CN113580102B - Upper limb passive power assisting exoskeleton - Google Patents
Upper limb passive power assisting exoskeleton Download PDFInfo
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- CN113580102B CN113580102B CN202110722453.5A CN202110722453A CN113580102B CN 113580102 B CN113580102 B CN 113580102B CN 202110722453 A CN202110722453 A CN 202110722453A CN 113580102 B CN113580102 B CN 113580102B
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- ratchet wheel
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- pawl
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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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- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses an upper limb passive power assisting exoskeleton which comprises a waist and back supporting structure, a bandage type wearing structure, a load force unloading structure and an arm fixing structure, wherein the waist and back supporting structure and the bandage type wearing structure are matched for exoskeleton wearing, and the arm fixing structure and the waist and back supporting structure are connected through the load force unloading structure; the load force unloading structure comprises a shell, a ratchet wheel, a pawl and an elastic unit, the ratchet wheel and the pawl are rotatably arranged on the shell, the ratchet wheel and the pawl are mutually spaced, the elastic unit is arranged between the ratchet wheel and the pawl, the arm fixing structure is fixedly connected with the ratchet wheel, and the ratchet wheel is meshed with the pawl to transmit load acting force borne by the arm fixing structure to the waist and back supporting structure. The upper limb assistance exoskeleton adopts a pure mechanical structure and is free of power source design, so that the upper limb assistance exoskeleton is more portable and convenient to use, large force load unloading can be realized through the load unloading structure, the application range is widened, and a protection effect is achieved for a user.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to an upper limb passive power assisting exoskeleton.
Background
In the occasions of automobile manufacturing production lines, building construction sites, cargo handling and the like, workers need to lift cargos and tools for long-time work on shoulders or heads due to post particularity. The long-term labor brings great pressure to the shoulder and arm muscles of a patient, so that shoulder joints and elbow joints of the worker are aching; not only causes the shortening of the working time of workers, the reduction of attention and the reduction of working efficiency, but also brings health hidden troubles to the workers.
The upper limb assisting exoskeleton is a novel industrial wearable assisting device, the wearable shoulder assisting exoskeleton can provide supporting force for a user in the working process of an upper arm, and a force unloading channel of the wearable shoulder assisting exoskeleton transmits stress of the shoulder to the waist through a rod piece and other devices. And the assisting exoskeleton can freely move along with the movement of the arms of the human body, and the degree of freedom of the upper limbs of the human body is not influenced.
The design scheme of the upper limb assistance exoskeleton on the market at present mainly comprises an active assistance mode and a passive assistance mode. The active power assisting device comprises a driving mechanism needing electric driving, and has the problems of complex structure, heavy weight, cruising ability and the like. Passive power-assisted exoskeletons mostly adopt springs to realize power assistance, and although partial power assistance can be provided by adopting the springs, when a human arm supports a large force load, the springs are compressed downwards, so that the power assistance effect is not ideal.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an upper limb passive power assisting exoskeleton which is compact in structure, light in weight, reliable in power assisting effect and convenient to wear.
In order to achieve the purpose, the upper limb passive assistance exoskeleton comprises a waist and back supporting structure, a bandage type wearing structure, a load force unloading structure and an arm fixing structure, wherein the waist and back supporting structure and the bandage type wearing structure are matched for exoskeleton wearing, and the arm fixing structure and the waist and back supporting structure are connected through the load force unloading structure; the load force unloading structure comprises a shell, a ratchet wheel, a pawl and an elastic unit, the ratchet wheel and the pawl are rotatably arranged on the shell, the ratchet wheel and the pawl are spaced from each other, the elastic unit is arranged between the ratchet wheel and the pawl, the arm fixing structure is fixedly connected with the ratchet wheel, the ratchet wheel is meshed with the pawl to transmit load acting force borne by the arm fixing structure to the waist and back supporting structure, and the elastic unit controls the ratchet wheel and the pawl to be meshed or separated under the action of self elastic force according to the action of the arm fixing structure and controls the ratchet wheel and the pawl to be meshed or separated under the action of self elastic force.
Further, when the arm fixing structure drives the big arm to lift, the ratchet wheel is meshed with the pawl to transmit the load acting force borne by the arm fixing structure to the waist and back supporting structure and drive the elastic unit to elastically store energy; when the arm fixing structure drives the large arm to descend, the pawl is pushed by the elastic force of the elastic unit to be disengaged from the ratchet wheel.
Furthermore, the load force unloading structure further comprises a tooth transmission unit, the ratchet wheel is connected with the tooth transmission unit, the elastic unit is respectively connected with the tooth transmission unit and the pawl, the ratchet wheel unit rotates to drive the rack of the tooth transmission unit to compress or stretch the elastic unit, and the elastic unit controls the pawl to be meshed with or separated from the ratchet wheel under the action of self elastic force.
Further, the tooth transmission unit comprises a rack and a gear, the gear is arranged on a rotating shaft of the ratchet wheel, the rack is connected with the elastic unit, teeth on the gear are meshed with the rack and connected with the gear, a limiting groove matched and connected with a protrusion arranged on the ratchet wheel is arranged on the gear, and the gear is driven by the ratchet wheel to rotate around the rotating shaft to drive the rack to reciprocate.
Further, back and waist bearing structure includes support column, shoulder protecting band and waist protecting band, support column upper portion sets up the shoulder protecting band, the support column lower part sets up the waist protecting band, the support column the shoulder protecting band with rigid connection between the waist protecting band.
Furthermore, a headrest is fixedly arranged at the top end of the support column.
Further, the arm fixing structure includes an arm bar for supporting the large arm and a binding for binding the large arm with the arm bar; one end of the arm rod is connected with the shoulder protecting belt through the load force unloading structure.
Further, the bandage type wearing structure comprises a back strap and a waist belt, the waist belt is connected with the waist protecting strap to limit the waist accommodating space, and the back strap is connected with the shoulder protecting strap to limit the upper body accommodating space.
Further, the length of the waist belt and the shoulder belt is adjustable.
Furthermore, the parts of the support columns, the shoulder protecting belts and the waist protecting belts, which are in contact with the human body, are provided with flexible materials.
The upper limb assistance exoskeleton adopts a pure mechanical structure and is free of power source design, so that the exoskeleton is more portable and convenient to use, the load unloading structure can be used for unloading a large force load, the application range is widened, and a protection effect is achieved for a user.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an upper limb passive power assisting exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic view of a lumbar support structure and a taping donning configuration in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a load-relieving structure and an arm securing structure in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of a load-relieving structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of a load-relieving structure according to another embodiment of the present invention;
fig. 6 is a wearing effect diagram of the upper limb passive power-assisted exoskeleton of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
In the description of the embodiments of the present invention, it should be noted that the term "connected" is to be understood broadly, and may be, for example, fixed, detachable, or integrally connected, and may be mechanically or electrically connected, and may be directly or indirectly connected through an intermediate medium, unless otherwise specifically stated or limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "in 8230; \8230; above," "below," and "in 8230; \8230; above," "left-right direction," "up-down direction" are used throughout the description to refer to the relative positions of components of the device, such as the relative positions of the top and bottom substrates within the device. It will be appreciated that the devices are multifunctional, independent of their orientation in space.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-6, the upper limb passive power-assisted exoskeleton of the invention comprises a waist and back supporting structure 1, a bandage type wearing structure 2, a load force unloading structure 3 and an arm fixing structure 4, wherein the waist and back supporting structure 1 and the bandage type wearing structure 2 are matched for exoskeleton wearing, and the arm fixing structure 4 and the waist and back supporting structure 1 are connected through the load force unloading structure 3; the load force unloading structure 3 comprises a shell 31, a ratchet wheel 32, a pawl 33 and an elastic unit 34, the ratchet wheel 32 and the pawl 33 are rotatably arranged on the shell 31, the ratchet wheel 32 and the pawl 33 are spaced from each other, the elastic unit 34 is arranged between the ratchet wheel 32 and the pawl 33, the arm fixing structure 4 is fixedly connected with the ratchet wheel 32, the ratchet wheel 32 is in meshing connection with the pawl 33 to transmit load acting force carried by the arm fixing structure 4 to the lumbar support structure 1, and the elastic unit 34 controls the ratchet wheel 32 and the pawl 33 to be meshed or separated under the action of self elastic force according to the action of the arm fixing structure 4. The ratchet wheels 32 and the pawls 33 may be installed in the housing 31 by rotating shafts 321, 331, respectively.
The arm fixing structure 4 comprises an arm lever 41 and a binding band 42, wherein the arm lever 41 is used for supporting the large arm, and the binding band 42 is used for binding the large arm with the arm lever 41; one end of the arm rod 41 is connected with the shoulder protecting belt 12 through the load unloading structure 3.
As shown in fig. 4, the elastic unit 34 is directly connected to the ratchet 32 and the pawl 33, when the arm fixing structure 4 lifts the big arm, the ratchet 32 is engaged with the pawl 33, so as to transmit the load acting force carried by the arm fixing structure 4 to the lumbar support structure 1 and drive the elastic unit 34 to elastically store energy; when the arm fixing structure 4 brings the big arm down, the pawl 33 pushes the pawl 33 to be disengaged from the ratchet wheel 32 under the elastic force of the elastic unit 34. Specifically, when the arm of the human body is lifted, the arm lever 41 drives the ratchet wheel 32 to rotate upwards, the pawl 33 is in a state of being meshed with the ratchet wheel 32, the ratchet wheel 32 and the pawl 33 are in a state of being meshed all the time in the process, and force unloading can be achieved at any position. In the process, the elastic unit 34 is always in a compressed state to perform elastic energy storage. After reaching the highest point of the lifting arm, the elastic unit 34 is pressed to the maximum state at this time, the pawl 33 is pushed outwards by the spring force to disengage from the ratchet 32, as shown in the dotted line position in fig. 4, and the arm of the human body can be easily put down. During the downward movement of the arm of the human body, the pawl 33 is always in the disengaged state, and along with the downward movement of the arm, the elastic unit 34 is gradually in the tensioned state, when the arm moves to the lowest point position, the elastic unit 34 pulls the pawl 33 to the engaged state again to realize further engagement, and then the next cycle can be entered. Through the matching of the ratchet wheel, the pawl and the elastic unit, the load acting force born by the arm can be unloaded to the waist and back supporting structure when the arm is lifted, so that the arm supporting assisting function is achieved, the application range is improved, and the safety of a user in carrying heavy objects is effectively protected. The resilient unit 34 may be a spring or other resilient element.
Fig. 5 shows another load-unloading structure of the present invention, which includes, in addition to the housing 31, the ratchet 32, the pawl 33 and the elastic unit 34 shown in fig. 4, a gear 35 and a rack 36, wherein the gear 35 is disposed on a rotating shaft 321 of the ratchet 32, the rack 36 is connected to the elastic unit 34, teeth of the gear 36 are engaged with the rack 36, a limit groove 351 cooperatively connected to a protrusion 322 disposed on the ratchet 32 is disposed on the gear 35, and the gear 35 is driven by the ratchet 32 to rotate around the rotating shaft 321 to drive the rack 36 to reciprocate. Under the matching action of the protrusion 322 on the ratchet wheel 32 and the limiting groove 361 of the gear 35, the ratchet wheel 32 rotates to drive the gear 35 to rotate. The protrusion 322 slides along the limiting groove 361, so that the ratchet wheel 32 rotates and drives the gear 35 to rotate around the rotating shaft 321, the teeth of the gear 35 are matched with the teeth of the rack 36, and the rack 36 is driven to horizontally reciprocate; a spring unit 34 at the end of the rack 36 drives the pawl 33 out of and into engagement with the ratchet wheel 32. When the arm lifts the arm upwards, the gear 35 rotates clockwise, the rack 36 moves rightwards, and the spring is compressed, so that the pawl 33 is disengaged; when the arm moves down after reaching the highest point, the gear 35 drives the rack 36 to move to the left, and the spring is now pulled to re-engage the pawl 33.
Waist back support structure 1 includes support column 11, shoulder protecting band 12 and waist protecting band 13, support column 11 upper portion sets up shoulder protecting band 12, support column 11 lower part sets up waist protecting band 13, support column 11 shoulder protecting band 12 with rigid connection between the waist protecting band 13. In particular, the support post 11, the shoulder straps 12 and the waist strap 13 may comprise a rigid skeleton, ensuring the safety of the unloading of load-bearing forces through the rigid skeleton. The waist protecting belt 13 and the shoulder protecting belt 12 are designed by adopting an ergonomic design, so that the comfort of wearing the human body is improved, and the waist and the shoulders of the human body are protected from being injured while force is unloaded. The top end of the support column 11 is also fixedly provided with a headrest 14, so that the comfort level of the neck during head-up work is guaranteed. The contact part of the support column 11, the shoulder protecting belt 12 and the waist protecting belt 13 with the human body is provided with a flexible material, for example, a headrest, the shoulder protecting belt, the waist protecting belt and the skeleton on the side contacted with the human body are bonded with a textile fabric through viscose glue, and the like. It should be noted that the support pillar, the shoulder belt and the waist belt may be designed as an integrated back plate, and the present invention is not limited thereto.
The bandage type wearing structure 2 comprises a back belt 21 and a waist belt 22, the waist belt 22 is connected with the waist protecting belt 13 to limit a waist accommodating space, and the back belt 21 is connected with the shoulder protecting belt 12 to limit an upper body accommodating space. Specifically, the waist belt 22 is connected with the support post 11 through a rigid framework by a rivet, and the shoulder belt 21 is connected with the support post 1 by a sewing method. The length of the waist belt 22 and the back belt 21 is adjustable. The design of waistband and braces guarantees to dress structure and human effective laminating, improves the travelling comfort.
In conclusion, the upper limb assisting exoskeleton adopts a pure mechanical structure and is in no power source design, so that the exoskeleton is more portable and convenient to use, the load unloading structure can be used for unloading a large force load, the application range is widened, and a user is protected.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. An upper limb passive power assisting exoskeleton is characterized by comprising a waist and back supporting structure, a bandage type wearing structure, a load force unloading structure and an arm fixing structure, wherein the waist and back supporting structure and the bandage type wearing structure are matched for exoskeleton wearing, and the arm fixing structure and the waist and back supporting structure are connected through the load force unloading structure; the load force unloading structure comprises a shell, a ratchet wheel, a pawl and an elastic unit, the ratchet wheel and the pawl are rotatably arranged on the shell, the ratchet wheel and the pawl are mutually spaced, the elastic unit is arranged between the ratchet wheel and the pawl, the arm fixing structure is fixedly connected with the ratchet wheel, the ratchet wheel is meshed with the pawl to transmit load acting force borne by the arm fixing structure to the waist and back supporting structure, and the elastic unit controls the ratchet wheel and the pawl to be meshed or separated under the action of self elastic force according to the action of the arm fixing structure; the load force unloading structure further comprises a tooth transmission unit, the ratchet wheel is connected with the tooth transmission unit, the elastic unit is respectively connected with the tooth transmission unit and the pawl, the ratchet wheel unit rotates to drive a rack of the tooth transmission unit to compress or stretch the elastic unit, and the elastic unit controls the pawl to be meshed with or separated from the ratchet wheel under the action of self elasticity; the tooth transmission unit comprises a rack and a gear, the gear is arranged on a rotating shaft of the ratchet wheel, the rack is connected with the elastic unit, teeth on the gear are connected with the rack in a meshed mode, a limiting groove connected with a protrusion arranged on the ratchet wheel in a matched mode is arranged on the gear, and the gear is driven by the ratchet wheel to wind around the rotating shaft to drive the rack to reciprocate.
2. The upper limb passive power assisting exoskeleton of claim 1 wherein said ratchet is in meshed connection with said pawl when said arm fixing structure lifts the upper limb so as to transfer the load acting force carried by said arm fixing structure to said lumbar-back supporting structure and drive said elastic unit to elastically store energy; when the arm fixing structure drives the large arm to descend, the pawl is pushed by the elastic force of the elastic unit to be disengaged from the ratchet wheel.
3. The upper extremity passively assisted exoskeleton of claim 1 wherein said lumbar support structure includes a support column, a shoulder strap and a lumbar strap, said shoulder strap being disposed on an upper portion of said support column, said lumbar strap being disposed on a lower portion of said support column, said shoulder strap and said lumbar strap being rigidly connected therebetween.
4. The upper limb passive power assisting exoskeleton of claim 3 wherein a headrest is further fixedly arranged at the top end of the support column.
5. The upper extremity passively assisted exoskeleton of claim 3 wherein said arm securing structure includes an arm bar for supporting the large arm and a strap for binding the large arm to said arm bar; one end of the arm rod is connected with the shoulder protecting belt through the load force unloading structure.
6. The passive assist exoskeleton of an upper limb of claim 3 wherein said strap-on wearable structure comprises a waist strap and a waist belt, said waist belt being connected to said waist support strap to define a waist receiving space, said waist strap and said shoulder support strap being connected to define an upper body receiving space.
7. The upper extremity passively assisted exoskeleton of claim 6 wherein said waist belt and said back belt are adjustable in length.
8. The upper extremity passively assisted exoskeleton of claim 3 wherein said support posts, said shoulder straps and said waist strap are provided with flexible material at the body contacting portions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110722453.5A CN113580102B (en) | 2021-06-28 | 2021-06-28 | Upper limb passive power assisting exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110722453.5A CN113580102B (en) | 2021-06-28 | 2021-06-28 | Upper limb passive power assisting exoskeleton |
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| CN113580102A CN113580102A (en) | 2021-11-02 |
| CN113580102B true CN113580102B (en) | 2023-03-14 |
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| CN117426951A (en) * | 2023-12-21 | 2024-01-23 | 江西求是高等研究院 | Wearable upper limb rehabilitation device |
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| CN206544171U (en) * | 2017-03-03 | 2017-10-10 | 中国科学院合肥物质科学研究院 | A kind of shatter-resistant self-locking mechanism for exoskeleton robot |
| CN109153114A (en) * | 2016-03-14 | 2019-01-04 | Exoiq有限公司 | Ectoskeleton for the mankind |
| CN211841975U (en) * | 2019-12-31 | 2020-11-03 | 复旦大学 | Accompanying chair with ratchet wheel type knee joint |
| CN212825381U (en) * | 2020-08-31 | 2021-03-30 | 重庆理工大学 | Upper limb exoskeleton for upper limb lifting operation |
| CN113001509A (en) * | 2021-01-25 | 2021-06-22 | 浙江大学 | Dance training exoskeleton teaching aid and interaction method |
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2021
- 2021-06-28 CN CN202110722453.5A patent/CN113580102B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109153114A (en) * | 2016-03-14 | 2019-01-04 | Exoiq有限公司 | Ectoskeleton for the mankind |
| CN206544171U (en) * | 2017-03-03 | 2017-10-10 | 中国科学院合肥物质科学研究院 | A kind of shatter-resistant self-locking mechanism for exoskeleton robot |
| CN211841975U (en) * | 2019-12-31 | 2020-11-03 | 复旦大学 | Accompanying chair with ratchet wheel type knee joint |
| CN212825381U (en) * | 2020-08-31 | 2021-03-30 | 重庆理工大学 | Upper limb exoskeleton for upper limb lifting operation |
| CN113001509A (en) * | 2021-01-25 | 2021-06-22 | 浙江大学 | Dance training exoskeleton teaching aid and interaction method |
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