CN113146577A

CN113146577A - Upper limb exoskeleton robot

Info

Publication number: CN113146577A
Application number: CN202110234542.5A
Authority: CN
Inventors: 李元州
Original assignee: Shanghai Ranqing Machinery Equipment Co ltd
Current assignee: Ningbo Fengfeng robot Co.,Ltd.
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-07-23

Abstract

The invention discloses an upper limb exoskeleton robot which comprises a crotch support frame, a spine support rod, a back connecting plate, a left big arm support frame and a right big arm support frame; the crotch support and the back connecting plate are respectively and fixedly connected to the lower end and the upper end of the spine supporting rod; the left big arm support frame and the right big arm support frame are fixedly connected to the left side and the right side of the back connecting plate respectively, and are fixed to the crotch, the left big arm and the right big arm of a human body respectively through the crotch support frame, the left big arm support frame and the right big arm support frame, so that the weight of the left big arm and the weight of the right big arm are transmitted to the crotch. The invention optimizes the exoskeleton structure of the upper limb, and enhances the strength of the user by reducing the load on the shoulder complex, so that the user can bear the action of the upper limb with less force in a longer time.

Description

Upper limb exoskeleton robot

Technical Field

The invention relates to the technical field of robots, in particular to an upper limb exoskeleton robot.

Background

The exoskeleton robot is not used for replacing manpower, but is combined with a person, so that the exoskeleton robot is more capable and powerful in wearing and mainly divided into a medical scene and a consumption level scene. In a medical scene, people with physical disabilities can stand up to have a remarkable and irreversible damage market, and mainly aims at people with inconvenient actions caused by muscle, bone, nerve and soft tissue damage and aging, and the number of people is about 2500 ten thousand; industrial scenarios producing products in the form of individual parts suitable for knees, thighs, arms, etc., have a total potential market of over 260 tens of thousands. The consumption level scene aims at markets such as crowds or professions (such as subdivided industries and application markets of tour guides, policemen, outdoor activities and the like) needing to walk and stand for a long time, old people (aging and health-care markets), people with mobility difficulties and the like, and the market of the part has no determined parameters, but has huge space.

For the upper limb exoskeleton robot, a plurality of structures are disclosed at present, but most of the structures are complex, and a mechanical structure is combined with an electronic sensor, a controller and the like, so that the upper limb exoskeleton robot is high in manufacturing cost and high in market selling price, and great resistance is increased for popularization and use. In addition, feedback, control and the like are performed through the electronic equipment, so that the failure rate is high, and once a failure occurs, the maintenance cost is high, so that the cost of later-period use and maintenance is high.

Disclosure of Invention

Aiming at the defects in the prior art, the upper limb exoskeleton structure is optimized, the possibility of faults is reduced, and the manufacturing and using cost is reduced. The invention provides an upper limb exoskeleton robot which comprises a crotch support frame, a spine support rod, a back connecting plate, a left big arm support frame and a right big arm support frame;

the crotch support and the back connecting plate are respectively and fixedly connected to the lower end and the upper end of the spine supporting rod; the left big arm support frame and the right big arm support frame are fixedly connected to the left side and the right side of the back connecting plate respectively, and are fixed to the crotch, the left big arm and the right big arm of a human body respectively through the crotch support frame, the left big arm support frame and the right big arm support frame, so that the weight of the left big arm and the weight of the right big arm are transmitted to the crotch.

The invention has the beneficial effects that:

the crotch support frame is worn on the crotch of a human body, and the left big arm support frame and the right big arm support frame are respectively fixed on the left big arm and the right big arm of the human body. The back connecting plates of the left large arm supporting frame and the right large arm supporting frame are respectively transmitted to the spine supporting rod, and the spine supporting rod is transmitted to the crotch supporting frame, so that the received force is transmitted to the crotch supporting frame, a user can bear the action of the upper limbs with less force in a longer time, and the supporting is more durable. The device is mainly applied to the upper limbs and the above shoulders which are executed by using a medium-weight tool, namely the upper limbs are in a lifting state, and can support long-time continuous operation, such as: electrical work, welding, grinding, locking screws, painting, drilling, overhead assembly, lifting arm inspection, and the like.

Preferably, the spine support rod comprises an outer cylinder and an inner rod connected in the outer cylinder in a sliding manner, the lower end of the outer cylinder is fixedly connected with the crotch support frame, and the upper end of the inner rod is fixedly connected with the back connecting plate; and a locking hasp for positioning the inner rod is arranged between the outer barrel and the inner rod. The inner rod can freely slide in the outer cylinder when the locking hasp is opened, so that the length of the spine supporting rod is adjusted, the spine supporting rod is suitable for people with different heights, and the universality is improved.

Preferably, the shape of the inner hole of the outer cylinder and the shape of the cross section of the inner rod are both polygons. The polygonal design prevents the inner rod from rotating, and is favorable for the current positions of the left large arm support frame and the right large arm support frame.

Preferably, the left big arm support frame and the left big arm support frame both comprise a support arm, a swing arm, a bearing arm and a bracket;

the support arm extends upwards from the back of the human body towards the shoulder of the human body, the lower end of the support arm is fixedly connected with the back connecting plate, and the upper end of the support arm is hinged with the upper end of the swing arm, so that the swing arm can swing in a horizontal plane;

the lower end of the swing arm extends downwards along the direction of the big arm of the human body, and the lower end of the swing arm is hinged with the rear end of the bearing arm, so that the bearing arm can swing in a vertical plane;

the bearing arm is connected between the bracket and the swing arm, and the bearing arm is provided with a button for locking the bearing arm.

Big arm support frame in a left side is the same with the shape of big arm support frame in a left side, and support arm and swing arm are along human back, shoulder to big arm, and the design and the adjustable size of the human appearance of laminating make the upper limbs can the free activity, just the locking support in needs, and locking and free activity do not influence each other, convenient operation.

Preferably, the swing arm is provided with a slide fastener, the support arm is provided with a clamping groove corresponding to the slide fastener, and the swing arm is rotated backwards to be overlapped with the support arm and the slide fastener slides into the clamping groove, so that the swing arm and the support arm are locked. When the swing arm is not used, the swing arm is rotated to the back and then locked through the slide fastener. Otherwise, the sliding buckle is unlocked, the swing arm rotates to the position of the big arm to be worn, and the assembling and the disassembling are very simple.

Preferably, a moment adjuster for adjusting the moment of the bearing arm is arranged between the swing arm and the bearing arm; the swing arm is hinged with the moment adjuster, so that the swing arm can swing in a vertical plane; and a locking bolt is arranged between the swing arm and the torque regulator and used for adjusting an included angle between the swing arm and the torque regulator.

Preferably, the rear end of the bearing arm is hinged with the moment adjuster, so that the bearing arm can swing in a vertical plane;

a sleeve extending along the bearing arm is arranged inside the bearing arm, a sliding pipe is arranged inside the sleeve, a sliding ring is arranged outside the sleeve, and a fixing ring is arranged at the rear end of the sleeve; a spring sleeved outside the sleeve is arranged between the sliding ring and the fixing ring, and a traction rope is arranged inside the sleeve; the front end of the traction rope is fixedly connected with the sliding pipe, and the rear end of the traction rope penetrates through the sleeve and is connected with the torque regulator;

the sleeve is provided with an opening extending along the axial direction, the opening faces upwards, the sliding tube and the sliding ring are both provided with upwards positioning holes, and the positioning holes correspond to the buttons of the bearing arm; positioning pins which can be adsorbed by magnets are clamped in the positioning holes of the sliding tube and the positioning holes of the sliding ring, and the positioning pins penetrate through the openings and are clamped in the two positioning holes through the positioning pins, so that the sliding tube is locked, and the sliding tube is linked with the sliding ring;

the button is provided with a downward blind hole which is opposite to the positioning hole of the sliding ring, an upper magnet is arranged in the blind hole, and a lower magnet is arranged in the positioning hole of the sliding tube; the bearing arm is provided with a movable hole with a sliding button, the upper magnet is opposite to the positioning pin through the sliding button, and then the positioning pin is sucked out of the positioning hole of the sliding pipe and the sliding pipe is unlocked.

Preferably, the torque adjuster comprises a housing, and a movable pin, a threaded rod, a guide rod and a threaded rod sleeve which are arranged in the housing;

the threaded rod is rotatably connected with the shell along the vertical direction, the guide rod is parallel to the threaded rod, the screw sleeve is rotatably connected with the threaded rod, and the screw sleeve is sleeved on the guide rod; the screw rod sleeve is provided with a movable pin hinged with the rear end of the traction rope, and the screw rod sleeve moves up and down along the guide rod by rotating the screw rod, so that the traction rope is driven to move to adjust the moment of the bearing arm.

Preferably, the housing is provided with a knob; the knob is in transmission connection with the threaded rod through the bevel gear set, and then the knob is linked with the threaded rod.

Preferably, the bracket comprises an arc-shaped plate attached to the large arm of the human body; the arc-shaped plate is provided with an adjusting ruler which is connected in a sliding groove of the swing arm in a sliding manner;

the inner side surface of the adjusting ruler is provided with a positioning groove extending along the adjusting ruler, and the positioning groove is provided with a plurality of upward positioning grooves; the bearing arm is provided with an elastic key for locking the adjusting ruler; the lower part of the elastic key is provided with a positioning part, and the locking part of the elastic key slides into the positioning groove by pressing the elastic key down to unlock the adjusting ruler.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural diagram of the present embodiment;

FIG. 2 is a schematic view of the connection of the moment adjuster, the load arm and the bracket;

FIG. 3 is a schematic structural diagram of an adjusting ruler in the present embodiment;

FIG. 4 is a schematic view of the support arm and the adjustable scale shown in FIG. 3 with the support arm and the adjustable scale hidden;

fig. 5 is a schematic view of the internal structure of fig. 4.

In the drawing, a crotch support frame 1, a spine support rod 2, a back connecting plate 3, a left large arm support frame 4, a right large arm support frame 5, an outer cylinder 6, an inner rod 7, a locking buckle 8, a support arm 9, a swing arm 10, a bearing arm 11, a bracket 12, a slide fastener 13, a clamping groove 14, a torque adjuster 15, a locking bolt 16, a sleeve 17, a sliding tube 18, a sliding ring 19, a fixing ring 20, a spring 21, a traction rope 22, an opening 23, a positioning hole 24, a button 25, a positioning pin 26, a blind hole 27, an upper magnet 28, a lower magnet 29, a movable hole 30, a shell 31, a movable pin 32, a threaded rod 33, a guide rod 34, a screw sleeve 35, a knob 36, an arc-shaped plate 37, an adjusting ruler 38, a positioning groove 39, a positioning groove 40, an elastic key 41 and a guide wheel 42.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

As shown in fig. 1, the present embodiment provides an upper limb exoskeleton robot, which includes a crotch support frame 1, a spine support rod 2, a back connection plate 3, a left upper arm support frame 4 and a right upper arm support frame 5. Wherein, the crotch support and the back connecting plate 3 are respectively and fixedly connected with the lower end and the upper end of the spinal support rod 2; the left big arm support frame 4 and the right big arm support frame 5 are respectively and fixedly connected to the left side and the right side of the back connecting plate 3.

The crotch support 1 is a porous plate having an arc shape, and is fitted to the crotch and waist of a human body and fixed to the crotch and waist by elastic bands or the like, and the point of exertion is on the crotch. The specific structure of the spinal support rod 2 is as follows:

the spine support rod 2 comprises an outer cylinder 6 and an inner rod 7 connected in the outer cylinder 6 in a sliding manner, the lower end of the outer cylinder 6 is fixedly connected with the crotch support frame 1, and the upper end of the inner rod 7 is fixedly connected with the back connecting plate 3; and a locking buckle 8 for positioning the inner rod 7 is arranged between the outer barrel 6 and the inner rod 7. In addition, the shape of the inner hole of the outer cylinder 6 and the shape of the cross section of the inner rod 7 are both polygonal. The polygonal design prevents the rotation of the inner rod 7, and is beneficial to the current positions of the left large-arm support frame 4 and the right large-arm support frame 5. The inner rod 7 can freely slide in the outer cylinder 6 when the locking hasp 8 is opened, so that the length adjustment of the spine support rod 2 is realized, the spine support rod is suitable for people with different heights, and the universality is improved.

In this embodiment, the left large arm support frame 4 and the left large arm support frame 4 have the same structure and are symmetrically connected to the back connection plate 3. The left big arm support frame 4 and the left big arm support frame 4 both comprise a support arm 9, a swing arm 10, a bearing arm 11 and a bracket 12.

As shown in fig. 3, the supporting arm 9 extends from the back of the human body to the upper direction of the shoulder of the human body, the lower end of the supporting arm 9 is fixedly connected with the back connecting plate 3, and the upper end of the supporting arm 9 is hinged with the upper end of the swinging arm 10, so that the swinging arm 10 can swing in the horizontal plane; the lower end of the swing arm 10 extends downwards along the direction of the big arm of the human body, and the lower end of the swing arm 10 is hinged with the rear end of the bearing arm 11, so that the bearing arm 11 can swing in a vertical plane. The bearing arm 11 is connected between the bracket 12 and the swing arm 10, and the bearing arm 11 is provided with a button 25 for locking the bearing arm 11. Support arm 9 and swing arm 10 are along human back, shoulder to big arm, the design and the adjustable size of the human appearance of laminating make the upper limbs can the free activity, just lock the support when needs, and locking and free activity do not influence each other, convenient operation. In addition, the swing arm 10 is provided with a slide fastener 13, the support arm 9 is provided with a clamping groove 14 corresponding to the slide fastener 13, and the swing arm 10 and the support arm 9 are locked by rotating the swing arm 10 backwards to be overlapped with the support arm 9 and enabling the slide fastener 13 to slide into the clamping groove 14. When not in use, the swing arm 10 is rotated to the back and then locked by the slide fastener 13. Otherwise, the slide fastener 13 is unlocked, the swing arm 10 rotates to the position of the big arm to be worn, and the assembling and the disassembling operations are very simple.

For the adjustment of the bearing arm 11, the following structure is adopted in the present embodiment:

as shown in fig. 2, 4 and 5, a moment adjuster 15 for adjusting the moment of the bearing arm 11 is arranged between the swing arm 10 and the bearing arm 11; the swing arm 10 is hinged with the moment adjuster 15, so that the swing arm 10 can swing in a vertical plane; and a locking bolt 16 is arranged between the swing arm 10 and the moment adjuster 15 and is used for adjusting the included angle between the swing arm 10 and the moment adjuster 15. The rear end of the bearing arm 11 is hinged to a moment adjuster 15, which allows the bearing arm 11 to swing in a vertical plane. A sleeve 17 extending along the bearing arm 11 is arranged inside the bearing arm 11, a sliding tube 18 is arranged inside the sleeve 17, a sliding ring 19 is arranged outside the sleeve 17, and a fixing ring 20 is arranged at the rear end of the sleeve 17; a spring 21 sleeved outside the sleeve 17 is arranged between the sliding ring 19 and the fixing ring 20, and a pull rope 22 is arranged inside the sleeve 17. In this embodiment, the hauling cable 22 is a steel cable. The front end of the pulling rope 22 is fixedly connected with the sliding tube 18, and the rear end of the pulling rope 22 passes through the sleeve 17 and is connected with the torque adjuster 15. The sleeve 17 is provided with an opening 23 extending along the axial direction, the opening 23 faces upwards, the sliding tube 18 and the sliding ring 19 are both provided with an upward positioning hole 24, and the positioning hole 24 corresponds to a button 25 of the bearing arm 11; positioning pins 26 which can be attracted by magnets are clamped in the positioning holes 24 of the sliding tube 18 and the positioning holes 24 of the sliding ring 19, the positioning pins 26 penetrate through the openings 23 and are clamped in the two positioning holes 24 through the positioning pins 26, and therefore the sliding tube 18 is locked, and the sliding tube 18 and the sliding ring 19 are linked. The button 25 is provided with a downward blind hole 27, the blind hole 27 is opposite to the positioning hole 24 of the sliding ring 19, an upper magnet 28 is arranged in the blind hole 27, and a lower magnet 29 is arranged in the positioning hole 24 of the sliding tube 18; the bearing arm 11 is provided with a movable hole 30 for sliding the button 25, and the upper magnet 28 and the positioning pin 26 are aligned by sliding the button 25, so that the positioning pin 26 is sucked out of the positioning hole 24 of the sliding tube 18 and the sliding tube 18 is unlocked.

When the arm of the human body needs to move freely, the button 25 is slid forward along the moving hole 30 to align the upper magnet 28 with the positioning pin 26, so that the positioning pin 26 is completely sucked out of the positioning hole 24 of the sliding tube 18, and the sliding tube 18 is not limited by the positioning pin 26, i.e., is in an unlocked state. The arm movement of the human body drives the traction rope 22 and the sliding tube 18 to slide in the sleeve 17, so that the free movement of the arm is realized. On the contrary, when the arm of the human body needs to be fixed, the positioning hole 24 of the sliding tube 18 is aligned with the lower magnet 29, the button 25 is slid backwards along the movable hole 30 to make the upper magnet 28 and the positioning pin 26 dislocated, and the positioning pin 26 is reset and clamped in the positioning hole 24 of the sliding tube 18 and the positioning hole 24 of the sliding ring 19 under the action of gravity and the attraction force of the lower magnet 29. The force of the human arm pressed downwards is transmitted to the bearing arm 11, the bearing arm 11 has the tendency of swinging downwards, the spring 21 is extruded by the sliding ring 19, and the elastic force of the spring 21 resists the downward force of the human arm, so that the effect of supporting the arm is achieved. And the downward force resisting the arms of the human body is transmitted to the swing arm 10, the supporting arm 9, the spine supporting rod 2 and the crotch supporting frame 1 in sequence, so that the received force is transmitted to the crotch, a user can bear the action of the upper limbs with less force in a longer time, and the support is more durable. The device is mainly applied to the upper limbs and the above shoulders which are executed by using a medium-weight tool, namely the upper limbs are in a lifting state, and can support long-time continuous operation, such as: electrical work, welding, grinding, locking screws, painting, drilling, overhead assembly, lifting arm inspection, and the like.

In addition, as shown in fig. 5, the torque adjuster 15 in the present embodiment includes a housing 31, and a movable pin 32, a threaded rod 33, a guide rod 34, and a screw boss 35 installed in the housing 31; the threaded rod 33 is rotatably connected with the shell 31 along the vertical direction, the guide rod 34 is parallel to the threaded rod 33, the screw sleeve 35 is rotatably connected with the threaded rod 33, and the screw sleeve 35 is sleeved on the guide rod 34; the screw housing 35 is provided with a movable pin 32 hinged to the rear end of the traction rope 22, and the bearing arm 11 is provided with a guide wheel 42 for the traction rope 22 to pass around, and the screw housing 35 is moved up and down along the guide rod 34 by rotating the screw rod 33, so that the traction rope 22 is moved to adjust the moment of the bearing arm 11. The shell 31 is provided with a knob 36; the knob 36 is in transmission connection with the threaded rod 33 through a bevel gear set, so that the knob 36 is linked with the threaded rod 33.

For better supporting the arms of the human body, the bracket 12 in this embodiment comprises an arc-shaped plate 37 attached to the arm of the human body, and the arc-shaped plate 37 is fixed to the arm of the human body through an elastic band. The arc-shaped plate 37 is provided with an adjusting ruler 38, and the adjusting ruler 38 is slidably connected in a sliding groove of the swing arm 10; the inner side surface of the adjusting ruler 38 is provided with a positioning groove 39 extending along the adjusting ruler 38, and the positioning groove 39 is provided with a plurality of upward positioning grooves 40; the bearing arm 11 is provided with an elastic key 41 for locking the adjusting ruler 38; the lower portion of the elastic button 41 is provided with a positioning portion, and the locking portion of the elastic button 41 is slid into the positioning groove 39 by pressing the elastic button 41 downward to unlock the adjustment ruler 38. The length of the arm of different people is different, and the length of the extension of the adjusting ruler 38 is changed by the adjusting ruler 38, so that the arm adjusting ruler is suitable for arms with different lengths.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. An upper extremity exoskeleton robot, characterized in that: comprises a crotch support frame, a spine support rod, a back connecting plate, a left big arm support frame and a right big arm support frame;

2. The upper extremity exoskeleton robot of claim 1, wherein: the spine support rod comprises an outer cylinder and an inner rod connected in the outer cylinder in a sliding manner, the lower end of the outer cylinder is fixedly connected with the crotch support frame, and the upper end of the inner rod is fixedly connected with the back connecting plate; and a locking hasp for positioning the inner rod is arranged between the outer barrel and the inner rod.

3. The upper extremity exoskeleton robot of claim 2, wherein: the shape of the inner hole of the outer cylinder and the shape of the cross section of the inner rod are both polygons.

4. The upper extremity exoskeleton robot of claim 1, wherein: the left big arm support frame and the left big arm support frame both comprise a support arm, a swing arm, a bearing arm and a bracket;

5. The upper extremity exoskeleton robot of claim 4, wherein: the swing arm is provided with a slide fastener, the supporting arm is provided with a clamping groove corresponding to the slide fastener, and the swing arm is rotated backwards to be overlapped with the supporting arm and the slide fastener slides into the clamping groove, so that the swing arm and the supporting arm are locked.

6. The upper extremity exoskeleton robot of claim 4, wherein: a moment adjuster for adjusting the moment of the bearing arm is arranged between the swing arm and the bearing arm; the swing arm is hinged with the moment adjuster, so that the swing arm can swing in a vertical plane; and a locking bolt is arranged between the swing arm and the torque regulator and used for adjusting an included angle between the swing arm and the torque regulator.

7. The upper extremity exoskeleton robot of claim 6, wherein: the rear end of the bearing arm is hinged with the moment adjuster, so that the bearing arm can swing in a vertical plane;

8. The upper extremity exoskeleton robot of claim 7, wherein: the torque regulator comprises a shell, and a movable pin, a threaded rod, a guide rod and a threaded rod sleeve which are arranged in the shell;

9. The upper extremity exoskeleton robot of claim 8, wherein: the shell is provided with a knob; the knob is in transmission connection with the threaded rod through the bevel gear set, and then the knob is linked with the threaded rod.

10. The upper extremity exoskeleton robot of claim 4, wherein: the bracket comprises an arc-shaped plate attached to the large arm of the human body; the arc-shaped plate is provided with an adjusting ruler which is connected in a sliding groove of the swing arm in a sliding manner;