CN112276905A - Upper limb power assisting device - Google Patents
Upper limb power assisting device Download PDFInfo
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- CN112276905A CN112276905A CN202010969801.4A CN202010969801A CN112276905A CN 112276905 A CN112276905 A CN 112276905A CN 202010969801 A CN202010969801 A CN 202010969801A CN 112276905 A CN112276905 A CN 112276905A
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- motor
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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
The application discloses upper limbs booster unit, the device includes: the vest body is used for fixing the upper limb power assisting device on the upper limb of a user, and one surface of the vest body is provided with a protective shell; the movement intention identification component comprises a wireless inertia sensing unit arranged on the upper limb of the user and a data processing circuit arranged in the protective shell, wherein the wireless inertia sensing unit is used for detecting movement acceleration information of the upper limb of the user and sending the movement acceleration information to the data processing circuit; the power system comprises a motor and a conducting wire, the motor is arranged in the protective shell, one end of the conducting wire is connected with the motor, and the other end of the conducting wire is connected with the binding piece of the upper arm of the user; and the control system is respectively electrically connected with the data processing circuit and the motor and is used for controlling the motor to work according to the motion acceleration information of the data processing circuit so as to enable the conducting wire connected with the motor to drive the binding piece to move. This application upper limbs booster unit has made things convenient for the user to dress.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to an upper limb power assisting device.
Background
At present, when heavy objects are carried manually, the muscle of the upper arm of the upper limb of a human body contracts to generate pulling force, so that the power-assisted arm carries the heavy objects. The process of carrying heavy objects is generally long, and the muscle fatigue or injury of the upper arm of the upper limb of the human body is easily caused.
In the prior art, a rigid exoskeleton is sleeved on an upper limb of a user, a plurality of sensors on the exoskeleton are fused to detect the movement intention of the upper limb, and the exoskeleton is controlled to provide assistance for a human body when a heavy object is carried manually through wired data transmission. In the mode, due to the rigidity characteristic of the rigid exoskeleton, the exoskeleton structure is complicated, the weight is overlarge, the mobility of a human body is severely limited, an extra load is brought to the human body, the human body and the rigid exoskeleton are not well attached, and the control difficulty is increased; and set up a plurality of sensors and through wired data transmission data on the ectoskeleton, lead to too much data line to set up in upper limbs end, hindered the user and dressed, disturbed user's motion.
Disclosure of Invention
The application mainly provides an upper limb power assisting device to solve the technical problems that wearing is inconvenient and the like in the prior art.
In order to solve the technical problem, the application adopts a technical scheme that: an upper limb assistor device, comprising:
the vest body is used for fixing the upper limb power assisting device on the upper limb of a user, and a protective shell is arranged on one surface of the vest body;
the movement intention identification assembly comprises a wireless inertia sensing unit arranged on the upper limb of the user and a data processing circuit arranged in the protective shell, wherein the wireless inertia sensing unit is used for detecting movement acceleration information of the upper limb of the user and sending the movement acceleration information to the data processing circuit;
the power system comprises a motor and a conducting wire, the motor is arranged in the protective shell, one end of the conducting wire is connected with the motor, and the other end of the conducting wire is connected with the binding piece of the upper arm of the user;
and the control system is respectively electrically connected with the data processing circuit and the motor and is used for controlling the motor to work according to the motion acceleration information of the data processing circuit so as to enable the conducting wire connected with the motor to drive the binding piece to move.
According to an embodiment provided by the present application, the vest body includes a shoulder fixing groove, and the conductive wire is inserted into the shoulder fixing groove and slides in the shoulder fixing groove;
the vest body still includes the back fixed plate, the motor passes through the back fixed plate is fixed on the vest body.
According to one embodiment provided by the present application, the conductive wire includes a driving conduit and a driving wire passing through the driving conduit; the power system also comprises a wire spool which is fixedly connected with an output shaft of the motor;
one end of the driving wire is wound on the wire spool, and the other end of the driving wire is connected with the binding piece;
drive spool one end connect in the motor, the other end sliding connection in the shoulder fixed slot.
According to one embodiment provided herein, the driving lines include a first driving line and a second driving line, the first driving line and the second driving line are connected by a tension sensor;
one end of the first driving wire is wound on the wire spool, the other end of the first driving wire is connected with one end of the second driving wire through the tension sensor, and the other end of the second driving wire is connected with the binding piece.
According to an embodiment provided by the application, the power system further comprises a wire winding disc cover, the wire winding disc cover is arranged on the wire winding disc, and the wire winding disc cover, the wire winding disc and the motor are sequentially and coaxially arranged;
the wire spool comprises a wire outlet groove and a wire outlet head, the wire outlet head is detachably covered on the wire outlet groove, and one end of the driving wire pipe is fixedly connected to a wire outlet of the wire outlet head;
the driving wire penetrates into the wire outlet head through the wire outlet groove of the winding disc cover, and the wire outlet of the wire outlet head penetrates into the driving wire pipe.
According to an embodiment provided by the application, the wire spool comprises an inner ring and an outer ring, a through hole is formed in the wire spool, the through hole penetrates through the inner ring and the outer ring of the wire spool, and a penetrating piece is fixedly connected to a small hole of the output shaft of the motor through the through hole;
the wire spool further comprises a fixing piece and a groove, the fixing piece is arranged on the groove in a hanging mode, the groove is arranged on the outer ring of the wire spool, and one end of the driving wire is fixedly connected with the fixing piece and contained in the groove.
According to an embodiment that the application provides, driving system still includes the motor support, the motor support is "L type structure", one section fixed connection in of "L type structure" in backplate fixed plate, another section fixed connection in the wire reel lid is towards motor one side.
According to an embodiment provided by the present application, the motor includes a first motor and a second motor, the protective housing includes a first receiving cavity and a second receiving cavity, the first motor is received in the first receiving cavity, and the second motor is received in the second receiving cavity;
the upper limb power assisting device further comprises a battery assembly, an accommodating groove is formed between the first accommodating cavity and the second accommodating cavity, and the battery assembly is accommodated in the accommodating groove.
According to an embodiment provided by the application, the control system further comprises a main control board and a motor driver, the main control board is in communication connection with the motor driver, the motor driver is electrically connected with the motor, the main control board and the motor driver are arranged in the protective shell, and the main control board is used for controlling the motor to work according to the motion acceleration information of the data processing circuit; and the motor driver is used for driving the motor to work according to the instruction of the main control board.
According to an embodiment provided herein, the drive line is a bowden cable or a steel wire rope.
The application provides an upper limbs booster unit includes: the vest body is used for fixing the upper limb power assisting device on the upper limb of a user, and one surface of the vest body is provided with a protective shell; the movement intention identification component comprises a wireless inertia sensing unit arranged on the upper limb of the user and a data processing circuit arranged in the protective shell, wherein the wireless inertia sensing unit is used for detecting movement acceleration information of the upper limb of the user and sending the movement acceleration information to the data processing circuit; the power system comprises a motor and a conducting wire, the motor is arranged in the protective shell, one end of the conducting wire is connected with the motor, and the other end of the conducting wire is connected with the binding piece of the upper arm of the user; and the control system is respectively electrically connected with the data processing circuit and the motor and is used for controlling the motor to work according to the motion acceleration information of the data processing circuit so as to enable the conducting wire connected with the motor to drive the binding piece to move. This application utilizes wireless inertial sensing unit to obtain the motion acceleration information of user's upper limbs, mode through wireless transmission sends motion acceleration information for data processing circuit, with the motion acceleration information control motor according to data processing circuit drive the tie-up piece of conducting wire helping hand user upper arm, real-time accurate discernment wearer's upper limbs motion state has been realized, with provide the helping hand for the wearer according to upper limbs motion state, the interference of wired data transmission to user's dress has been avoided, user's dress has been made things convenient for.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic view of the overall structure of an upper limb assistance device provided by the present application;
fig. 2 is a schematic view of a rear structure of the upper limb assist device shown in fig. 1;
fig. 3 is a schematic structural view of a vest body in the upper limb power assist device shown in fig. 1;
FIG. 4 is a schematic diagram of a power system configuration of an upper limb assistance device provided by the present application;
FIG. 5 is an exploded schematic view of the control system and power system of the upper limb assist device provided herein;
FIG. 6 is a schematic structural diagram of an embodiment of a wire spool in the upper limb power assisting device provided by the present application;
FIG. 7 is a schematic structural diagram of an embodiment of a motor in the upper limb power assisting device provided by the present application;
FIG. 8 is a schematic structural view of another embodiment of a wire spool in the upper limb power assist device provided by the present application;
fig. 9 is a schematic structural diagram of a driving line in the upper limb power assisting device provided by the present application;
fig. 10 is a schematic structural view of a protective shell in the upper limb assistance device provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1 to 3, fig. 1 is a schematic view of an overall structure of an upper limb power assisting device provided by the present application, fig. 2 is a schematic view of a back structure of the upper limb power assisting device shown in fig. 1, and fig. 3 is a schematic view of a vest body of the upper limb power assisting device shown in fig. 1. The upper limb power assisting device 10 is suitable for assisting the upper limbs of a human body when heavy objects are carried manually, and avoids muscle fatigue or loss of the upper limbs caused by carrying the heavy objects for a long time manually; the load during manual carrying is reduced, and a good human-computer interaction effect is achieved.
The upper limb assisting device 10 of the embodiment comprises a vest body 100, an exercise intention identifying component 200, a power system 300 and a control system 400.
The vest body 100 is used for fixing the upper limb power assisting device 10 on the upper limb of the user, that is, the vest body 100 is sleeved on the upper limb of the user, which is equivalent to clothes worn by the human body. In addition, a back fixing plate 11 is disposed on one surface of the vest body 100, a protective shell 12 is disposed on one surface of the vest body 100, and the protective shell 12 is fixedly connected to the back fixing plate 11 for protecting components disposed inside the protective shell 12.
When the upper limb assisting device 10 is used, in order to accurately identify the motion state of the upper limb of the user in real time and provide assistance for the wearer according to the motion state of the upper limb, the upper limb assisting device 10 of the embodiment includes a motion intention identifying component 200, the motion intention identifying component 200 includes a wireless inertial sensing unit 21 arranged on the upper limb of the user and a data processing circuit 22 arranged in the protective shell 12, and the wireless inertial sensing unit 21 is used for detecting the motion acceleration information of the upper limb of the user and sending the motion acceleration information to the data processing circuit 22.
The power system 300 includes a motor 31 and a conductive wire 32, the motor 31 is disposed in the protective shell 12, specifically, the motor 31 is fixed on the vest body 100 through the back fixing plate 11, one end of the conductive wire 32 is connected to the motor 31, and the other end is connected to the upper arm of the user on the harness 13.
In order to control the motor 31 to operate in time according to the motion acceleration information of the data processing circuit 22 when the upper limb power assisting device 10 is used, so that the conducting wire 32 connected to the motor 31 drives the binding 13 of the upper arm of the user to assist, the upper limb power assisting device 10 of the embodiment includes a control system 400, and the control system 400 is electrically connected to the data processing circuit 22 and the motor 31 respectively.
In the above scheme, this application utilizes wireless inertial sensing unit 21 to acquire the motion acceleration information of user's upper limbs, motion acceleration information transmission through wireless transmission gives data processing circuit 22 with the motion acceleration information transmission who acquires, with the motion acceleration information control motor 31 according to data processing circuit 22 drives the tie-up 13 of the user's upper arm of line of conduction 32 helping hand, real-time accurate discernment wearer's upper limbs motion state has been realized, with provide the helping hand for the wearer according to upper limbs motion state, the interference of wired data transmission to user's dress has been avoided, the user is dressed conveniently.
When using upper limbs booster unit 10, in order to avoid the interference to user's transport operation when conducting wire 32 helps power and ties up the piece 13, be provided with shoulder fixed slot 14 on the vest body 100 of this embodiment, shoulder fixed slot 14 sets up in the shoulder position of vest body 100, utilize the conducting wire 32 of motor 31 helping hand tie piece 13 to wear to locate in shoulder fixed slot 14 for conducting wire 32 slides in shoulder fixed slot 14, the helping hand direction of conducting wire 32 has been standardized, avoid the friction damage of conducting wire 32 to user's shoulder. In addition, the shoulder fixing slots 14 are strip-shaped, and the conductive wires 32 slide in the shoulder fixing slots 14 to assist the binding pieces 13, so that when the upper limb assisting device 10 is used by users with different shoulder widths, the users can adjust the positions where the conductive wires 32 penetrate through the shoulder fixing slots 14.
In order to make the upper limb assisting device 10 suitable for users with different statures, the vest body 100 in the embodiment can be adjusted in size, for example, the vest body 100 is a telescopic vest, so that different users can adjust the size of the vest body 100 fixed on the upper limb according to their body sizes, thereby providing support for the users and avoiding the interference caused by the fact that the overlarge vest body 100 is fixed on the upper limb of the user to the carrying operation of the heavy objects. In addition, the vest body 100 of this embodiment can be the nylon vest, and the user's upper limbs can be located in the subsides of nylon vest, and the user of being convenient for dresses, has realized good human-computer interaction to, vest body 100's weight is little, avoids the user to bear a burden too much and consume physical power.
In consideration of the fitting degree of the upper limb assisting device 10 to the body shape of the human body and the requirement of operation adaptability, the back fixing plates 11 on the vest body 100 can be arranged in the middle and the middle upper part of the vest body 100 fixed on the back of the upper limb of the user, so that when the user uses the upper limb assisting device 10, the protective shell 12 fixed on the back fixing plate 11 and parts in the protective shell 12 are attached to the back of the user, the burden of the user is reduced, and the interference of the user on the carrying operation is avoided; and the conducting wire 32 with one end connected with the motor 31 penetrates out of the back of the waistcoat body 100, and the power is assisted by the binding piece 13 on the upper arm of the user, so that the power of the conducting wire 32 is facilitated, and the interference of the conducting wire 32 on the carrying operation of the user is avoided.
With continuing reference to fig. 4, fig. 4 is a schematic structural diagram of a power system of the upper limb power assisting device provided by the present application. The transmission line 32 of the embodiment includes a driving line 321 and a driving conduit 322, the driving line 321 is disposed in the driving conduit 322, and the driving conduit 322 is used for protecting the driving line 321. Specifically, one end of the driving wire 321 is connected to the motor 31, and the other end is connected to the binding 13; the driving pipe 322 has one end connected to the motor 31 and the other end slidably connected to the shoulder fixing groove 14. It should be noted that, in order to increase the flexibility of the assisting force, the driving wire 321 in this embodiment may be a bowden cable or a steel wire rope.
Further, the power system 300 includes a wire spool 33, the wire spool 33 is fixedly connected to the output shaft 311 of the motor 31, and one end of the driving wire 321 is wound on the wire spool 33. Thus, when the control system 400 controls the motor 31 to rotate, the wire spool 33 rotates with the motor 31, thereby driving the driving wire 321 wound around the wire spool 33 to extend and retract on the wire spool 33, so as to assist the user with the arm-tie 13. It should be noted that the motor 31 can rotate forward and backward, and the motor 31 rotates forward to pull the driving wire 321 wound around the wire spool 33, so as to assist the binding element 13; the motor 31 rotates reversely to loosen the driving wire 321 wound around the wire spool 33 without assisting the binding 13.
In practical application, the wireless inertial sensing unit 21 detects the motion acceleration information of the upper limb of the user and sends the motion acceleration information to the data processing circuit 22, the data processing circuit 22 receives the motion acceleration information and identifies the motion acceleration information, when the upper limb of the user is identified to need power assistance, the data processing circuit 22 sends an instruction to the main control board 41, the main control board 41 controls the motor driver 42 connected with the main control board 41 to drive the motor 31 to rotate and drive the driving wire 321 to be tensioned according to the instruction, and the torque generated by the motor 31 acts on the binding piece 13 of the upper limb of the user through the driving wire 321; when the data processing circuit 22 recognizes that the upper limbs of the user are in motion, i.e., do not need power assistance, based on the received motion acceleration information, the data processing circuit 22 sends an instruction to the main control board 41, and the main control board 41 controls the motor driver 42 to drive the motor 31 to rotate in the reverse direction, so that the driving wire 321 connected to the harnessing element 13 is loosened and the driving wire 321 does not perform power assistance. In an embodiment, the motor driver 42 is communicatively connected to the main control board 41, the motor driver 42 is communicatively connected to the motor 31, and the motor driver 42 and the main control board 41 are disposed in the protective shell 12.
In a specific embodiment, the wireless inertial sensing unit 21 may be fixed on the upper arm of the user through an elastic band, and is configured to obtain the motion acceleration information of the upper arm of the user; also, the wireless inertial sensing unit 21 and the data processing circuit 22 may be connected by wireless communication, for example, bluetooth communication.
With continuing reference to figure 5, figure 5 is an exploded schematic view of the control system and power system of the upper limb assist device provided herein. The power system 300 of the embodiment further includes a spool cover 34, and the spool cover 34 covers the spool 33 to protect the driving wire 321 wound on the spool 33. Further, since the driving wire 321 is wound around the spool 33 at one end and passes through the spool cover 34 at the other end, the power of the binding 13 is assisted. In order to avoid long-time carrying operation and to cause the driving wire 321 to wear the bobbin cover 34, the bobbin cover 34 of the upper limb assistance device 10 of the present embodiment includes the wire outlet head 341 and the wire outlet groove 342, and the wire outlet head 341 is detachably covered on the wire outlet groove 342, so as to facilitate timely replacement when the wire outlet head 341 is seriously worn, reduce the product cost, and reduce the technical difficulty of replacement operation.
In addition, one end of the driving conduit 322 is fixedly connected to the outlet 3411 of the outlet 341 for fixing one end of the driving conduit 322, so that the driving wire 321 can be conveniently threaded into the outlet 341 through the outlet groove 342 of the bobbin cover 34, and can be conveniently threaded into the driving conduit 322 through the outlet 3411 of the outlet 341, thereby realizing the power assistance to the binding member 13. The spool cover 34, the spool 33, and the motor 31 are coaxially disposed in this order.
The power system 300 of the embodiment further includes a motor bracket 35, and the bobbin lid 34, the bobbin 33 and the motor 31 are sequentially connected through the motor bracket 35. The motor bracket 35 is of an L-shaped structure, one section of the motor bracket 35 is fixedly connected to the back fixing plate 11, the other section of the motor bracket 35 is fixedly connected to one side of the wire spool 33 facing the motor 31, and the wire spool cover 34 and the motor 31 are respectively arranged on two sides of the other section of the motor bracket 35. Specifically, the bobbin lid 34 is connected to the other section of the motor bracket 35 such that the bobbin 33 is received in the cavity 343 formed by the bobbin lid 34 and the motor bracket 35, and the motor 31 is inserted through the other section of the motor bracket 35 through the output shaft 311 and connected to the bobbin 33. In the exemplary embodiment, the bobbin disk cover 34 is threadably connected to the motor bracket 35.
With continuing reference to fig. 6-7, fig. 6 is a schematic structural diagram of an embodiment of a wire spool in the upper limb power assisting device provided by the present application, and fig. 7 is a schematic structural diagram of an embodiment of a motor in the upper limb power assisting device provided by the present application. In order to fixedly connect the motor 31 and the spool 33, the spool 33 of the present embodiment includes an inner ring 331 and an outer ring 332, a through hole 333 is formed in the spool 33 and penetrates through the inner ring 331 and the outer ring 332, and a penetrating member (not shown) is fixedly connected to the small hole 3111 of the output shaft 311 of the motor 31 through the through hole 333, so that the motor 31 rotates to drive the spool 33 to rotate, and the torque generated by the motor 31 acts on the binding member 13 through the driving wire 321 wound on the spool 33. In a particular embodiment, the through-member is threadably coupled to the aperture 3111 of the output shaft 311.
With continuing reference to fig. 8, fig. 8 is a schematic structural view of another embodiment of the wire spool in the upper limb power assisting device provided by the present application. In order to improve the stability of the end of the driving wire 321 and the wire spool 33, in this embodiment, a fixing member (not shown) for fixing the end of the driving wire 321 is disposed on the wire spool 33, a groove 335 for accommodating a start end of the driving wire 321 is disposed on the outer ring 332 of the wire spool 33, and the fixing member is suspended in the groove 335. When one end of the driving wire 321 is fixed on the fixing element, one end of the driving wire 321 wound around the wire spool 33 can be accommodated in the groove 335, which is beneficial to winding the driving wire 321, and increases the overall winding smoothness of the driving wire 321.
With continuing reference to fig. 9, fig. 9 is a schematic structural diagram of a driving wire in the upper limb power assisting device provided by the present application. It is considered that there is a case where the driving wire 321 may be broken, for example, to cause the motor 31 to supply the driving force to the driving wire 321, but the driving force is not applied to the binding 13. The driving wires 321 of the embodiment include a first driving wire 3211 and a second driving wire 3212, the first driving wire 3211 and the second driving wire 3212 are connected by a tension sensor 43, one end of the first driving wire 3211 is wound on the winding disc 33, the other end is connected to one end of the second driving wire 3212 by the tension sensor 43, and the other end of the second driving wire 3212 is connected to the binding element 13.
When the first driving wire 3211 and the second driving wire 3212 need to assist the force-binding element 13, the first driving wire 3211 and the second driving wire 3212 are under tension, and the tension sensor 43 obtains the tension values of the first driving wire 3211 and the second driving wire 3212 and feeds the tension values back to the main control board 41 of the control system 400; when the first driving wire 3211 and the second driving wire 3212 do not need to assist the force-assisted binding element, the tension sensor 33 also obtains the tension values of the first driving wire 3211 and the second driving wire 3212 and feeds the tension values back to the main control board 41 of the control system 400, so that the main control board 41 can know the working states of the first driving wire 3211 and the second driving wire 3212, and the upper limb of the user can be assisted by the upper limb force-assisted device 10 to carry heavy objects.
With continuing reference to fig. 10, fig. 10 is a schematic structural diagram of a protective shell in the upper limb power assisting device provided by the present application. The protective shell 12 of this embodiment includes a first accommodating cavity 121 and a second accommodating cavity 122, the first accommodating cavity 121 is used for accommodating the first motor 312, the second accommodating cavity 122 is used for accommodating the second motor 312, a containing groove 123 is disposed between the first accommodating cavity 121 and the second accommodating cavity 122, and the containing groove 123 is used for containing the battery assembly 500 of the upper limb power assisting device 10.
Further, the upper limb assisting device 10 of the present embodiment further includes a switch assembly (not shown), and the switch assembly is configured to close the switch assembly when the user's upper limb does not need assisting power, so that the user's upper limb can move and work as the user's normal movement state.
The upper limb assisting robot 10 of the embodiment acquires motion acceleration information of an upper limb of a user by using the wireless inertial sensing unit 21, transmits the acquired motion acceleration information to the data processing circuit 22 in a wireless transmission mode, and controls the motor 31 to drive the conducting wire 32 to assist the binding piece 13 of the upper limb of the user according to the motion acceleration information of the data processing circuit 22, so that the motion state of the upper limb of the wearer is accurately identified in real time, assistance is provided for the wearer according to the motion state of the upper limb, interference of wired data transmission on wearing of the user is avoided, and the user can conveniently wear the robot; the design of the conductive wire 32 power-assisted binding 13 increases the flexibility of power assistance; the design of the vest body 100 reduces overall mass and control difficulties, while increasing the fit of the wearer to the upper limb assistor 10.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. An upper limb assist device, comprising:
the vest body is used for fixing the upper limb power assisting device on the upper limb of a user, and a protective shell is arranged on one surface of the vest body;
the movement intention identification assembly comprises a wireless inertia sensing unit arranged on the upper limb of the user and a data processing circuit arranged in the protective shell, wherein the wireless inertia sensing unit is used for detecting movement acceleration information of the upper limb of the user and sending the movement acceleration information to the data processing circuit;
the power system comprises a motor and a conducting wire, the motor is arranged in the protective shell, one end of the conducting wire is connected with the motor, and the other end of the conducting wire is connected with the binding piece of the upper arm of the user;
and the control system is respectively electrically connected with the data processing circuit and the motor and is used for controlling the motor to work according to the motion acceleration information of the data processing circuit so as to enable the conducting wire connected with the motor to drive the binding piece to move.
2. The upper limb assistive device according to claim 1, wherein the vest body comprises a shoulder fixing groove, and the conductive wire is inserted into the shoulder fixing groove and slides in the shoulder fixing groove;
the vest body still includes the back fixed plate, the motor passes through the back fixed plate is fixed on the vest body.
3. The upper limb assist device of claim 2 wherein the conductive wire comprises a drive spool and a drive wire passing through the drive spool; the power system also comprises a wire spool which is fixedly connected with an output shaft of the motor;
one end of the driving wire is wound on the wire spool, and the other end of the driving wire is connected with the binding piece;
drive spool one end connect in the motor, the other end sliding connection in the shoulder fixed slot.
4. The upper limb assist device of claim 3 wherein the drive lines comprise a first drive line and a second drive line, the first drive line and the second drive line connected by a tension sensor;
one end of the first driving wire is wound on the wire spool, the other end of the first driving wire is connected with one end of the second driving wire through the tension sensor, and the other end of the second driving wire is connected with the binding piece.
5. The upper limb assisting device according to claim 3, wherein the power system further comprises a winding disc cover, the winding disc cover is arranged on the winding disc, and the winding disc cover, the winding disc and the motor are coaxially arranged in sequence;
the wire spool comprises a wire outlet groove and a wire outlet head, the wire outlet head is detachably covered on the wire outlet groove, and one end of the driving wire pipe is fixedly connected to a wire outlet of the wire outlet head;
the driving wire penetrates into the wire outlet head through the wire outlet groove of the winding disc cover, and the wire outlet of the wire outlet head penetrates into the driving wire pipe.
6. The upper limb assisting device according to claim 5, wherein the wire spool comprises an inner ring and an outer ring, a through hole is formed in the wire spool, the through hole penetrates through the inner ring and the outer ring of the wire spool, and a penetrating piece is fixedly connected to the small hole of the motor output shaft through the through hole;
the wire spool further comprises a fixing piece and a groove, the fixing piece is arranged on the groove in a hanging mode, the groove is arranged on the outer ring of the wire spool, and one end of the driving wire is fixedly connected with the fixing piece and contained in the groove.
7. The upper limb assisting device according to claim 5, wherein the power system further comprises a motor support, the motor support is of an "L-shaped structure", one section of the "L-shaped structure" is fixedly connected to the back fixing plate, and the other section of the "L-shaped structure" is fixedly connected to one side, facing the motor, of the reel cover.
8. The upper limb power assisting device according to claim 1, wherein the motor comprises a first motor and a second motor, the protective shell comprises a first accommodating cavity and a second accommodating cavity, the first motor is accommodated in the first accommodating cavity, and the second motor is accommodated in the second accommodating cavity;
the upper limb power assisting device further comprises a battery assembly, an accommodating groove is formed between the first accommodating cavity and the second accommodating cavity, and the battery assembly is accommodated in the accommodating groove.
9. The upper limb assisting device according to claim 8, wherein the control system further comprises a main control board and a motor driver, the main control board is in communication connection with the motor driver, the motor driver is electrically connected with the motor, the main control board and the motor driver are arranged in the protective shell, and the main control board is used for controlling the motor to work according to the motion acceleration information of the data processing circuit; and the motor driver is used for driving the motor to work according to the instruction of the main control board.
10. The upper limb assist device of claim 3 wherein the drive line is a Bowden cable or a steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010969801.4A CN112276905A (en) | 2020-09-15 | 2020-09-15 | Upper limb power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010969801.4A CN112276905A (en) | 2020-09-15 | 2020-09-15 | Upper limb power assisting device |
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| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107378914A (en) * | 2017-06-15 | 2017-11-24 | 北京机械设备研究所 | A kind of flexible tendon power assisting device towards human body trochoid |
| CN107930032A (en) * | 2017-12-06 | 2018-04-20 | 南京航空航天大学 | A kind of soft exoskeleton robot of elbow joint based on the submissive driving of lasso trick |
| CN110238819A (en) * | 2019-07-11 | 2019-09-17 | 北京航空航天大学 | A kind of flexible wearable shoulder joint assistance exoskeleton clothes |
| CN111449915A (en) * | 2020-04-26 | 2020-07-28 | 南方科技大学 | Hip and knee double-joint walking aid exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107378914A (en) * | 2017-06-15 | 2017-11-24 | 北京机械设备研究所 | A kind of flexible tendon power assisting device towards human body trochoid |
| CN107930032A (en) * | 2017-12-06 | 2018-04-20 | 南京航空航天大学 | A kind of soft exoskeleton robot of elbow joint based on the submissive driving of lasso trick |
| CN110238819A (en) * | 2019-07-11 | 2019-09-17 | 北京航空航天大学 | A kind of flexible wearable shoulder joint assistance exoskeleton clothes |
| CN111449915A (en) * | 2020-04-26 | 2020-07-28 | 南方科技大学 | Hip and knee double-joint walking aid exoskeleton |
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