safety accidents. The invention can be widely applied to production and assembly, cargo transportation, rescue and emergency rescue and other occasions requiring the upper limbs to carry out long-term load output.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a perspective view of the present invention;
fig. 2 is an external structural view of the large arm binding-frame;
fig. 3 is an internal structural view of the large arm binding-frame;
FIG. 4 is a structural view of the large arm binding frame with the inner cover removed;
FIG. 5 is a block diagram of the shoulder motion mechanism and back carrier;
FIG. 6 is a block diagram of the connecting device;
FIG. 7 is a schematic diagram of the operation of the present invention;
fig. 8 is a graph of the relationship between load changes and exoskeleton assistance during operation.
Detailed Description
Referring to fig. 1 to 3, the gas spring energy storage passive upper limb assistance exoskeleton of the present embodiment comprises a back carrying device 3, two shoulder moving mechanisms 2 and two upper limb assistance mechanisms 1;
a shoulder mechanism 2 and a large arm boosting mechanism 1 are respectively arranged on two sides of the back bearing device 3;
each large arm boosting mechanism 1 comprises a large arm binding frame 1-1, an elastic expansion piece 1-2 and a shoulder connecting piece 1-3; one end of the elastic expansion piece 1-2 is rotatably arranged on the large arm binding frame 1-1, the other end is rotatably arranged on the shoulder connecting piece 1-3, the shoulder connecting piece 1-3 is fixedly connected with the shoulder moving mechanism 2, and the large arm binding frame 1-1 is rotatably arranged on the shoulder connecting piece 1-3;
the rotation axis of the large arm binding frame 1-1 is parallel to the rotation axes of the two ends of the elastic expansion piece 1-2;
the shoulder movement mechanism 2 is connected with the back bearing device 3 and is used for passively moving along with the shoulders of the human body. The two sets of shoulder mechanisms 2 and the two sets of large arm power assisting mechanisms 1 are respectively arranged in a mirror image mode.
The connection mode enables the large arm binding frame 1-1, the shoulder connecting piece 1-3 and the elastic expansion piece 1-2 to form a triangular structure with a variable unilateral length, and a certain amount of upper arm lifting force is provided for workers through passive linear expansion and contraction deformation of the elastic expansion piece 1-2.
Optionally, the elastic bellows 1-2 is a gas spring. The gas spring driven mode is adopted, so that the structural compactness of the exoskeleton is ensured, the portability is improved, the convenience of later maintenance is realized, and the maintenance cost is reduced. The exoskeleton of the embodiment can reduce the pressure load of the shoulders and the necks of workers during long-term work, and the load can be balanced and offset to the greatest extent at each posture position in the upper limb movement process, so that the working efficiency is improved, and safety accidents are avoided. The exoskeleton is portable, light and wearable, and reduces pressure load brought by unnecessary mechanisms.
Alternatively, as shown in fig. 2 to 4, the large arm binding-frame 1-1 includes an outer cover 1-11, an inner cover 1-12, and binding band members 1-13; the outer cover 1-11 and the inner cover 1-12 are buckled together, the gas spring and the shoulder connecting piece 1-3 are arranged in a buckled cavity, one end of the gas spring is rotatably connected with the outer cover 1-11 through a bearing, the other end of the gas spring is rotatably connected with the shoulder connecting piece 1-3 through a bearing, the shoulder connecting piece 1-3 is arranged on the outer cover 1-11 and the inner cover 1-12 through a bearing, and the binding piece 1-13 is arranged on the inner cover 1-12. The bearing is a deep groove ball bearing in the embodiment.
As an example: as shown in FIG. 3, the shoulder connectors 1-3 are channel steel type or slotted members and the gas spring can be placed in the slots of the shoulder connectors 1-3 during operation. The upper part of the shoulder connecting piece 1-3 is radially fixed and axially fixed through two deep groove ball bearings and is respectively connected with the outer cover 1-11, the inner cover 1-12 and the shoulder moving mechanism 2; meanwhile, the lower parts of the shoulder connecting pieces 1-3 are connected to a gas spring hinge through two deep groove ball bearings to realize linkage with a gas spring; and the gas spring is connected and fixed on the bearing seat on the outer cover 1-11 through a bolt and a bearing.
As another example: as shown in fig. 4, the strap members 1-13 are fixed to the inner lids 1-12 by the strap connecting members 1-4, thereby achieving that the stress at the upper arms when the worker works is converted into a load in the booster structure by the strap members 1-13. Alternatively, the strap members 1-13 are strap plates with straps. The binding plate is provided with a plurality of holes side by side and is connected with the binding connecting pieces 1-4, so that the position of the binding pieces 1-13 can be adjusted, and the body conditions of different workers can be better met by the way of punching the binding plate at a plurality of positions side by side, so that the wearable performance of the device can be improved.
As shown in fig. 5, each of the shoulder moving mechanisms 2 is a link mechanism including a front link 2-1, a middle link 2-2, and a rear link 2-3; one end of the front connecting rod 2-1 is fixedly connected with the shoulder connecting piece 1-3, and the other end is rotatably connected with one end of the middle connecting rod 2-2; the other end of the middle connecting rod 2-2 is rotatably connected with one end of the rear connecting rod 2-3, the other end of the rear connecting rod 2-3 is rotatably connected with the back bearing device 3, and the rotating axes of the front connecting rod 2-1, the middle connecting rod 2-2, the rear connecting rod 2-3 and the rear connecting rod 2-3 are parallel to the rotating axis of the back bearing device 3 and are vertically arranged when the back bearing device is worn. The three connecting rods are respectively connected together through the two deep groove ball bearings to form a connecting rod mechanism so as to improve the freedom of workers when using the device; meanwhile, the rear connecting rods 2-3 are connected with the back bearing device 3 through deep groove ball bearings, so that the connecting rod mechanism is integrally linked with the large-arm power assisting mechanism 1 and the back bearing device 3, and the use flexibility is guaranteed.
As shown in FIG. 5, the back carrying device 3 comprises a front back plate 3-1, a back plate 3-2 and a crotch fixing member 3-3;
the front backboard 3-1 is connected with the back backboard 3-2 and is used for being worn on the back of a human body; the crotch fixing piece 3-3 is fixed on the back plate 3-2 and is used for being worn on the waist and the back of a human body; the back connecting rod 2-3 is connected with the back plate 3-2. The front back plate 3-1 is fixedly connected with the back plate 3-2 through bolt connection; as an example: the front back plate 3-1 is a hollow plate, and the middle of the front back plate is hollowed out to reduce the total weight of the device and improve the portability and the low load during use; the external shape of the front back plate 3-1 is designed to be fit with the back of a human body, so that the moving range of hands and shoulders of workers during work is ensured to a greater extent; and at the same time, the straps 3-11 are mounted thereon, which facilitates wearing and transfers the load to the shoulders of the human body, as shown in fig. 5. Optionally, the material of the back carrier 3 is carbon fiber. The whole or individual parts of the back carrier 3 are carbon fibres. The high-strength carbon fiber plate is adopted for manufacturing, the requirement of light weight is met on the premise of ensuring enough strength, and the total weight of the whole back bearing device 3 is calculated and estimated to be not more than 2 kg. The lightweight design can meet the requirements of higher flexibility and higher power-assisted energy density during working and has better man-machine coordination.
As shown in fig. 6, as an example: the back bearing device 3 is connected with the shoulder motion mechanism 2 through connecting devices, each set of connecting device comprises a front clamping piece 4-1, a rear clamping piece 4-2, a shaft 4-3 and a back connecting plate 4-4; the front clamping piece 4-1 is fixed on the back connecting plate 4-4, the back connecting plate 4-4 is fixed on the back backboard 3-2, the shaft 4-3 is fixed by the front clamping piece 4-1 and the back clamping piece 4-2 which are connected together, and the back connecting rod 2-3 is arranged at the upper end of the shaft 4-3 through a bearing. The front clamping piece 4-1 and the rear clamping piece 4-2 are fixedly connected through bolts so that the shaft 4-3 is fixed in the front clamping piece 4-1 and the rear clamping piece 4-2, and the rear connecting rod 2-3 is fixedly connected with the connecting device; the front clamping piece 4-1 can be fixed on the back connecting plate 4-4 through bolt connection, thereby realizing the integral connection of the shoulder motion mechanism 2 and the back bearing device 3 and completing the transfer of the bearing to the shoulder and the back during work. Meanwhile, as shown in fig. 5 and 6, the back connecting plate 4-4 is designed to be of a multi-clamping-hole structure, and the back plate 3-2 is fixedly connected and clamped through bolts on the front back plate 3-1 and the back connecting plate 4-4, so that the design provides a larger degree of size adaptability, and the back plate 3-2 and the back connecting plate 4-4 can be continuously adjusted up and down to ensure the wearing comfort. Can realize a certain amount of coarse adjustment according to the use requirement, improve the comfort of the device when using.
As shown in FIG. 5, the crotch connector 3-3 is attached to the backboard 3-2. Alternatively, the crotch fastener 3-3 is a perforated U-shaped channel plate with straps attached to it. The whole design is attached to the waist and the back of a human body, the binding band is additionally arranged on the whole design, the tightness degree during wearing is adjusted, meanwhile, the mesh hole design is carried out on the binding band, and the total weight of the device is reduced to a greater extent. The back bearing device 3 integrally adopts the separated design and is divided into the front back plate 3-1, the back plate 3-2 and the crotch fixing piece 3-3, so that the portability in use is improved, meanwhile, the replacement and adjustment in the later period are facilitated, and the maintenance cost is reduced.
Principle of operation
When the exoskeleton is in a state as shown in fig. 3, the gas spring in the large-arm power assisting mechanism 1, the whole large-arm power assisting mechanism 1 and the upper limb form stress balance. When the exoskeleton is used after being worn, the large arm is stressed, the whole large arm boosting mechanism 1 is in a pressing-down state, so that the angle between the large arm boosting mechanism 1 and the horizontal plane is reduced, the air spring is compressed and contracted, a certain amount of counter force is provided, and workers are supported to keep lifting.
As shown in fig. 7, the process can be equivalent to a triangle problem with a single-side length change, wherein the distance between two points fixedly connected with the outer cover 1-11 and the gas spring and the shoulder connecting piece 1-3 is fixed and can be equivalent to a length AB, the length of the shoulder connecting piece 1-3 is unchanged and can be equivalent to a side length BC, meanwhile, the shoulder connecting piece 1-3 is kept vertical to the horizontal plane through the structure shown in fig. 1 and 3, the length of the gas spring is changed and can be equivalent to a side length ac, α is 90 degrees at the beginning, and α represents an included angle between the AB (two bearing connecting lines on the outer cover 1-11) and the horizontal direction;
α becomes smaller when compressed, causing the AC to become shorter, the gas spring is compressed creating a force condition as in FIG. 7:
the calculation can obtain:
AC·h＝AB·BC·cosα：
Texo＝Fgas·h＝Fgas·AB·BC·cosα/AC，Tload＝Fload·AB·cosα；
the following can be obtained: fgas＝250N，Fload＝5kgf，AB＝164mm，BC＝38mm
Wherein, TexoRepresenting the output torque of the exoskeleton, FgasIndicating the force of the gas spring, FloadRepresenting the force of the load during movement, TloadRepresenting the load moment while the person is working;
in the graph shown in fig. 8, the left ordinate represents torque, the right ordinate represents balance error, and the abscissa represents working angle α, wherein the left torque value corresponds to a difference (denoted by Δ T) between the exoskeleton output torque and the working load torque, represented by a first two-dot chain line curve, and a difference (denoted by Δ T) between the exoskeleton output torque and the working load torque, represented by a second one-dot chain line curve, and a ratio of the difference to the working load torque, represented by Δ T/T, is an error ratio (denoted by Δ T/T)loadRepresents); the third solid curve represents the output torque of the exoskeleton (denoted by T)exoRepresents); the fourth dashed curve represents the load moment (denoted T) when the person is workingloadRepresents); at this time: through structural parameter optimization, the exoskeleton can completely balance the moment generated by the load at the load end in the assistance interval of 90-0 degrees, and the error is controlled between-4% and + 5%, so that the load self-balance at each working position in the assistance area is realized, and the exoskeleton can completely balance the load assistance required by a person at each working position, which is equivalent to no force exerted by the person.
α the movable range that designs can be from 90 to-90, human helping hand work area is 90 to 0, when α reaches 90 or-90, adopt shoulder connecting piece 1-3 groove inner fringe to carry on the spacing to the air spring, in order to play the guard action, the use of shoulder motion mechanism 2 has guaranteed the best flexibility of horizontal plane when workman's work at the same time, guarantee the complete freedom in the range of motion, and the reaction force that the air spring was compressed produced is transmitted to back load-bearing device 3 through the link mechanism, and the waist back that bearing capacity is stronger comes the burden load instead, realizes the load transfer, in order to reduce shoulder neck load capacity.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (9)
1. The utility model provides a passive type upper limbs helping hand ectoskeleton of air spring energy storage which characterized in that: the device comprises a back bearing device (3), two shoulder motion mechanisms (2) and two large arm power-assisted mechanisms (1);
a shoulder mechanism (2) and a large arm boosting mechanism (1) are respectively arranged on two sides of the back bearing device (3);
each large arm boosting mechanism (1) comprises a large arm binding frame (1-1), an elastic expansion piece (1-2) and a shoulder connecting piece (1-3); one end of the elastic expansion piece (1-2) is rotatably arranged on the large arm binding frame (1-1), the other end of the elastic expansion piece is rotatably arranged on the shoulder connecting piece (1-3), the shoulder connecting piece (1-3) is fixedly connected with the shoulder moving mechanism (2), and the large arm binding frame (1-1) is rotatably arranged on the shoulder connecting piece (1-3);
the rotation axis of the large arm binding frame (1-1) is parallel to the rotation axes of the two ends of the elastic expansion piece (1-2);
the shoulder movement mechanism (2) is connected with the back bearing device (3) and used for passively moving along with the shoulders of the human body.
2. The gas spring energy storage passive upper limb assistance exoskeleton of claim 1, wherein: the elastic expansion piece (1-2) is a gas spring.
3. The gas spring energy storage passive upper limb assistance exoskeleton of claim 2, wherein: the large arm binding frame (1-1) comprises an outer cover (1-11), an inner cover (1-12) and a binding piece (1-13);
the outer cover (1-11) and the inner cover (1-12) are buckled together, the gas spring and the shoulder connecting piece (1-3) are arranged in a buckled cavity, one end of the gas spring is rotatably connected with the outer cover (1-11) through a bearing, the other end of the gas spring is rotatably connected with the shoulder connecting piece (1-3) through a bearing, the shoulder connecting piece (1-3) is arranged on the outer cover (1-11) and the inner cover (1-12) through a bearing, and the binding band piece (1-13) is arranged on the inner cover (1-12).
4. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 3, wherein: each shoulder motion mechanism (2) is a link mechanism, and the link mechanism comprises a front link (2-1), a middle link (2-2) and a rear link (2-3);
one end of the front connecting rod (2-1) is fixedly connected with the shoulder connecting piece (1-3), and the other end of the front connecting rod is rotatably connected with one end of the middle connecting rod (2-2);
the other end of the middle connecting rod (2-2) is rotatably connected with one end of the rear connecting rod (2-3), the other end of the rear connecting rod (2-3) is rotatably connected with the back bearing device (3), and the front connecting rod (2-1), the middle connecting rod (2-2), the rear connecting rod (2-3) and the rear connecting rod (2-3) are parallel to the rotating axis of the back bearing device (3) and are vertically arranged when being worn.
5. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 3 or 4, wherein: the back carrying device (3) comprises a front backboard (3-1), a back backboard (3-2) and a crotch fixing piece (3-3);
the front backboard (3-1) is connected with the back backboard (3-2) and is used for being worn on the back of a human body;
the crotch fixing piece (3-3) is fixed on the back plate (3-2) and is used for being worn on the waist and the back of a human body;
the rear connecting rod (2-3) is connected with the rear back plate (3-2).
6. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 5, wherein: the device also comprises two sets of connecting devices, wherein each set of connecting device comprises a front clamping piece (4-1), a rear clamping piece (4-2), a shaft (4-3) and a back connecting plate (4-4);
the front clamping piece (4-1) is fixed on the back connecting plate (4-4), the back connecting plate (4-4) is fixed on the back plate (3-2), the shaft (4-3) is fixed by the front clamping piece (4-1) and the back clamping piece (4-2) which are connected together, and the back connecting rod (2-3) is installed at the upper end of the shaft (4-3) through a bearing.
7. The gas spring energy storage passive upper limb assistance exoskeleton of claim 6, wherein: the back bearing device (3) is made of carbon fibers.
8. The gas spring energy storage passive upper limb assistance exoskeleton of claim 7, wherein: the front back plate (3-1) is a hollow plate.
9. The gas spring energy storage passive upper limb assistance exoskeleton of claim 8, wherein: the crotch fixing piece (3-3) is a U-shaped groove plate with meshes, and a binding belt is arranged on the groove plate.
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| CN111840848A (en) * | 2020-07-27 | 2020-10-30 | 哈尔滨永泓科技有限公司 | Fire control AR helmet |
| 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 |
| CN112428252A (en) * | 2020-08-07 | 2021-03-02 | 天津大学 | Novel exoskeleton and design method thereof |
| CN114393570A (en) * | 2022-03-25 | 2022-04-26 | 东莞理工学院 | Pneumatic type single-arm upper limb exoskeleton robot and control system |
| WO2022145259A1 (en) * | 2020-12-28 | 2022-07-07 | 株式会社イノフィス | Arm assisting device |
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| 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 |
| WO2022145259A1 (en) * | 2020-12-28 | 2022-07-07 | 株式会社イノフィス | Arm assisting device |
| CN114393570A (en) * | 2022-03-25 | 2022-04-26 | 东莞理工学院 | Pneumatic type single-arm upper limb exoskeleton robot and control system |
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