CN111452024A - Be applied to upper limbs bearing helping hand ectoskeleton equipment - Google Patents

Abstract

The invention discloses an upper limb bearing and assisting exoskeleton device, which comprises an exoskeleton binding module sleeved on the back of a human body, an upper limb module sleeved on arms on the left side and the right side of the human body and providing a power driving function, and an automatic young fruit bagging machine body for carrying the human body by hand, wherein the exoskeleton binding module comprises a binding sleeve positioned at the upper end and a power supply module positioned at the lower end and arranged on the back of the binding sleeve and used for providing power supply and whole device control functions, the binding sleeve is of a Y-shaped structure at the back of the human body, the chest of the human body is of an H-shaped structure, the bottom end of the exoskeleton binding module is of a flexible human body imitating structure fitting the configuration of the human body, and the power supply module is fixed on a circular structure positioned in the. This be applied to upper limbs bearing helping hand ectoskeleton equipment through electric control, provides the helping hand for the upper limbs of human body to can be more convenient be applied to young fruit bagging machine.

Description

Be applied to upper limbs bearing helping hand ectoskeleton equipment

Technical Field

The invention belongs to the technical field of power assisting equipment, and particularly relates to power assisting exoskeleton equipment applied to upper limb bearing.

Background

With the development of agriculture and the improvement of living standard of people, more and more people start to plant fruit trees, and the fruit trees are good channels for helping farmers to get rich. In the management that the fruit tree was planted, need carry out the bagging-off processing to the young fruit on the fruit tree to the growth of protection young fruit, and the in-process of fruit tree bagging-off, because the great variety of young fruit, and overhead mostly, need ceaselessly lift up the arm and put down, cause the tired of upper limbs easily excessively, influence the efficiency of bagging-off, arouse the damage of upper limbs even when serious.

And current fruit tree bagging machine generally chooses for use young fruit bagging machine to cover the bag and handles, and in the use of young fruit bagging machine, adopts booster unit mostly, helps the upper limbs alleviate fatigue, reduces hard, and current upper limbs booster unit is mostly by atmospheric pressure or hydraulic power output, and its helping hand effect is poor, and the helping hand is not obvious, and the installation is that to use also inconvenient.

Disclosure of Invention

The invention aims to provide an upper limb bearing and assisting exoskeleton device, which is applied to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an upper limb bearing and assisting exoskeleton device comprises an exoskeleton binding module sleeved on the back of a human body, an upper limb module sleeved on arms on the left side and the right side of the human body and providing a power driving function, and an automatic young fruit bagging machine body for carrying the human body by hand, wherein the exoskeleton binding module comprises a binding sleeve positioned at the upper end and a power supply module positioned at the lower end and arranged on the back of the binding sleeve and used for providing power supply and whole device control function, the binding sleeve is of a Y-shaped structure on the back of the human body, the chest of the human body is of an H-shaped structure, the bottom end of the exoskeleton binding module is of a flexible human body-like structure fitting the configuration of the human body, the power supply module is fixed on a circular structure in the center of the back, two ends of the exoskeleton binding module are respectively connected with two groups of upper limb modules through a right link arm and a left link arm, and an upper limb right exoskeleton assisting module and an upper limb, the upper limb exoskeleton right power-assisted module and the upper limb exoskeleton left power-assisted module are the same in structure size, and respectively comprise a direct current speed reduction motor and a force sensor which are arranged in the upper limb module, and the right link arm and the left link arm are the same in structure size and respectively comprise a link arm block, a link arm large arm rod, a link arm large arm small arm movable block, a link arm small arm rod, a link arm small arm block and a link arm fixed connecting rod;

the upper limb module comprises a connecting rod, a large power-assisted arm, a small arm bandage and a large arm bandage, wherein the small arm is fixedly connected with one end of the large power-assisted arm, the other end of the large power-assisted arm is fixedly connected with the connecting rod through a universal joint block, one side of the top end of the connecting rod is movably connected with a connecting block of the power-assisted arm through a pin shaft, the other side of the upper limb is movably connected with the connecting block of the power-assisted arm through a pin shaft, two groups of large arm bandages with different sizes are connected to the lower part of the large power-assisted arm in a clamping mode, and three groups of small arm bandages with.

Preferably, the power module includes power pack shell, power pack inner shell, power pack fixed plate and power pack, the power channel of placing the power pack is seted up to a side of power pack shell, just install control module on the power pack shell of power channel below, the power pack card is in the power channel, and one side that the power pack was the power pack shell dorsad is equipped with the power pack fixed plate, just the power pack fixed plate is established between power pack shell and power pack inner shell, there is the screw hole a side that the power pack inner shell was the power pack dorsad, and screw internal thread adaptation install pass power pack inner shell, power pack fixed plate and with power pack shell fixed connection's fixed screw.

Preferably, the two sides of the upper end face of the power supply block shell are respectively and fixedly welded with a connecting right block and a connecting left block, the connecting right block is identical to the connecting left block in size and structure, and a linkage arm fixing and connecting rod movably connected with the linkage arm small arm block is inserted into a through hole of the connecting right block and the connecting left block.

Preferably, the power supply block is further sleeved with a power supply shell, the bottom end of the power supply shell is fixedly connected with a power supply bottom plate, and a power supply handle is arranged at the upper end of the power supply shell.

Preferably, the vertical section of pitman arm piece and pitman arm forearm piece is the triangle-shaped structure, the vertical section of pitman arm big arm forearm movable block is quadrilateral structure, and is two sets of pitman arm big arm pole top and the both ends swing joint of pitman arm big arm forearm movable block, the bottom respectively with pitman arm piece and the two sets of corner swing joint of triangle-shaped of pitman arm and helping hand arm connecting block, two sets of the one end of pitman arm forearm pole and the other both ends swing joint of pitman arm big arm forearm movable block, the both sides angle swing joint of the other end angle and two sets of pitman arm forearm piece, and the solid connecting rod of another corner swing joint pitman arm of pitman arm forearm piece.

Preferably, the big arm of helping hand arm includes big arm epitheca, big arm inferior valve and big arm fixed plate, through screw fixation sealing connection between big arm epitheca and the big arm inferior valve, big arm fixed plate joint is between big arm epitheca and big arm inferior valve, and the both ends of big arm fixed plate be provided with the jack of big arm bandage joint, install direct current gear motor between the upper end of big arm fixed plate and the big arm epitheca, and the one end of the little arm of helping hand arm of orientation still has the one end of big arm forearm connecting rod through the screw fixation at the bottom of the big arm fixed plate.

Preferably, the power assisting arm forearm includes forearm epitheca, forearm inferior valve and forearm fixed plate, it is sealed through screw fixation between forearm epitheca and the forearm inferior valve, and forearm inferior valve top installation has force sensor, the crisscross both sides angle setting in the force sensor outside is used for L type plate-shaped structure's the force sensor fixed block that is of clamp force sensor, the other end of big arm forearm connecting rod of screw fixed connection is also passed through towards the one end of the big arm of power assisting arm to the forearm inferior valve.

Preferably, the forearm fixing plate passes through the screw joint on the bottom of forearm inferior valve, and the both sides limit of forearm fixing plate all opens the jack of fixing with forearm bandage joint.

The invention has the technical effects and advantages that: the upper limb bearing power assisting exoskeleton equipment is provided with the exoskeleton binding module and the upper limb module, the exoskeleton binding module and the upper limb module are in transmission connection through the right connecting arm and the left connecting wall, a power supply module which provides power supply and whole device control functions is arranged below the exoskeleton binding module, the upper limb module is internally provided with the upper limb exoskeleton right power assisting module and the upper limb exoskeleton left power assisting module which provide power driving functions, and a speed reducing motor and a force sensor are arranged in the upper limb module and the lower limb exoskeleton left power assisting module, so that the operation of each power module can be controlled by the sensor through the control module, electric control is realized, the power assisting effect is achieved, the power assisting effect is better and more practical, meanwhile, the power assisting is more convenient due to the cooperation of the sensors, and the power assisting angle is; in addition, the whole socket joint is used, the installation is more convenient, and the handle is arranged on the power block in the power module and can be conveniently taken out through the handle, so that the electric quantity can be replaced without stopping working for charging.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the back of the present invention;

FIG. 3 is a back view of the apparatus of the present invention;

FIG. 4 is a schematic structural diagram of an upper limb module of the present invention;

FIG. 5 is a schematic structural view of a large arm and a small arm of the power assisting arm according to the present invention;

FIG. 6 is an exploded view of the large arm and the small arm of the assist arm according to the present invention;

FIG. 7 is a schematic view of a left link arm configuration of the present invention;

FIG. 8 is a schematic structural diagram of a power module according to the present invention;

FIG. 9 is a schematic diagram of a power block according to the present invention;

fig. 10 is an enlarged view of the structure of fig. 1 at a according to the present invention.

In the figure: 1 automatic young fruit bagging machine body, 2 upper limb exoskeleton right booster module, 3 exoskeleton binding module, 4 upper limb exoskeleton left booster module, 5 upper limb module, 6 power supply module, 7 right link arm, 8 left link arm, 9 link arm and booster arm connecting block, 10 pairs of links, 11 booster arm big arm, 12 booster arm small arm, 13 small arm bandage, 14 big arm bandage, 15 universal joint block, 16 big arm upper shell, 17 big arm lower shell, 18 big arm fixing plate, 19 small arm upper shell, 20 small arm lower shell, 21 small arm fixing plate, 22 force sensor, 23 force sensor fixing block, 24 big arm small arm connecting rod, 25 speed reducing motor, 26 link arm block, 27 link arm big arm rod, 28 link arm small arm moving block, 29 link arm small arm rod, 30 link arm small arm block, 31 link arm fixing rod, 32 power supply block shell, 33 connecting right block, 34 connecting left block, 35 power supply, 36 power supply blocks, 37 power supply block fixing plates, 38 power supply block inner shells, 39 fixing screws, 40 control modules, 41 power supply handles, 42 power supply shells and 43 power supply bottom plates.

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 invention provides an upper limb bearing and assisting exoskeleton device as shown in figures 1-3, which comprises an exoskeleton binding module 3 sleeved on the back of a human body, an upper limb module 5 sleeved on the arms on the left side and the right side of the human body and providing a power driving function, and an automatic young fruit bagging machine body 1 for carrying the human body by hand, wherein the exoskeleton binding module 3 comprises a binding sleeve positioned at the upper end and a power supply module 6 positioned at the lower end and arranged on the back of the binding sleeve and used for providing power supply and whole device control functions, the binding sleeve is of a Y-shaped structure at the back of the human body, the chest of the human body is of an H-shaped structure, the bottom end of the power supply module is of a flexible human body imitation structure fitting the configuration of the human body, the power supply module 6 is fixed on a circular ring-shaped structure (actually, a binding module tied on the waist and used for binding and fixing the waist of the human body), and two ends of the exoskeleton binding module 3 are respectively connected with two groups of 5, an upper limb exoskeleton right power-assisted module 2 and an upper limb exoskeleton left power-assisted module 4 for providing power assistance are respectively installed inside the two groups of upper limb modules 5, the upper limb exoskeleton right power-assisted module 2 and the upper limb exoskeleton left power-assisted module 4 have the same structure and size, and both comprise a direct current speed reduction motor 25 and a force sensor 22 which are arranged in the upper limb module 5, and the right link arm 7 and the left link arm 8 have the same structure and size, and both comprise a link arm block 26, a link arm large arm rod 27, a link arm large arm small arm movable block 28, a link arm small arm rod 29, a link arm small arm block 30 and a link arm fixed link 31;

the upper limb module 5 comprises a pair connecting rod 10, a power assisting arm large arm 11, a power assisting arm small arm 12, a small arm binding band 13 and a large arm binding band 14, one end of the power assisting arm large arm 11 is fixedly connected with the power assisting arm small arm 12, the other end of the power assisting arm large arm is fixedly connected with the pair connecting rod 10 through a universal joint block 15, one side of the top end of the pair connecting rod 10 is movably connected with a connecting rod arm and a power assisting arm connecting block 9 through a pin shaft, the other side of the symmetry is movably connected with a connecting rod arm block 26 through a pin shaft, two groups of large arm binding bands 14 with different sizes are clamped below the power assisting arm large arm 11, and three groups of small arm binding bands 13 with different sizes are.

Specifically, the power module 6 comprises a power block outer shell 32, a power block inner shell 38, a power block fixing plate 37 and a power block 36, wherein a power channel 35 for placing the power block 36 is formed in one side surface of the power block outer shell 32, a control module 40 is installed on the power block outer shell 32 below the power channel 35, the control module 40 preferably selects an STM32 single chip microcomputer and is electrically connected with the power block 36 through a built-in lead, the power block 36 is clamped in the power channel 35, the power block fixing plate 37 is arranged on one side, back to the power block outer shell 32, of the power block 36, the power block fixing plate 37 is arranged between the power block outer shell 32 and the power block inner shell 38, a screw hole is formed in one side surface, back to the power block 36, of the power block inner shell 38, the power block fixing plate 37 and a fixing screw 39 fixedly connected with the power block outer shell 32 and penetrating through the power block inner shell, the fixing and mounting of the power block 36 as a whole are completed.

Specifically, the both sides of the up end of power pack shell 32 fixed welding respectively have connect right piece 33 and connect left piece 34, connect right piece 33 and be connected the big or small structure of left piece 34 the same, and connect right piece 33 and connect the through-hole of left piece 34 in insert with the solid connecting rod 31 of the small arm piece 30 swing joint of pitman arm, realize providing support function for two sets of upper limbs module 5, avoid the landing of upper limbs module 5 and reduce human hard.

Specifically, the outside of power supply block 36 is still overlapped and is equipped with power supply shell 42, the bottom fixed connection power bottom board 43 of power supply shell 42, and the upper end of power supply shell 42 is provided with power supply handle 41, makes things convenient for taking out and placing of power supply block 36, makes and to change the reserve power supply when picking.

Specifically, the vertical sections of the link arm block 26 and the link arm small arm block 30 are both triangular structures, the vertical section of the link arm large arm small arm movable block 28 is a quadrilateral structure, the top ends of two groups of link arm large arm rods 27 are movably connected with the two ends of the link arm large arm small arm movable block 28, the bottom ends of the two groups of link arm large arm rods 27 are respectively movably connected with the link arm block 26 and the two groups of triangular corners of the link arm large arm small arm movable block 28 and the booster arm connecting block 9, one ends of the two groups of link arm small arm rods 29 are movably connected with the other two ends of the link arm large arm small arm movable block 28, the other end corners of the two groups of link arm small arm blocks 30 are movably connected with the two corners of the link arm small arm block 30, and the other corners of the link arm small arm block 30 are movably connected with the.

Specifically, the big arm 11 of helping hand arm includes big arm epitheca 16, big arm epitheca 17 and big arm fixed plate 18, through screw fixation sealing connection between big arm epitheca 16 and the big arm epitheca 17, big arm fixed plate 18 joint is between big arm epitheca 16 and big arm epitheca 17, and the both ends of big arm fixed plate 18 are provided with the jack with big arm bandage 14 joint, installs direct current gear motor 25 between the upper end of big arm fixed plate 18 and the big arm epitheca 16, gear motor 25 and power supply block 36 electric connection, and still have the one end of big arm forearm connecting rod 24 through the screw fixation at the bottom of big arm fixed plate 18 towards the one end of helping hand arm forearm 12.

Specifically, the power assisting arm small arm 12 comprises a small arm upper shell 19, a small arm lower shell 20 and a small arm fixing plate 21, the small arm upper shell 19 and the small arm lower shell 20 are fixedly sealed through screws, a force sensor 22 is installed above the small arm lower shell 20, force sensor fixing blocks 23 which are L-shaped plate-shaped structures and used for clamping the force sensor 22 are arranged on two staggered corners of the outer side of the force sensor 22, one end, facing the power assisting arm large arm 11, of the small arm lower shell 20 is also fixedly connected with the other end of the large arm small arm connecting rod 24 through screws, and the aerospace force sensor 22 can be an R-20 type RVDT aviation military angular displacement sensor.

Specifically, forearm fixed plate 21 passes through the screw joint on forearm inferior valve 20's bottom, and the both sides limit of forearm fixed plate 21 all opens the jack of fixing with forearm bandage 13 joint, and the bonding that all can be pasted through the magic between forearm bandage 14 and the forearm bandage 13 or the seam of needle and thread is fixed on the both ends that correspond the fixed plate.

Specifically, the exoskeleton tying module 3 is firstly sleeved on the back of a human body, then the upper limb module 5 is sequentially sleeved on the big arm and the small arm, so that the arm passes through the big arm bandage 14 and the small arm bandage 13, the exoskeleton tying module 3 and the upper limb module 5 are fixed by the right connecting arm 7 and the left connecting arm 8, the automatic young fruit bagging machine body 1 is held, when young fruits on a fruit tree are bagged, force sensors 22 in the upper limb exoskeleton right assisting module 2 and the upper limb exoskeleton left assisting module 4 in the upper limb module 5 detect a big arm movement joint angle signal and a small arm movement joint angle signal and send the signals to the control module 40, and the control module 40 receives the signals and controls the operation of the internal speed reducing motor 25 to provide assistance for the big arm and the small arm of the human body.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (8)

1. The utility model provides a be applied to upper limbs bearing helping hand ectoskeleton equipment, ties up module (3), the cover on the human left and right sides arm and provide upper limbs module (5) of power drive function and be used for portable automatic young fruit bagging machine organism (1) of human body, its characterized in that including the ectoskeleton of cover at human back: the exoskeleton binding module (3) comprises a binding sleeve positioned at the upper end and a power supply module (6) positioned at the lower end and arranged at the back of the binding sleeve and used for providing power supply and control function of the whole device, wherein the binding sleeve is of a Y-shaped structure at the back of a human body, the chest of the human body is of an H-shaped structure, the bottom end of the binding sleeve is of a flexible human body imitation structure fitting the configuration of the human body, the power supply module (6) is fixed on a circular structure positioned in the center of the back, two ends of the exoskeleton binding module (3) are respectively connected with two groups of upper limb modules (5) through a right link arm (7) and a left link arm (8), an exoskeleton upper limb right side assistance module (2) and an upper limb left side exoskeleton assistance module (4) used for providing assistance are respectively arranged in the two groups of upper limb modules (5), the structures of the upper limb right side assistance module (2) and the upper, the robot arm comprises a direct-current speed reducing motor (25) and a force sensor (22) which are arranged in an upper limb module (5), wherein the right link arm (7) and the left link arm (8) are identical in structure size and comprise a link arm block (26), a link arm large arm rod (27), a link arm large arm small arm movable block (28), a link arm small arm rod (29), a link arm small arm block (30) and a link arm fixed link (31);

upper limbs module (5) are including connecting rod (10), helping hand arm big arm (11), helping hand arm forearm (12), forearm bandage (13) and big arm bandage (14), one end fixed connection helping hand arm forearm (12) of helping hand arm big arm (11), other end top through universal joint piece (15) with to connecting rod (10) fixed connection, through round pin axle swing joint linking arm and helping hand arm connecting block (9) one side on connecting rod (10) top, the opposite side of symmetry is through round pin axle swing joint linking arm piece (26), the below joint of the big arm of helping hand arm (11) has two sets of big arm bandages (14) that the size is different, the below bonding of helping hand arm forearm (12) has forearm bandage (13) that three groups of sizes are different.

2. The exoskeleton device applied to upper limb load-bearing assistance according to claim 1, wherein: the power module (6) comprises a power block outer shell (32), a power block inner shell (38), a power block fixing plate (37) and a power block (36), a power supply channel (35) for placing a power supply block (36) is arranged on one side surface of the power supply block shell (32), and a control module (40) is arranged on a power supply block shell (32) below the power supply channel (35), the power supply block (36) is clamped in the power supply channel (35), a power supply block fixing plate (37) is arranged on one side of the power supply block (36) back to the power supply block shell (32), and the power supply block fixing plate (37) is arranged between the power supply block outer shell (32) and the power supply block inner shell (38), a screw hole is arranged on one side surface of the power supply block inner shell (38) back to the power supply block (36), and the screw hole internal thread is provided with a fixing screw (39) which passes through the power supply block inner shell (38) and the power supply block fixing plate (37) and is fixedly connected with the power supply block outer shell (32) in a matching way.

3. The exoskeleton device applied to upper limb load-bearing assistance according to claim 2, wherein: the power supply block shell (32) up end both sides fixed welding respectively have connect right piece (33) and connect left piece (34), connect right piece (33) and be connected left piece (34) big or small structure the same, and insert link arm solid connecting rod (31) with link arm forearm piece (30) swing joint in the through-hole of connecting right piece (33) and connecting left piece (34).

4. The exoskeleton device applied to upper limb load-bearing assistance according to claim 2, wherein: the power supply block (36) is also externally sleeved with a power supply shell (42), the bottom end of the power supply shell (42) is fixedly connected with a power supply bottom plate (43), and the upper end of the power supply shell (42) is provided with a power supply handle (41).

5. The exoskeleton device applied to upper limb load-bearing assistance according to claim 1, wherein: the vertical section of the link arm block (26) and the link arm small arm block (30) is a triangular structure, the vertical section of the link arm large arm small arm movable block (28) is a quadrilateral structure, the top ends of the link arm large arm rods (27) are movably connected with the two ends of the link arm large arm small arm movable block (28), the bottom ends of the link arm large arm rods are movably connected with the two groups of triangular corners of the link arm block (26), the link arm and the booster arm connecting block (9), the two groups of link arm small arm rods (29) are movably connected with the other two ends of the link arm large arm small arm movable block (28), the other end angles of the link arm small arm rods are movably connected with the two side angles of the link arm small arm block (30), and the other corner of the link arm small arm block (30) is movably connected with the link arm fixing rod (.

6. The exoskeleton device applied to upper limb load-bearing assistance according to claim 1, wherein: big arm (11) of helping hand arm is including big arm epitheca (16), big arm inferior valve (17) and big arm fixed plate (18), through screw fixation sealing connection between big arm epitheca (16) and big arm inferior valve (17), big arm fixed plate (18) joint is between big arm epitheca (16) and big arm inferior valve (17), and the both ends of big arm fixed plate (18) are provided with the jack with big arm bandage (14) joint, installs direct current gear motor (25) between the upper end of big arm fixed plate (18) and big arm epitheca (16), and still has the one end of big arm forearm connecting rod (24) through the screw fixation at the bottom of big arm fixed plate (18) towards the one end of helping hand arm forearm (12).

7. The upper limb bearing power-assisted exoskeleton device as claimed in claim 1, wherein the power-assisted arm small arm (12) comprises a small arm upper shell (19), a small arm lower shell (20) and a small arm fixing plate (21), the small arm upper shell (19) and the small arm lower shell (20) are fixedly sealed through screws, a force sensor (22) is mounted above the small arm lower shell (20), the two staggered corners at the outer sides of the force sensor (22) are provided with force sensor fixing blocks (23) which are used for clamping the force sensor (22) and are in L-shaped plate-shaped structures, and one end, facing the power-assisted arm large arm (11), of the small arm lower shell (20) is also fixedly connected with the other end of the large arm small arm connecting rod (24) through screws.

8. The exoskeleton device for upper limb weight bearing and power assistance as claimed in claim 7, wherein: forearm fixed plate (21) pass through the screw joint on the bottom of forearm inferior valve (20), and the both sides limit of forearm fixed plate (21) all opens the jack of fixing with forearm bandage (13) joint.

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