CN206840069U - Wearable assistance mechanical arm - Google Patents
Wearable assistance mechanical arm Download PDFInfo
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- CN206840069U CN206840069U CN201720633401.XU CN201720633401U CN206840069U CN 206840069 U CN206840069 U CN 206840069U CN 201720633401 U CN201720633401 U CN 201720633401U CN 206840069 U CN206840069 U CN 206840069U
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- upper arm
- motor
- transverse slat
- connecting rod
- backplate
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000013519 translation Methods 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims description 17
- 230000009471 action Effects 0.000 abstract description 3
- 230000003387 muscular Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000003306 harvesting Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
Wearable assistance mechanical arm, including shoulder fixed mechanism, shoulder fixed mechanism includes the fixed plate of inverted "L" shaped, fixed plate includes transverse slat and the vertical portion of integrally connected, the right flank of vertical portion is provided with the first motor, transverse slat is provided with the rotating shaft vertical with transverse slat, and the upper end of rotating shaft is connected with belt pulley, and the first motor is connected with belt pulley V belt translation；The lower end of rotating shaft is connected with adjustable plate, the right-hand member of adjustable plate is located at below transverse slat and parallel with transverse slat, the left end of transverse slat is connected with the upper arm backplate of semicircular arc, fixing band for upper arm is connected with upper arm backplate, the left end of upper arm backplate is fixedly connected with semicircular fixed plate, fixed plate is located at the outside of upper arm backplate, and the utility model beneficial effect is：The structure of this assistance mechanical arm is simple, and use is light, convenient regulation, can be used to draw worker and carries out harvesting action, so as to slow down the muscular fatigue sense of worker, the normal time extended in work limitation, increases the whole work efficiency of worker.
Description
Technical field
Wearable robot field is the utility model is related to, more particularly, to a kind of wearable assistance mechanical arm.
Background technology
Wearable device Heuristic Design technology（Availability design technology）, refer to be integrated into
Wearable engineering is target based on availability, is successfully connected with the various functions realized in equipment with upper limbs robot device
Related science technology, it include to wearable smart machine from material, structure, moulding, use information processing etc., carry out
Comprehensive exploitation modeling and availability programme planning, this is also one of crucial innovative technology that high-end complex device is researched and developed at present.
The development of robot technology in the last few years make it that increasing extra limbs for human body realizes that " super ability " is no longer
Dream.By increasing wearable apery mechanical arm limbs, the tasks carrying function of people can be effectively expanded, strengthens the production efficiency of people
And level of skill, it is independently tackled complex environment change or production task in the case where being assisted independent of more people, from
And solves the situation of " double fists are defeated by four hands ".Thus wearable apery mechanical arm limbs will make machine person to person cooperation tighter
It is close, it can not be well understood by the intention of people in robot and efficiently face complex environment, can in the case that diversified user needs
The development of robot is dressed by with actual application prospect.
Under normal circumstances, a people can not complete independently it is a certain movable when, it is necessary to by other people assist or increase phase
Task is refined decomposition by the power tool of pass, is realized item by item.Although these methods can smoothly complete predetermined activity
Index, but inevitably cause recruitment cost to increase, the time, efforts etc..On the other hand, because people's demand is got over
Come more diversified, the task and environment faced also tends to complexity, and Personal Skills and conventional equipment can run into inhomogeneity unavoidably
The challenge of type, and robot technology is flexible and the intelligent decision of people, the fusion intelligently performed can make robot share part challenge,
So as to mitigate the answering pressure of people.Different from traditional ectoskeleton power-assisting robot, wearable assistance mechanical arm not only power-assisted
And can with complete independently operation, can also people and collaboration complete increasingly complex task, the technical ability and operation for improving people are imitated
Rate has important practical value, while then more meaningful in health care field, for the people of arm motion function, as apoplexy,
, it is necessary to have substitute to help them to complete some daily required hand motions for amyotrophic patient etc. so that he
Need not someone help under with regard to the necessary motion of some daily lifes can be completed, such as pour, open the door, or even shave, brush teeth,
Culinary art, shopping etc..Can not only so more preferable protective effect be played to their privacy, can also increase their energy of taking care of oneself
Power.And had a bodily deformity for some, the mainly crowd of arm segment is more the need for substitute to make up the body of this part
Volume defect so that their quality of the life and stand-alone capability can be improved.The existing method by installing artifucial limb additional, because
Need to carry out for different people customized, add cost, large-scale production is also impossible in technology realization.Therefore, additionally
Wearable mechanical arm can be used as substitute.
Incomplete statistics, mesh are reported according to first quarter market survey in 2016 of report hall Internet of Things China of China issue
Preceding global wearable device obtain investment amount more than 15,000,000,000 U.S. dollars more than, be 3 times of 2015 same periods.In face of quick hair
The wearable device industry of exhibition, the Chinese government successively make a series of deployment and arrangement in policy, standard etc., 2013
National Development and Reform Committee is " on organizing and implementing mobile Internets in 2013 and forth generation mobile communication（TD-LTE）The special project of industrialization "
In notice, wearable device is clearly included in emphasis and supports field.2014, there was the wearable device committee, each in the whole nation in succession
Level association, alliance organization are set up.2015, national wearable device standard formulation work started to start, November 23 the same year, state
Business institute announces《On the new instruction for consuming leading action quickening and cultivating formation and newly supplying new power of actively performance》Middle expression
National production and development by emerging consumer goods such as the support wearable devices of longer-term.
Utility model content
The purpose of this utility model is the provision of a kind of wearable assistance mechanical arm, and the utility model is simple in construction,
Using light, convenient regulation, so as to slow down the muscular fatigue sense of worker, the normal working hours extended in work limitation, increase
The whole work efficiency of worker.
The technical solution of the utility model is：
Wearable assistance mechanical arm, including shoulder fixed mechanism, shoulder fixed mechanism include the fixed plate of inverted "L" shaped,
Fixed plate includes the transverse slat of integrally connected and vertical portion, the right flank of vertical portion are provided with the first motor, and transverse slat is provided with and transverse slat
Vertical rotating shaft, the upper end of rotating shaft are connected with belt pulley, and the first motor is connected with belt pulley V belt translation；The lower end of rotating shaft is connected with
Adjustable plate, the right-hand member of adjustable plate are located at below transverse slat and parallel with transverse slat, and the left end of transverse slat is connected with the upper arm shield of semicircular arc
Plate, fixing band for upper arm is connected with upper arm backplate, the left end of upper arm backplate is fixedly connected with semicircular fixed plate, fixed plate position
In the outside of upper arm backplate, the center line of fixed plate is overlapped with the center line of upper arm backplate, and one end of fixed plate is rotatably connected to
Second motor, forearm fixed support is connected with the motor shaft of the second motor, motor shaft centre line and the forearm of the second motor are consolidated
The centerline parallel of fixed rack.
The forearm fixed support includes preceding arm support, and preceding arm support includes the left arc of horizontal connecting plate and connecting plate left end
Shape plate and the right collar positioned at connecting plate right-hand member；First connecting rod and second connecting rod, first connecting rod are fixedly connected with the outside of the right collar
With the centerline parallel of the right collar, first connecting rod is vertical with second connecting rod and one end of the right-hand member of first connecting rod and second connecting rod is consolidated
The motor axis connection of fixed connection, the other end of second connecting rod and the second motor.
Preceding arm support is provided with fixing band for upper arm.
Upper arm lengths adjusting means is provided between adjustable plate and upper arm backplate.
Upper arm lengths adjusting means includes the elongated hole being located on adjustable plate and the elongated hole and upper arm backplate that are located in adjustable plate
Between bolt assembly.
Wearable assistance mechanical arm, including shoulder fixed mechanism, shoulder fixed mechanism include the fixed plate of inverted "L" shaped,
Fixed plate includes the transverse slat of integrally connected and vertical portion, the right flank of vertical portion are provided with the first motor, and transverse slat is provided with and transverse slat
Vertical rotating shaft, the upper end of rotating shaft are connected with belt pulley, and the first motor is connected with belt pulley V belt translation；The lower end of rotating shaft is connected with
Adjustable plate, the right-hand member of adjustable plate are located at below transverse slat and parallel with transverse slat, and the left end of transverse slat is connected with the upper arm shield of semicircular arc
Plate, the left end of upper arm backplate are fixedly connected with semicircular fixed plate, and fixed plate is located at the outside of upper arm backplate, in fixed plate
Heart line overlaps with the center line of upper arm backplate, and one end of fixed plate is fixedly connected with the second motor, on the motor shaft of the second motor
It is connected with forearm fixed support, motor shaft centre line and the support bracket fastened central axis of forearm of the second motor.
The forearm fixed support includes preceding arm support, and preceding arm support includes the left arc of horizontal connecting plate and connecting plate left end
Shape plate and the right collar positioned at connecting plate right-hand member；First connecting rod and second connecting rod, first connecting rod are fixedly connected with the outside of the right collar
With the centerline parallel of the right collar, first connecting rod is vertical with second connecting rod and one end of the right-hand member of first connecting rod and second connecting rod is consolidated
The motor axis connection of fixed connection, the other end of second connecting rod and the second motor.
Preceding arm support is provided with fixing band for upper arm.
Upper arm lengths adjusting means is provided between adjustable plate and upper arm backplate.
Upper arm lengths adjusting means includes the elongated hole being located on adjustable plate and the elongated hole and upper arm backplate that are located in adjustable plate
Between bolt assembly.
The utility model beneficial effect is：The structure of this assistance mechanical arm is simple, and use is light, convenient regulation, can
Harvesting action is carried out to draw worker, so as to slow down the muscular fatigue sense of worker, the normal time extended in work limitation, is increased
Process the whole work efficiency of people.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
Embodiment one
As shown in figure 1, wearable assistance mechanical arm, including shoulder fixed mechanism, shoulder fixed mechanism include inverted "L" shaped
Fixed plate 1, the transverse slat 2 and vertical portion 3, the right flank of vertical portion 3 of fixed plate 1 including integrally connected be provided with the first motor 4, horizontal stroke
Plate 2 is provided with the rotating shaft 5 vertical with transverse slat 2, and the upper end of rotating shaft 5 is connected with belt pulley 6, the first motor 4 and the V belt translation of belt pulley 6
Connection.The lower end of rotating shaft 5 is connected with adjustable plate 7, and the right-hand member of adjustable plate 7 is located at the lower section of transverse slat 2 and parallel with transverse slat 2, transverse slat 2
Left end is connected with the upper arm backplate 8 of semicircular arc, and the anglec of rotation of upper arm backplate 8 is 0 °~180 °, can be met to greatest extent
People facilitate the operation in various orientation of the workpeople when working work for the various demands of assistance mechanical arm flexibility.
Fixing band for upper arm 9 is connected with upper arm backplate 8, the left end of upper arm backplate 8 is fixedly connected with semicircular fixed plate
10, fixed plate 10 is located at the outside of upper arm backplate 8, and the center line of fixed plate 10 overlaps with the center line of upper arm backplate 8, fixed plate
10 one end is rotatably connected to the second motor 11, and forearm fixed support 12, the second electricity are connected with the motor shaft of the second motor 11
The motor shaft centre line of machine 11 and the centerline parallel of forearm fixed support 12.
Forearm fixed support 12 includes preceding arm support 13, and preceding arm support 13 is provided with fixing band for upper arm 14.
Preceding arm support 13 includes the left arc 16 of horizontal connecting plate 15 and the left end of connecting plate 15 and positioned at connecting plate 15
The right collar 17 of right-hand member, left arc 16 overlap with the center line of the right collar 17；The right outside of the collar 17 is fixedly connected with the first company
Bar 18 and second connecting rod 19, the centerline parallel of first connecting rod 18 and the right collar 17, first connecting rod 18 are vertical with second connecting rod 19
And the right-hand member of first connecting rod 18 is fixedly connected with inner one end of second connecting rod 19, outer one end of second connecting rod 19 and the second electricity
The motor shaft of machine 11 is fixedly connected.So motor shaft can drives second connecting rod 19 and preceding arm support 13 along preceding arm support 13
Heart line gyration, drive people's palm circumferentially to rotate, pick up object.
In order to adapt to the individual difference of people, upper arm lengths adjusting means is provided between adjustable plate 7 and upper arm backplate 8.Upper arm
Length adjustment device includes the elongated hole being located on adjustable plate 7 and the bolt being located between the elongated hole of adjustable plate 7 and upper arm backplate 8
Component（Not shown in figure）.
Embodiment two
It is with the difference of embodiment one：The motor shaft centre line of second motor 11 and the center of forearm fixed support 12
Line is vertical, the motor shaft centerline parallel of the motor 11 of second connecting rod 19 and second, and second connecting rod 19 is under the drive of the second motor 11
Forearm fixed support 12 can be driven to swing up and down, rather than turned round as embodiment one.（Not shown in accompanying drawing）
During use：First motor 4 drives upper arm backplate 8 to swing in the horizontal direction, the arm of people is entirely in horizontal pendulum
Dynamic state.And the second motor 11 is either swung up and down with moving preceding revolution of arm.
The utility model concrete application approach is a lot, and described above is only preferred embodiment of the present utility model, should
Point out, for those skilled in the art, on the premise of the utility model principle is not departed from, can also make
Go out some improvement, these improvement also should be regarded as the scope of protection of the utility model.
Claims (10)
1. wearable assistance mechanical arm, it is characterised in that：Including shoulder fixed mechanism, shoulder fixed mechanism includes inverted "L" shaped
Fixed plate, the transverse slat and vertical portion, the right flank of vertical portion of fixed plate including integrally connected are provided with the first motor, set on transverse slat
There is the rotating shaft vertical with transverse slat, the upper end of rotating shaft is connected with belt pulley, and the first motor is connected with belt pulley V belt translation；Under rotating shaft
End is connected with adjustable plate, and the right-hand member of adjustable plate be located at transverse slat lower section and parallel with transverse slat, and the left end of transverse slat is connected with semicircular arc
Upper arm backplate, be connected with fixing band for upper arm on upper arm backplate, the left end of upper arm backplate is fixedly connected with semicircular fixed plate,
Fixed plate is located at the outside of upper arm backplate, and the center line of fixed plate overlaps with the center line of upper arm backplate, and one end of fixed plate turns
It is dynamic to be connected with the second motor, forearm fixed support, the motor shaft centre line of the second motor are connected with the motor shaft of the second motor
With the support bracket fastened centerline parallel of forearm.
2. wearable assistance mechanical arm according to claim 1, it is characterised in that：Before the forearm fixed support includes
Arm support, preceding arm support include left arc and the right collar positioned at connecting plate right-hand member of horizontal connecting plate and connecting plate left end；
First connecting rod and second connecting rod, the centerline parallel of first connecting rod and the right collar, first connecting rod are fixedly connected with the outside of the right collar
Right-hand member vertical and first connecting rod with second connecting rod is fixedly connected with one end of second connecting rod, the other end of second connecting rod and second
The motor axis connection of motor.
3. wearable assistance mechanical arm according to claim 1, it is characterised in that：Preceding arm support is fixed provided with upper arm
Band.
4. wearable assistance mechanical arm according to claim 1, it is characterised in that：Set between adjustable plate and upper arm backplate
There is upper arm lengths adjusting means.
5. wearable assistance mechanical arm according to claim 4, it is characterised in that：Upper arm lengths adjusting means includes setting
Elongated hole on adjustable plate and the bolt assembly being located between the elongated hole of adjustable plate and upper arm backplate.
6. wearable assistance mechanical arm, it is characterised in that：Including shoulder fixed mechanism, shoulder fixed mechanism includes inverted "L" shaped
Fixed plate, the transverse slat and vertical portion, the right flank of vertical portion of fixed plate including integrally connected are provided with the first motor, set on transverse slat
There is the rotating shaft vertical with transverse slat, the upper end of rotating shaft is connected with belt pulley, and the first motor is connected with belt pulley V belt translation；Under rotating shaft
End is connected with adjustable plate, and the right-hand member of adjustable plate be located at transverse slat lower section and parallel with transverse slat, and the left end of transverse slat is connected with semicircular arc
Upper arm backplate, the left end of upper arm backplate is fixedly connected with semicircular fixed plate, and fixed plate is located at the outside of upper arm backplate, Gu
The center line of fixed board overlaps with the center line of upper arm backplate, and one end of fixed plate is fixedly connected with the second motor, the second motor
Forearm fixed support, motor shaft centre line and the support bracket fastened central axis of forearm of the second motor are connected with motor shaft.
7. wearable assistance mechanical arm according to claim 6, it is characterised in that：Before the forearm fixed support includes
Arm support, preceding arm support include left arc and the right collar positioned at connecting plate right-hand member of horizontal connecting plate and connecting plate left end；
First connecting rod and second connecting rod, the centerline parallel of first connecting rod and the right collar, first connecting rod are fixedly connected with the outside of the right collar
Right-hand member vertical and first connecting rod with second connecting rod is fixedly connected with one end of second connecting rod, the other end of second connecting rod and second
The motor axis connection of motor.
8. wearable assistance mechanical arm according to claim 6, it is characterised in that：Preceding arm support is fixed provided with upper arm
Band.
9. wearable assistance mechanical arm according to claim 6, it is characterised in that：Set between adjustable plate and upper arm backplate
There is upper arm lengths adjusting means.
10. wearable assistance mechanical arm according to claim 9, it is characterised in that：Upper arm lengths adjusting means includes
The elongated hole being located on adjustable plate and the bolt assembly being located between the elongated hole of adjustable plate and upper arm backplate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720633401.XU CN206840069U (en) | 2017-06-02 | 2017-06-02 | Wearable assistance mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720633401.XU CN206840069U (en) | 2017-06-02 | 2017-06-02 | Wearable assistance mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206840069U true CN206840069U (en) | 2018-01-05 |
Family
ID=60798664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720633401.XU Expired - Fee Related CN206840069U (en) | 2017-06-02 | 2017-06-02 | Wearable assistance mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206840069U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108370719A (en) * | 2018-04-17 | 2018-08-07 | 青岛理工大学 | Fruit picking device |
| CN109304702A (en) * | 2018-10-04 | 2019-02-05 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of wearable power-assisted machine construction |
-
2017
- 2017-06-02 CN CN201720633401.XU patent/CN206840069U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108370719A (en) * | 2018-04-17 | 2018-08-07 | 青岛理工大学 | Fruit picking device |
| CN109304702A (en) * | 2018-10-04 | 2019-02-05 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of wearable power-assisted machine construction |
| CN109304702B (en) * | 2018-10-04 | 2024-05-14 | 南京中律信息科技有限公司 | Wearable helping hand machine structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 Termination date: 20180602 |
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| CF01 | Termination of patent right due to non-payment of annual fee |