CN114851163A - Upper limb assistance exoskeleton robot for providing assistance keeping - Google Patents
Upper limb assistance exoskeleton robot for providing assistance keeping Download PDFInfo
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- CN114851163A CN114851163A CN202210457995.9A CN202210457995A CN114851163A CN 114851163 A CN114851163 A CN 114851163A CN 202210457995 A CN202210457995 A CN 202210457995A CN 114851163 A CN114851163 A CN 114851163A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses an upper limb assistance exoskeleton robot for providing assistance maintenance, when an operator wears the upper limb assistance exoskeleton robot, the operator works normally, and drives an eccentric cam to rotate in the process of upper limb movement to generate displacement, so that a nitrogen spring is pulled to generate thrust and the thrust is transmitted to a nitrogen spring stop block and a cam contact block; and because the cam contact block and the eccentric cam are rough in surface, the contact of the thrust of the nitrogen spring generates a large friction force, so that a reverse torque is generated, the reverse torque acts on the upper limbs of the operator and is opposite to the torque generated by a tool in the overhead operation on the shoulders, and the real-time assistance holding is realized.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to an upper limb assistance exoskeleton robot for providing assistance retention.
Background
China is a large manufacturing country, but the China gradually enters the aging population in the 21 st century, and a plurality of enterprises lack enough labor force to complete corresponding physical work. Although the degree of automation is continuously improved, the degree of automation in some fields is slow, especially in processing and assembling, transportation, material transportation and the like. In the working process of people, operators work for a long time with high strength such as over-top movement and over-top for a long time, the conditions of physical strength reduction, muscle fatigue and the like are easy to occur, and the working efficiency is seriously influenced. Therefore, the method has great practical significance for the industrialized process of China by improving the working environment of the operating personnel and improving the physical quality and physical ability of the operating personnel in real time.
At present, due to the development of the robot technology and the man-machine cooperation technology, the exoskeleton robot is better applied to auxiliary manual operation. The exoskeleton robot can provide corresponding assistance for each joint of a human body in multiple scenes, relieve muscle fatigue caused by high-strength work, and better solve the problem of muscle damage in manual work. Based on the prior research technology, the invention provides a passive upper limb assistance exoskeleton robot capable of providing assistance retention, which can provide corresponding assistance retention for the upper limbs of operators during overhead movement and carrying operation, reduce operation fatigue and improve working efficiency.
The prior art documents are searched to find that:
chinese patent (application number: 201610052248.1) is based on the load-variable upper limb assistance exoskeleton of the double-parallelogram gravity balance principle. This patent mainly provides one kind and utilizes the parallelogram principle, and the diagonal links firmly the industry spring, can be with this upper limbs helping hand ectoskeleton of balanced gravity to it adopts the form of double-rod spare, can adapt to the motion of human upper limbs joint, can realize the transport of heavier heavy object. However, the upper limb assisting exoskeleton provided by the patent is heavy in whole, inconvenient in joint movement and difficult to carry at high frequency, and the front end of the upper limb assisting exoskeleton is in a grapple form, can only adapt to partial shapes or specific weights, and is difficult to adapt to weights in various forms like hands.
Chinese patent (application number: 202023110633.8) relates to an upper limb exoskeleton power assisting device. This patent provides an active helping hand ectoskeleton of stay-supported, can provide corresponding helping hand for the human wrist when the transport operation. The elastic rope and the hook which are hung on the left and the right are mainly used for hooking heavy objects, and the whole structure is simple. But this patent structure is comparatively single, can not adapt to human normal home range, and the process of snatching of heavy object is also comparatively loaded down with trivial details, and actual recognition rate is lower, can not provide the helping hand for human upper limbs in real time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an upper limb assistance exoskeleton robot for providing assistance maintenance, which is used for providing assistance maintenance for the upper limbs of operators in an industrial scene.
In order to achieve the above object, an upper limb assistance exoskeleton robot according to the present invention for providing assistance retention includes: the shoulder assisting module, the shoulder joint motion self-adapting mechanism, the shoulder height adjusting mechanism, the shoulder width adjusting block, the upper limb binding, the backrest and the waist binding;
the shoulder power assisting module provides power assisting at various angles for the movement of a human shoulder joint in operation maintenance, and specifically comprises an upper shell, a lower shell, a cam stepped shaft, a locking switch, a nitrogen spring, a bearing-1, a resin gasket, a cam contact block, a rotating stepped shaft, an eccentric cam, a cam shaft sleeve, a cam pin shaft, a cam contact block pin shaft, a nitrogen spring stop block, a bearing-2, a bearing-3 and a bearing-4;
the upper shell and the lower shell are provided with locking switch mounting holes, bearing mounting holes and fixed connecting holes, wherein the upper shell and the lower shell are respectively provided with two bearing mounting holes which are respectively marked as a first bearing mounting hole and a second bearing mounting hole; the bearing-1 is fixedly connected through a first bearing mounting hole on the upper shell in an interference fit manner, and the bearing-3 is fixedly connected through a second bearing hole on the upper shell in an interference fit manner; the bearing-2 is fixedly connected through a first bearing mounting hole on the lower shell in an interference fit manner, and the bearing-4 is fixedly connected through a second bearing mounting hole on the lower shell in an interference fit manner; the upper shell and the lower shell are fixedly connected through a fixed connecting hole by a bolt;
resin gaskets are sleeved at two ends of the locking switch and are tightly attached to two end faces of the step platform at the inner side of the locking switch; the locking switch is fixed between the upper shell and the lower shell through the locking switch mounting hole, so that the locking switch is axially fixed and can freely rotate;
the cam stepped shaft is fixedly connected with a range adjusting connecting block in the shoulder joint motion self-adaptive mechanism through a bolt, so that the shoulder power-assisted module is fixedly connected with the shoulder joint motion self-adaptive mechanism;
the eccentric cam is sleeved on the cam stepped shaft, and one side end face of the eccentric cam is tightly attached to the end face of the second step of the cam stepped shaft; the eccentric cam and the cam stepped shaft are respectively provided with a pin shaft hole, and the cam pin shaft is fixedly connected with the eccentric cam and the cam stepped shaft through interference fit, so that the eccentric cam and the cam stepped shaft are fixedly connected; the cam shaft sleeve is sleeved on the cam stepped shaft, and one end face of the cam shaft sleeve is tightly attached to the other end face of the eccentric cam; then, one side, sleeved with a cam shaft sleeve, of the cam stepped shaft is fixedly connected with a bearing-2 in an interference fit manner, the other side of the cam stepped shaft is fixedly connected with a bearing-1 in an interference fit manner and is tightly attached to the end face of the first step of the cam stepped shaft, so that the axial fixation is integrally realized, and when the cam stepped shaft is freely rotated, the eccentric cam is driven to rotate;
the cam contact block is sleeved on the rotating stepped shaft, one side end face of the cam contact block is tightly attached to one side end face of a step of the rotating stepped shaft 109, the resin gasket is sleeved on the rotating stepped shaft, one side end face of the resin gasket is tightly attached to the other side end face of the cam contact block, then one side of the rotating stepped shaft sleeve provided with the resin gasket is fixedly connected with the bearing-3 in an interference fit mode through the bearing mounting hole, and the other side of the rotating stepped shaft is fixedly connected with the bearing-4 in an interference fit mode, so that the rotating stepped shaft is axially fixed and can freely rotate;
the middle of the cam contact block is provided with a pin shaft hole and a notch, the cam contact block is fixedly connected with a cam contact block pin shaft through interference fit, the end surface of the curved surface of the cam contact block is tightly contacted with the surface of the eccentric cam, and the curved surface of the cam contact block and the end surface of the eccentric cam are rough; the nitrogen spring stop block is in clearance fit with the pin shaft of the cam contact block, so that the nitrogen spring stop block can rotate within the range of minus 30 degrees to 30 degrees in the notch of the cam contact block, the lower end surface of the nitrogen spring stop block is tightly attached to the nitrogen spring, and the nitrogen spring is fixedly connected with the lower shell through a bolt, so that the thrust generated by the nitrogen spring is transmitted to the nitrogen spring stop block and the cam contact block;
the shoulder joint movement self-adaptive mechanism is divided into six sections, wherein the first section comprises a range adjusting connecting block, a fixed stepped bolt and an elastic resin gasket; the second section comprises a self-adaptive adjusting block, an elastic resin gasket and a fixed stepped bolt; the third section to the sixth section comprise self-adaptive adjusting blocks, elastic resin gaskets and fixing screws;
in the first section, the fixed stepped bolt penetrates through a penetrating counter bore of the range adjusting connecting block, penetrates through the penetrating counter bore, is sleeved with an elastic resin gasket, and is connected with the self-adaptive adjusting block of the second section;
in the second section, the fixed stepped bolt penetrates through the through counter bore of the self-adaptive adjusting block, penetrates through the counter bore, is sleeved with the elastic resin gasket and is connected with the self-adaptive adjusting block of the third section;
the third section is connected with the fifth section in the same way, and the fixing screws penetrate through the through counter bores of the self-adaptive adjusting blocks, penetrate through the counter bores, are sleeved with the elastic resin gaskets and are connected with the self-adaptive adjusting blocks in the next section;
in the sixth section, a fixing screw penetrates through a through counter bore of the self-adaptive adjusting block, penetrates through the counter bore, is sleeved with an elastic resin gasket, and is connected with a self-adaptive mechanism connecting block of the shoulder height adjusting mechanism;
the shoulder height adjusting mechanism comprises a self-adaptive mechanism connecting block, a fixed sleeve, a V-shaped fixed spring and an adjusting sleeve;
the self-adaptive mechanism connecting block is fixedly connected with the fixed sleeve through a bolt, the fixed sleeve is provided with continuous through holes, the upper end and the lower end of the adjusting sleeve are fixedly connected with a V-shaped fixed spring through fixed glue, and the V-shaped fixed spring at the upper end passes through the continuous through holes in a telescopic mode, so that the adjusting sleeve freely slides on the inner side of the fixed sleeve, and shoulder height adjustment is further realized;
the shoulder width adjusting block is provided with a spring notch, and a V-shaped fixed spring at the lower end of the shoulder height adjusting mechanism is embedded in the spring notch, so that the shoulder height adjusting mechanism is fixedly connected with the shoulder width adjusting block; in addition, the shoulder width adjusting block has two grades of shoulder width adjustment, and the lower end V-shaped fixed spring can be switched between the two grades of shoulder width adjustment to realize the shoulder width adjustment;
the upper limb binding and the shoulder power-assisting module are fixedly connected through bolts, and when the upper limb power-assisting exoskeleton robot is used, the shoulder power-assisting module is worn on the large arm of an operator through the binding belt on the upper limb binding to wrap the whole arm of the operator;
the backrest is fixedly connected with the shoulder height adjusting mechanism through bolts and used for protecting the back of an operator;
the waist binding block is fixedly connected with the shoulder width adjusting block through a bolt and is used for fixing the whole upper limb exoskeleton robot on the waist of an operator;
the invention aims to realize the following steps:
according to the upper limb assistance exoskeleton robot for providing assistance maintenance, when an operator wears the upper limb assistance exoskeleton robot, the operator works normally, and the eccentric cam is driven to rotate to generate displacement in the process of upper limb movement, so that a nitrogen spring is pulled to generate thrust and the thrust is transmitted to a nitrogen spring stop block and a cam contact block; and because the cam contact block and the eccentric cam are rough in surface, the contact of the thrust of the nitrogen spring generates a large friction force, so that a reverse torque is generated, the reverse torque acts on the upper limbs of the operator and is opposite to the torque generated by a tool in the overhead operation on the shoulders, and the real-time assistance holding is realized.
Meanwhile, the upper limb assistance exoskeleton robot for providing assistance maintenance further has the following beneficial effects:
(1) the invention can provide the power-assisted torque in real time, and the power-assisted torque can be changed according to the requirement of the power-assisted torque. The shoulder power-assisted module provides a main function mechanism of power-assisted moment, and provides power for upper limbs of a human body mainly through contact friction force of the eccentric cam on the cam contact block and moment generated by an eccentric force arm generated by the eccentric cam.
(2) The invention realizes the self-selection of the assistance. The front end of the cam contact block is provided with a blocking ladder, and the locking switch can be embedded in the ladder to block the cam contact block from contacting with the eccentric cam, so that the assistance mode and the non-assistance mode can be selected automatically.
(3) The invention has strong adaptability and man-machine compatibility, and can be suitable for people with the height of 160-185 cm. The shoulder height adjusting device is provided with a shoulder adjusting module and a shoulder height adjusting module, realizes stepped adjustment, is provided with a self-adaptive mechanism, compensates displacement generated by actual motion of human shoulder joints, and is good in man-machine compatibility.
(4) The invention has the advantages of low cost, good compatibility, simple installation and simple and convenient operation, and can realize the popularization of multiple industrial scenes.
Drawings
FIG. 1 is an architecture diagram of an embodiment of an upper extremity assisted exoskeleton robot providing assistance retention according to the present invention;
FIG. 2 is a schematic diagram of a shoulder assist module; wherein, (a) is the whole schematic diagram of the shoulder power-assisted module, and (b) is the schematic diagram after the upper shell is opened; (c) is a locking switch installation schematic diagram; (d) is a schematic view of eccentric cam installation; (e) is a schematic view of the installation of a rotating stepped shaft; (f) is a schematic view of the installation of a nitrogen spring stop block;
FIG. 3 is a schematic structural view of an upper housing and a lower housing; wherein, (a) is a structural schematic diagram of the upper shell, and (b) is a structural schematic diagram of the lower shell;
FIG. 4 is a schematic diagram of the connection of the shoulder power module to the shoulder motion adaptive mechanism;
FIG. 5 is a schematic diagram of the construction of the components of the shoulder power module; wherein, (a) is the structural sketch map of the cam stepped shaft, (b) is the structural sketch map of the rotating stepped shaft, (c) is the structural sketch map of locking out, (d) is the structural sketch map of the cam contact block;
FIG. 6 is a schematic structural view of a shoulder motion adaptive mechanism; wherein, (a) is a sectional schematic diagram of the shoulder joint movement adaptive mechanism, and (b) is a connection schematic diagram of the shoulder joint movement adaptive mechanism and the shoulder height adjusting mechanism;
FIG. 7 is a schematic diagram of the architecture of an adaptive adjustment block;
FIG. 8 is a schematic structural view of the shoulder height adjustment mechanism;
FIG. 9 is a cross-sectional view of the shoulder height adjustment mechanism;
FIG. 10 is a schematic view of the connection of the shoulder height adjustment mechanism to the shoulder width adjustment block;
figure 11 is a moment generation diagram of the shoulder assist module.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is an architecture diagram of an embodiment of an upper limb assistance exoskeleton robot for providing assistance maintenance according to the invention.
In this embodiment, as shown in fig. 1, an upper limb assisting exoskeleton robot for providing assistance retention according to the present invention includes: the shoulder assisting module 1, the shoulder joint motion adaptive mechanism 2, the shoulder height adjusting mechanism 3, the shoulder width adjusting block 4, the upper limb binding 5, the backrest 6 and the waist binding 7;
the shoulder power assisting module 1 is used for providing power assisting and holding for a shoulder joint, and can provide power assisting and holding at various angles within the range of motion of the shoulder joint of a human body, namely, continuous power assisting is not provided in the motion process of upper limbs, but a holding torque is provided in the work maintaining process, and specifically comprises an upper shell 101, a lower shell 102, a cam stepped shaft 103, a locking switch 104, a nitrogen spring 105, a bearing-1106, a resin gasket 107, a cam contact block 108, a rotating stepped shaft 109, an eccentric cam 110, a cam shaft sleeve 111, a cam pin shaft 112, a cam contact block pin shaft 113, a nitrogen spring stop block 114, a bearing-2115, a bearing-3116 and a bearing-4117; fig. 2(a) is an overall schematic view of the shoulder power assisting module, and after the upper housing 101 is opened, the internal structure of the shoulder power assisting module is as shown in fig. 2 (b);
the upper shell 101 and the lower shell 102 are provided with locking switch mounting holes, bearing mounting holes and fixing connecting holes, wherein the upper shell 101 and the lower shell 102 are both provided with two bearing mounting holes which are respectively marked as a first bearing mounting hole and a second bearing mounting hole; as shown in fig. 3(a), 1011 is a first bearing mounting hole on the upper housing 101, 1012 is a second bearing hole on the upper housing 101, 1013 is a mounting hole of the lock switch on the upper housing 101; as shown in fig. 3(b), 1021 is a first bearing mounting hole on the lower housing 102, 1022 is a second bearing mounting hole on the lower housing 102, 1023 is a mounting hole of a lock switch on the lower housing 102, 1024 is a mounting hole position of a nitrogen spring on the lower housing 102;
the bearing-1106 is fixedly connected through a first bearing mounting hole in the upper shell 101 in an interference fit manner, and the bearing-3116 is fixedly connected through a second bearing hole in the upper shell 101 in an interference fit manner; the bearing-2115 is fixedly connected through a first bearing mounting hole on the lower shell 102 in an interference fit manner, and the bearing-4117 is fixedly connected through a second bearing mounting hole on the lower shell 102 in an interference fit manner; the upper shell 101 and the lower shell 102 are fixedly connected through a fixing connecting hole by a bolt;
as shown in fig. 2(c), resin gaskets 107 are sleeved at both ends of the locking switch 104, and then are tightly attached to both end surfaces of the step platform at the inner side of the locking switch; the locking switch 104 is fixed between the upper shell and the lower shell through the locking switch mounting hole, so that the locking switch 104 is axially fixed and can freely rotate, wherein the locking switch 104 is shown in fig. 5 (c);
as shown in fig. 4, the cam stepped shaft 103 is fixedly connected with the range adjusting connection block 201 in the shoulder joint movement adaptive mechanism 2 through a bolt, so that the shoulder power assisting module 1 is fixedly connected with the shoulder joint movement adaptive mechanism 2, and the fixed connection angle can be adjusted according to actual scene requirements, so that the selection of the movement range is realized, and different operation scenes are adapted;
wherein the cam stepped shaft 103 has two steps in common, as shown in fig. 5(a), where 1031 is the cam pin shaft mounting hole, 1032 is the first step, and 1033 is the second step; the eccentric cam 110 is sleeved on the cam stepped shaft 103, and one side end face of the eccentric cam 110 is tightly attached to the end face of the second step of the cam stepped shaft; as shown in fig. 2(d), the eccentric cam 110 and the cam stepped shaft 103 are both provided with pin shaft holes, and the cam pin shaft 112 is fixedly connected with the eccentric cam 110 and the cam stepped shaft 103 through interference fit, so that the eccentric cam 110 and the cam stepped shaft 103 are fixedly connected; the cam shaft sleeve 111 is sleeved on the cam stepped shaft 103, and one end face of the cam shaft sleeve 111 is tightly attached to the other end face of the eccentric cam; then, one side of the cam stepped shaft 103, which is sleeved with the cam shaft sleeve 111, is fixedly connected with the bearing-2115 through interference fit, the other side of the cam stepped shaft is fixedly connected with the bearing-1106 through interference fit and is tightly attached to the end face of the first step of the cam stepped shaft, so that axial fixation is integrally realized, and when the cam stepped shaft 103 is freely rotated, the eccentric cam 110 is driven to rotate;
as shown in fig. 2(e), the cam contact block 108 is sleeved on the rotating stepped shaft 109, and one side end face of the cam contact block 108 is tightly attached to one side end face of the step of the rotating stepped shaft 109, the resin gasket 107 is sleeved on the rotating stepped shaft, and one side end face of the resin gasket 107 is tightly attached to the other side end face of the cam contact block 108, then one side of the rotating stepped shaft 109, which is sleeved with the resin gasket 107, is fixedly connected with the bearing-3116 through the bearing mounting hole in an interference fit manner, and the other side of the rotating stepped shaft 109 is fixedly connected with the bearing-4117 through the interference fit manner, so that the rotating stepped shaft 109 is axially fixed and can freely rotate; wherein the stepped shaft 109 is rotated as shown in fig. 5 (b); cam contact block 108 is shown in fig. 5(d), where 1081 is the pin mounting hole and 1082 is the cam contact block notch;
as shown in fig. 2(f), a pin shaft hole and a notch are formed in the middle of the cam contact block 108, the cam contact block 108 is fixedly connected with the cam contact block pin shaft 113 through interference fit, the end face of the curved surface of the cam contact block 108 is tightly contacted with the surface of the eccentric cam 110, and the curved surface of the cam contact block 108 and the end face of the eccentric cam are rough; the nitrogen spring stop block 114 is in clearance fit with the cam contact block pin shaft 113, so that the nitrogen spring stop block 114 can rotate in the notch of the cam contact block 108 within the range of-30 degrees to 30 degrees, the lower end surface of the nitrogen spring stop block 114 is tightly attached to the nitrogen spring 105, the nitrogen spring 105 is fixedly connected with the lower shell 102 through a bolt, and therefore the thrust generated by the nitrogen spring 105 is transmitted to the nitrogen spring stop block 114 and the cam contact block 108, and a wearer can replace nitrogen springs with different specifications according to requirements;
as shown in fig. 6(a), the shoulder joint movement adaptive mechanism 2 is divided into six sections, wherein the first section includes a range adjustment connecting block 201, a fixed stepped bolt 202, an elastic resin spacer 203; the second section comprises an adaptive adjusting block 205, an elastic resin gasket 203 and a fixed stepped bolt 202; the third segment to the sixth segment comprise an adaptive adjusting block 205, an elastic resin gasket 203 and a fixing screw 204; the adaptive adjustment block 205 is shown in fig. 7, wherein 2051 is a through counter bore, and 2052 is an internal thread space;
in the first section, the fixed stepped bolt 202 penetrates through a through counter bore of the range adjusting connecting block 201, penetrates through the through counter bore, is sleeved with an elastic resin gasket 203, and is connected with a self-adaptive adjusting block 205 of the second section;
in the second section, the fixed stepped bolt 202 passes through the through counter bore of the adaptive adjusting block 205, passes through the counter bore, is sleeved with the elastic resin gasket 203, and is connected with the adaptive adjusting block 205 of the third section;
the third section is connected with the fifth section in the same way, namely a fixing screw 204 passes through a through counter bore of a self-adaptive adjusting block 205, passes through the counter bore, is sleeved with an elastic resin gasket 203 and is connected with the self-adaptive adjusting block in the next section;
in the sixth section, as shown in fig. 6(b), a fixing screw 204 passes through a through counter bore of the adaptive adjustment block 205, passes through the counter bore, is sleeved with an elastic resin gasket 203, and is connected with the adaptive mechanism connecting block 301 of the shoulder height adjustment mechanism 3, so that the whole adaptive mechanism for shoulder joint movement can realize adaptive rotation within a circular range of 100mm along with the movement of a human shoulder joint;
as shown in fig. 8, the shoulder height adjusting mechanism 3 includes an adaptive mechanism connecting block 301, a fixing sleeve 302, a V-shaped fixing spring 303, and an adjusting sleeve 304;
as shown in fig. 9, the adaptive mechanism connecting block 301 is fixedly connected with the fixed sleeve 302 through a bolt, the fixed sleeve 302 is provided with a continuous through hole, the upper end and the lower end of the adjusting sleeve 304 are fixedly connected with a V-shaped fixed spring 303 through fixing glue, and the V-shaped fixed spring 303 at the upper end passes through the continuous through hole in a telescopic manner, so that the adjusting sleeve 304 freely slides on the inner side of the fixed sleeve 302, and further shoulder height adjustment is realized;
as shown in fig. 10, the shoulder width adjusting block 4 has a spring notch, and the V-shaped fixing spring 303 at the lower end of the shoulder height adjusting mechanism 3 is embedded in the spring notch, so as to fixedly connect the shoulder height adjusting mechanism 3 and the shoulder width adjusting block 4; in addition, the shoulder width adjusting block 4 has two grades of shoulder width adjustment, and the lower end V-shaped fixed spring 303 can be switched between the two grades of shoulder width adjustment to realize the shoulder width adjustment;
the upper limb binding 5 is fixedly connected with the shoulder power-assisting module 1 through a bolt, and when the upper limb power-assisting exoskeleton robot is used, the shoulder power-assisting module is worn on the large arm of an operator through the binding belt on the upper limb binding 5 to wrap the whole arm of the operator;
the backrest 6 is fixedly connected with the shoulder height adjusting mechanism 3 through bolts and used for protecting the back of an operator;
the waist binding 7 is fixedly connected with the shoulder width adjusting block 4 through a bolt and is used for fixing the whole upper limb exoskeleton robot on the waist of an operator;
after an operator wears the upper limb assisting exoskeleton robot, the operator works normally, and the eccentric cam is driven to rotate to generate displacement in the process of upper limb movement, so that the nitrogen spring is pulled to generate thrust and the thrust is transmitted to the nitrogen spring stop block and the cam contact block; and because the cam contact block and the eccentric cam are rough in surface, the thrust of the nitrogen spring is contacted with the cam contact block to generate a large friction force, so that a reverse torque is generated, the reverse torque acts on the upper limbs of the operators, and the real-time assistance keeping is realized.
In this embodiment, the pushing force of the nitrogen spring is transmitted to the cam contact block through the mechanism, as shown by the arrow at the lower end in fig. 11, the pushing force is perpendicular to the contact surface of the eccentric cam and the cam contact block, the distance between the center of the base circle of the eccentric cam and the pushing force is the moment arm, and if the eccentric cam and the cam contact block move relatively, a reverse sliding friction force is generated between the eccentric cam and the cam contact block. Assuming that the eccentric cam starts to rotate under the action of an active torque M, a friction force is generated at the moment, so that a reverse torque is generated, the size of the nitrogen spring is determined by the selection of the size, and therefore the size of the boosting torque can be changed by replacing the size of the nitrogen spring. As long as the eccentric cam receives active torque from the arm, friction force is generated, so that reverse torque is generated to support the arm of a wearer, and real-time assistance holding is realized.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (1)
1. An upper limb assistance exoskeleton robot providing assistance retention, comprising: the shoulder assisting module, the shoulder joint motion self-adapting mechanism, the shoulder height adjusting mechanism, the shoulder width adjusting block, the upper limb binding, the backrest and the waist binding;
the shoulder power assisting module provides power assisting at various angles for the movement of a human shoulder joint in operation maintenance, and specifically comprises an upper shell, a lower shell, a cam stepped shaft, a locking switch, a nitrogen spring, a bearing-1, a resin gasket, a cam contact block, a rotating stepped shaft, an eccentric cam, a cam shaft sleeve, a cam pin shaft, a cam contact block pin shaft, a nitrogen spring stop block, a bearing-2, a bearing-3 and a bearing-4;
the upper shell and the lower shell are provided with locking switch mounting holes, bearing mounting holes and fixed connecting holes, wherein the upper shell and the lower shell are respectively provided with two bearing mounting holes which are respectively marked as a first bearing mounting hole and a second bearing mounting hole; the bearing-1 is fixedly connected through a first bearing mounting hole on the upper shell in an interference fit manner, and the bearing-3 is fixedly connected through a second bearing hole on the upper shell in an interference fit manner; the bearing-2 is fixedly connected through a first bearing mounting hole on the lower shell in an interference fit manner, and the bearing-4 is fixedly connected through a second bearing mounting hole on the lower shell in an interference fit manner; the upper shell and the lower shell are fixedly connected through a fixed connecting hole by a bolt;
resin gaskets are sleeved at two ends of the locking switch and are tightly attached to two end faces of the step platform at the inner side of the locking switch; the locking switch is fixed between the upper shell and the lower shell through the locking switch mounting hole, so that the locking switch is axially fixed and can freely rotate;
the cam stepped shaft is fixedly connected with a range adjusting connecting block in the shoulder joint movement self-adaptive mechanism through a bolt, so that the shoulder power-assisted module is fixedly connected with the shoulder joint movement self-adaptive mechanism;
the eccentric cam is sleeved on the cam stepped shaft, and one side end face of the eccentric cam is tightly attached to the end face of the second step of the cam stepped shaft; the eccentric cam and the cam stepped shaft are respectively provided with a pin shaft hole, and the cam pin shaft is fixedly connected with the eccentric cam and the cam stepped shaft through interference fit, so that the eccentric cam and the cam stepped shaft are fixedly connected; the cam shaft sleeve is sleeved on the cam stepped shaft, and one end face of the cam shaft sleeve is tightly attached to the other end face of the eccentric cam; then, one side, sleeved with a cam shaft sleeve, of the cam stepped shaft is fixedly connected with a bearing-2 in an interference fit manner, the other side of the cam stepped shaft is fixedly connected with a bearing-1 in an interference fit manner and is tightly attached to the end face of the first step of the cam stepped shaft, so that the axial fixation is integrally realized, and when the cam stepped shaft is freely rotated, the eccentric cam is driven to rotate;
the cam contact block is sleeved on the rotating stepped shaft, one side end face of the cam contact block is tightly attached to one side end face of a step of the rotating stepped shaft 109, the resin gasket is sleeved on the rotating stepped shaft, one side end face of the resin gasket is tightly attached to the other side end face of the cam contact block, then one side of the rotating stepped shaft sleeve provided with the resin gasket is fixedly connected with the bearing-3 in an interference fit mode through the bearing mounting hole, and the other side of the rotating stepped shaft is fixedly connected with the bearing-4 in an interference fit mode, so that the rotating stepped shaft is axially fixed and can freely rotate;
the middle of the cam contact block is provided with a pin shaft hole and a notch, the cam contact block is fixedly connected with a cam contact block pin shaft through interference fit, the end surface of the curved surface of the cam contact block is tightly contacted with the surface of the eccentric cam, and the curved surface of the cam contact block and the end surface of the eccentric cam are rough; the nitrogen spring stop block is in clearance fit with the pin shaft of the cam contact block, so that the nitrogen spring stop block can rotate within the range of minus 30 degrees to 30 degrees in the notch of the cam contact block, the lower end surface of the nitrogen spring stop block is tightly attached to the nitrogen spring, and the nitrogen spring is fixedly connected with the lower shell through a bolt, so that the thrust generated by the nitrogen spring is transmitted to the nitrogen spring stop block and the cam contact block;
the shoulder joint movement self-adaptive mechanism is divided into six sections, wherein the first section comprises a range adjusting connecting block, a fixed stepped bolt and an elastic resin gasket; the second section comprises a self-adaptive adjusting block, an elastic resin gasket and a fixed stepped bolt; the third section to the sixth section comprise self-adaptive adjusting blocks, elastic resin gaskets and fixing screws;
in the first section, the fixed stepped bolt penetrates through a penetrating counter bore of the range adjusting connecting block, penetrates through the penetrating counter bore, is sleeved with an elastic resin gasket, and is connected with the self-adaptive adjusting block of the second section;
in the second section, the fixed stepped bolt penetrates through the through counter bore of the self-adaptive adjusting block, penetrates through the counter bore, is sleeved with the elastic resin gasket and is connected with the self-adaptive adjusting block of the third section;
the third section is connected with the fifth section in the same way, and the fixing screws penetrate through the through counter bores of the self-adaptive adjusting blocks, penetrate through the counter bores, are sleeved with the elastic resin gaskets and are connected with the self-adaptive adjusting blocks in the next section;
in the sixth section, a fixing screw penetrates through a through counter bore of the self-adaptive adjusting block, penetrates through the counter bore, is sleeved with an elastic resin gasket, and is connected with a self-adaptive mechanism connecting block of the shoulder height adjusting mechanism;
the shoulder height adjusting mechanism comprises a self-adaptive mechanism connecting block, a fixed sleeve, a V-shaped fixed spring and an adjusting sleeve;
the self-adaptive mechanism connecting block is fixedly connected with the fixed sleeve through a bolt, the fixed sleeve is provided with continuous through holes, the upper end and the lower end of the adjusting sleeve are fixedly connected with a V-shaped fixed spring through fixed glue, and the V-shaped fixed spring at the upper end passes through the continuous through holes in a telescopic mode, so that the adjusting sleeve freely slides on the inner side of the fixed sleeve, and shoulder height adjustment is further realized;
the shoulder width adjusting block is provided with a spring notch, and a V-shaped fixed spring at the lower end of the shoulder height adjusting mechanism is embedded in the spring notch, so that the shoulder height adjusting mechanism is fixedly connected with the shoulder width adjusting block; in addition, the shoulder width adjusting block has two grades of shoulder width adjustment, and the lower end V-shaped fixed spring can be switched between the two grades of shoulder width adjustment to realize the shoulder width adjustment;
the upper limb binding and the shoulder power-assisting module are fixedly connected through bolts, and when the upper limb power-assisting exoskeleton robot is used, the shoulder power-assisting module is worn on the large arm of an operator through the binding belt on the upper limb binding to wrap the whole arm of the operator;
the backrest is fixedly connected with the shoulder height adjusting mechanism through bolts and used for protecting the back of an operator;
the waist binding block is fixedly connected with the shoulder width adjusting block through a bolt and is used for fixing the whole upper limb exoskeleton robot on the waist of an operator;
after an operator wears the upper limb assisting exoskeleton robot, the operator works normally, and the eccentric cam is driven to rotate to generate displacement in the process of upper limb movement, so that the nitrogen spring is pulled to generate thrust and the thrust is transmitted to the nitrogen spring stop block and the cam contact block; and because the cam contact block and the eccentric cam are rough in surface, the thrust of the nitrogen spring is contacted with the cam contact block to generate a large friction force, so that a reverse torque is generated, the reverse torque acts on the upper limbs of the operators, and the real-time assistance keeping is realized.
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| CN202210457995.9A CN114851163B (en) | 2022-04-28 | 2022-04-28 | Upper limb assistance exoskeleton robot for providing assistance maintenance |
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| CN202210457995.9A CN114851163B (en) | 2022-04-28 | 2022-04-28 | Upper limb assistance exoskeleton robot for providing assistance maintenance |
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| CN114851163B CN114851163B (en) | 2023-07-04 |
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| KR20200099418A (en) * | 2019-02-14 | 2020-08-24 | 중앙대학교 산학협력단 | Apparatus for variable gravity compensation |
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| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
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| CN114851163B (en) | 2023-07-04 |
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