CN111360790B - 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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- CN111360790B CN111360790B CN202010225907.3A CN202010225907A CN111360790B CN 111360790 B CN111360790 B CN 111360790B CN 202010225907 A CN202010225907 A CN 202010225907A CN 111360790 B CN111360790 B CN 111360790B
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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.
A gas spring energy storage passive upper limb assistance exoskeleton comprises a back bearing device, two shoulder moving mechanisms and two upper limb assistance mechanisms; a shoulder mechanism and a big arm boosting mechanism are respectively arranged on two sides of the back bearing device;
each big arm boosting mechanism comprises a big 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 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 boom binder with the inner cover removed;
FIG. 5 is a block diagram of a shoulder moving mechanism and a back carrying device;
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 motion mechanism 2 and a large arm power assisting mechanism 1 are respectively arranged on two sides of the back bearing device 3;
each big arm boosting mechanism 1 comprises a big 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 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 shoulder and the neck of a worker during long-term working, and the load can be balanced and offset to the greatest extent at each posture position in the movement process of the upper limb, 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 band members 1-13 are fixed to the inner lids 1-12 by the band coupling members 1-4, so that a force applied to the upper arms when the worker works is converted into a load in the booster structure by the band 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 rear 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 to facilitate wearing and to transmit 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 2kg. 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 human back of global design laminating to install the bandage additional on it, adjust the elasticity degree when dressing, carry out netted eyelet design above that simultaneously, alleviate the total weight of device to a great 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 the state as shown in fig. 3, the gas spring in the upper arm power assisting mechanism 1, the whole upper 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 exoskeleton is in a pressing state, so that the angle between the large arm power assisting 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, this process can be equivalent to the triangle problem with a single edge length change: the distance between two points fixedly connected with the outer cover 1-11, the gas spring and the shoulder connecting piece 1-3 is fixed and can be equivalent to the length AB; the length of the shoulder connectors 1-3 is constant and can be equivalent to the side length BC, while the shoulder connectors 1-3 are kept perpendicular to the horizontal plane by the structure of fig. 1 and 3; the gas spring varies in length, which may be equivalent to a side length AC. Initially α =90 °, α denotes the angle AB (line connecting the two bearings on the covers 1-11) to the horizontal;
alpha gets smaller when compressed, so that AC gets shorter, the gas spring is compressed creating a force situation as in fig. 7:
the calculation can obtain:
AC·h＝AB·BC·cosα：
T exo ＝F gas ·h＝F gas ·AB·BC·cosα/AC，T load ＝F load ·AB·cosα；
the following can be obtained: f gas ＝250N，F load ＝5kgf，AB＝164mm，BC＝38mm
Wherein, T exo Representing the output torque of the exoskeleton, F gas Indicating force of gas spring, F load Representing the force of the load during movement, T load Representing the load moment while the person is working;
as shown in the graph of fig. 8. In the figure, the left ordinate represents the moment, the right ordinate represents the balance error, and the abscissa represents the working angle α, wherein the left moment value corresponding curves are: the first two-dot chain line curve represents the exoskeleton output torque-working load torqueA difference (represented by Δ T); the second single-dot chain line curve represents the difference value of the exoskeleton output torque and the working load torque, and the ratio of the exoskeleton output torque to the working load torque is the error ratio (delta T/T) load Represents); the third solid curve represents the output torque of the exoskeleton (denoted by T) exo Represents); the fourth dashed curve represents the load moment (by T) when the person is working load Represents); at this time: through structural parameter optimization, the exoskeleton can completely balance the moment generated by the load at the load end in a power assisting interval from 90 degrees to 0 degrees, and the error is controlled between-4% and +5%, so that the load self-balance of each working position in a power assisting area is realized, and the exoskeleton can completely balance the load power required by a person at each working position, which is equivalent to no output of the person.
Wherein: the movable range of the alpha design can be from 90 degrees to-90 degrees, the human body power assisting working area is from 90 degrees to 0 degree, when the alpha reaches 90 degrees or-90 degrees, the inner edge of the groove of the shoulder connecting piece 1-3 is adopted to limit the gas spring, and therefore the protection effect is achieved. Meanwhile, the optimal flexibility of the horizontal plane of workers in work is guaranteed by the aid of the shoulder movement mechanism 2, and complete freedom in a movement range is guaranteed. And the reaction force generated by the compressed gas spring is transmitted to the back bearing device 3 through the connecting rod mechanism, and then the load is borne by the waist and the back with stronger bearing capacity, so that the load transfer is realized, and the load capacity of the shoulder and the neck is reduced.
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 (7)
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 moving mechanisms (2) and two large arm power-assisted mechanisms (1);
two sides of the back bearing device (3) are respectively provided with a shoulder motion mechanism (2) and a large arm power assisting mechanism (1);
each large arm power assisting mechanism (1) comprises a large arm binding frame (1-1), an elastic telescopic piece (1-2) and a shoulder connecting piece (1-3); one end of an elastic telescopic piece (1-2) is rotatably arranged on the large arm binding frame (1-1), the other end of the elastic telescopic 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 telescopic piece (1-2); the shoulder moving mechanism (2) is connected with the back bearing device (3) and is used for passively moving along with the shoulders of a human body; the large arm binding frame (1-1) comprises an outer cover (1-11), an inner cover (1-12) and a binding band piece (1-13), the outer cover (1-11) and the inner cover (1-12) are buckled together, the elastic telescopic piece (1-2) is a gas spring, the gas spring and a shoulder connecting piece (1-3) are arranged in a buckled cavity, the shoulder connecting piece (1-3) is a channel steel type or a channel groove type component, two positions on the upper portion of the shoulder connecting piece (1-3) are radially and axially fixed through a bearing and are respectively connected with the outer cover (1-11), the inner cover (1-12) and a shoulder mechanism (2), the lower portion of the shoulder connecting piece (1-3) is connected to a hinge of the gas spring through the bearing, one end of the gas spring is rotatably connected with the outer cover (1-11) through the bearing, the other end of the gas spring is rotatably connected with the shoulder connecting piece (1-3) through the bearing, the binding band piece (1-13) is installed on the inner cover (1-12), and alpha =90 alpha represents two connecting lines on the outer cover (1-11) at the beginning, and when the elastic telescopic piece is pressed in the horizontal direction, an included angle of the elastic telescopic area is reduced to a human body assisting area, and the human body is 0-2.
2. The gas spring energy storage passive upper limb assistance exoskeleton of claim 1, 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.
3. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 1 or 2, wherein: the back bearing 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 back connecting rod (2-3) is connected with the back plate (3-2).
4. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 3, 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.
5. The gas spring energy storage passive upper limb assistance exoskeleton of claim 4, wherein: the back bearing device (3) is made of carbon fibers.
6. A gas spring energy storage passive upper limb assistance exoskeleton as claimed in claim 5, wherein: the front back plate (3-1) is a hollow plate.
7. The gas spring energy storage passive upper limb assistance exoskeleton of claim 6, 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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| CN112428252B (en) * | 2020-08-07 | 2023-03-17 | 天津大学 | Exoskeleton and design method thereof |
| 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 |
| JP2022104462A (en) * | 2020-12-28 | 2022-07-08 | 株式会社イノフィス | Arm part assist 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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