CN207104962U - Shoulder joint and upper limb assistance device - Google Patents
Shoulder joint and upper limb assistance device Download PDFInfo
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- CN207104962U CN207104962U CN201721139741.3U CN201721139741U CN207104962U CN 207104962 U CN207104962 U CN 207104962U CN 201721139741 U CN201721139741 U CN 201721139741U CN 207104962 U CN207104962 U CN 207104962U
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- positive stop
- rotating shaft
- shoulder joint
- ectoskeleton
- shoulder
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Abstract
The utility model provides a kind of shoulder joint and upper limb assistance device, is related to power assisting device technical field.The shoulder joint is arranged on the junction of upper limbs ectoskeleton and shoulder ectoskeleton, including：Turn to body, bearing, rotating shaft and limit assembly；The limit assembly includes fixed positive stop and movable positive stop；The rotating shaft, which is inserted, stretches into the internal portion of steering, the bearing inner ring is set in the rotating shaft excircle, the outer race is set in the internal circumference of steering, end cap is installed on the steering body, fixed positive stop is connected with the top of the rotating shaft, movable positive stop is internally connected with the end cap；When the steering body rotates, drive activity positive stop rotates, and when the movable positive stop turns to fixed positive stop, the steering body stops operating.The utility model self friction is minimum, and has fabulous mechanical strength.
Description
Technical field
It the utility model is related to power assisting device technical field, more particularly to a kind of shoulder joint and upper limb assistance device.
Background technology
Among the application of upper limbs power-assisted, mainly pass through upper limbs ectoskeleton " lifting " or " putting down " weight.Weight is in level side
Joint-friction power is mainly shown as to caused power.
Upper limbs ectoskeleton shoulder joint is used to perform shoulder horizontal direction rotary motion, i.e. rotary joint, and commonly rotates pass
The frictional force of section is larger, even and if can not stop when rotating, causing to rotate the problems such as excessive occurs.
Based on problem above, propose that one kind can reduce friction and the rational upper limbs ectoskeleton shoulder joint of slewing area seems
It is particularly important.
The information for being disclosed in the background section is merely intended to deepen the reason to general background technology of the present utility model
Solution, and be not construed as recognizing or imply known to those skilled in the art existing of the information structure in any form
Technology.
Utility model content
The purpose of this utility model is to provide a kind of shoulder joint, largely alleviates Bones and joints of the prior art
The technical problems such as frictional force is excessive when the anglec of rotation is excessive and Bones and joints rotate.
A kind of shoulder joint provided by the utility model, installed in the junction of upper limbs ectoskeleton and shoulder ectoskeleton, including：
Turn to body, bearing, rotating shaft and limit assembly；
The limit assembly includes fixed positive stop and movable positive stop；
The rotating shaft, which is inserted, stretches into the internal portion of steering, and the bearing inner ring is set in the rotating shaft excircle, the axle
Hold outer shroud and be set in the internal circumference of steering, end cap is installed on the steering body, fixed limit is connected with the top of the rotating shaft
Position block, is internally connected with movable positive stop on the end cap；
When the steering body rotates, drive activity positive stop rotates, and it is spacing that the movable positive stop turns to fixation
During block, the steering body stops operating.
As further technical scheme, the steering body is fixedly connected by more bolts with the end cap.
As further technical scheme, the fixed positive stop includes fixed part and is connected on the fixed part
Limiting section；
The limiting section uses arcuate structure, and the fixed part for fitting column is set.
As further technical scheme, the fixed part is by multiple bolts with being fixedly connected at the top of the rotating shaft.
As further technical scheme, the bolt is four.
As further technical scheme, the movable positive stop is using arcuate structure and can be bonded the column
The fixed part rotates.
As further technical scheme, the movable positive stop is fixed by multiple bolts and the cover internal to be connected
Connect.
As further technical scheme, the bolt is two.
The beneficial effects of the utility model are：
A kind of shoulder joint provided by the utility model, installed in the junction of upper limbs ectoskeleton and shoulder ectoskeleton, including：
Turn to body, bearing, rotating shaft and limit assembly；The limit assembly includes fixed positive stop and movable positive stop；It is described
Rotating shaft, which is inserted, stretches into the internal portion of steering, and the bearing inner race is set in the rotating shaft excircle, and the bearing outer ring is set in
It is described to turn to internal circumference, end cap is installed on the steering body, fixed positive stop, the end are connected with the top of the rotating shaft
Cover and be internally connected with movable positive stop；When the steering body rotates, drive activity positive stop rotates, and the activity is spacing
When block turns to fixed positive stop, the steering body stops operating；
Wherein need to stress, among the application of upper limbs power-assisted, mainly lift or put down by upper limbs ectoskeleton
Weight, caused power is mainly shown as joint-friction power to weight in the horizontal direction, and the utility model is as a result of bearing, bearing
Abrasion resistance is strong between steering body and rotating shaft, caused frictional force when rotating is reduced, further, since employing movable limit
Position block and fixed positive stop, limit the slewing area for turning to body, avoid it from the problem of inordinate rotation occur.
Second purpose of the present utility model is to provide upper limb assistance device, largely alleviated of the prior art
The technical problem of the excessive grade of frictional force when the Bones and joints anglec of rotation is excessive and Bones and joints rotate.
The utility model provides a kind of upper limb assistance device, including upper limbs ectoskeleton, shoulder ectoskeleton and described shoulder joint
Section；
The end cap is connected with the upper limbs ectoskeleton；
The rotating shaft is connected with the shoulder ectoskeleton.
As further technical scheme, the end cap is connected by more bolts with the upper limbs ectoskeleton；
The rotating shaft is connected by more bolts with the shoulder ectoskeleton.
The beneficial effects of the utility model are：
A kind of upper limb assistance device provided by the utility model, including upper limbs ectoskeleton, shoulder ectoskeleton and described shoulder
Joint；The end cap is connected with the upper limbs ectoskeleton；The rotating shaft is connected with the shoulder ectoskeleton；
Upper limb assistance device provided by the utility model, including described shoulder joint, therefore it has all of shoulder joint
Advantage, it will not be repeated here.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the overall structural representation for the upper limb assistance device that the utility model embodiment provides；
Fig. 2 is the decomposition texture schematic diagram for the upper limb assistance device that the utility model embodiment based on Fig. 1 provides；
Fig. 3 is the top view for the fixation positive stop that the utility model embodiment based on Fig. 1-2 provides；
Fig. 4 is the structural representation for the steering body that the utility model embodiment based on Fig. 1-3 provides.
Icon：100- turns to body；200- bearings；300- rotating shafts；400- limit assemblies；410- fixes positive stop；411-
Fixed part；412- limiting sections；420- activity positive stops；500- end caps；600- upper limbs ectoskeletons；700- shoulder ectoskeletons；
800- bolts.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation, the orientation or position relationship of the instruction such as term " interior ", " outer " in description of the present utility model
Based on orientation shown in the drawings or position relationship, to be for only for ease of description the utility model and simplifying description, without referring to
Show or imply that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore can not manage
Solve as to limitation of the present utility model.In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction
Or imply relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Concrete structure reference picture 1- Fig. 4：
Fig. 1 is the overall structural representation for the upper limb assistance device that the utility model embodiment provides；
Fig. 2 is the decomposition texture schematic diagram for the upper limb assistance device that the utility model embodiment based on Fig. 1 provides；
Fig. 3 is the top view for the fixation positive stop that the utility model embodiment based on Fig. 1-2 provides；
Fig. 4 is the structural representation for the steering body that the utility model embodiment based on Fig. 1-3 provides.
Embodiment one
As Figure 1-Figure 4, a kind of shoulder joint that the present embodiment provides, installed in upper limbs ectoskeleton 600 and shoulder dermoskeleton
The junction of bone 700, including：Turn to body 100, bearing 200, rotating shaft 300 and limit assembly 400；The limit assembly 400 wraps
Include fixed positive stop 410 and movable positive stop 420；The rotating shaft 300, which is inserted, to be stretched into inside the steering body 100, the axle
Hold 200 inner ring and be set in the excircle of rotating shaft 300, the outer shroud of bearing 200 is set in the steering inner periphery of body 100, institute
State to turn to and end cap 500 be installed on body 100, the top of rotating shaft 300 is connected with fixed positive stop, on the end cap 500 in
Portion is connected with movable positive stop 420；When the steering body 100 rotates, drive activity positive stop 420 rotates, the activity
When positive stop 420 turns to fixed positive stop 410, the steering body 100 stops operating；
Wherein need to stress, among the application of upper limbs power-assisted, mainly lift or put by upper limbs ectoskeleton 600
Lower weight, caused power is mainly shown as joint-friction power to weight in the horizontal direction, and the utility model is as a result of bearing
200, abrasion resistance is strong between bearing 200 and steering body 100 and rotating shaft 300, reduces caused frictional force when rotating, this
Outside, as a result of movable positive stop 420 and fixed positive stop 410, the slewing area for turning to body 100 is limited, is avoided
There is the problem of inordinate rotation in it.
Specifically, elaborated below for the other structures of the shoulder joint in the present embodiment：
In the alternative of the present embodiment, bearing 200 uses ball bearing, and ball bearing mainly includes four members substantially
Part：Ball, inner ring, outer shroud and retainer.The ball bearing of general industry meets AISI 52100 standard, and ball leads to ring
It is made of often that Rockwell hardness is about between 61-65 with high chrome.And the hardness of retainer is low with ring compared to ball, its material
There is metal (such as：Medium carbon steel, aluminium alloy) or it is nonmetallic (such as：Iron not dragon, PTEF, high polymer material).Rolling bearing compares journal shaft
The pivoting friction resistance held is small, therefore under identical rotating speed, because temperature caused by friction can be than relatively low.
In the alternative of the present embodiment, the steering body 100 is fixed by more bolts 800 and the end cap 500 to be connected
Connect.
Specifically, turn to body 100 and use hollow circular rotary body, turn to the inner containment of body 100 and fix positive stop
410th, movable positive stop 420 and bearing 200.
It is pointed out that the annexation for turning to body 100 and end cap 500 is not limited only to above-mentioned one kind, can also take
Other connected modes, will not be repeated here.
In the alternative of the present embodiment, the fixed positive stop 410 includes fixed part 411 and is connected to the fixation
Limiting section 412 in portion 411；The limiting section 412 uses arcuate structure, and the fixed part 411 for fitting column is set.
Wherein, the top of rotating shaft 300 is arranged with fixed part 411, and limiting section 412, limiting section 412 are connected with fixed part 411
It is stuck in and turns to inside body 100, fixed positive stop 410 can be fixed on and turned to inside body 100, prevent rotating shaft 300 from coming off.
Specifically, the fixed part 411 is fixedly connected by multiple bolts 800 with the top of rotating shaft 300.
It is pointed out that fixed part 411 and the annexation of rotating shaft 300 are not limited only to above-mentioned one kind, can also take
Other connected modes, will not be repeated here.
More specifically, the bolt 800 is four.
It is pointed out that the quantity of bolt 800 is not limited only to four, it can also be five or six, not exist herein
Repeat.
In the alternative of the present embodiment, the movable positive stop 420 is using arcuate structure and can be bonded the post
The fixed part 411 of shape rotates.
In the alternative of the present embodiment, the movable positive stop 420 passes through multiple bolts 800 and the end cap 500
Inside is fixedly connected.
It is pointed out that the annexation of movable positive stop 420 and end cap 500 is not limited only to above-mentioned one kind, may be used also
To take other connected modes, will not be repeated here.
Specifically, the bolt 800 is two.
It is pointed out that the quantity of bolt 800 is not limited only to two, can also be three or four, herein no longer
Repeat.
Specifically, bolt 800 is by head and screw rod (carrying externally threaded cylinder) a kind of fastener dimerous,
It need to coordinate with nut, for being fastenedly connected two parts for carrying through hole.This type of attachment claims bolt 800 to connect.As spiral shell
Mother screws off from bolt 800, can separate the two parts again.Wherein turret head is the most frequently used that general countersunk head is used in will
Ask the place of connection.By the force way point of connection：It is point common and have articulation hole.By head shape point：There is turret head
, round end, square spigot, countersunk head etc..Wherein turret head is the most frequently used.General countersunk head is used in the ground for requiring connection
Side.Bolt 800 has many calls, and everyone call may be different, and someone is into screw, and someone is into bolt nail, someone
Standard component is into, someone is into fastener.Although there are so more calls.Bolt 800 is the general saying of fastener.Bolt 800
Principle be using object inclined-plane circular rotating and frictional force physics and mathematical principle, by easy stages fasten implements machine
The instrument of part.Bolt 800 in and among industrial production manufacture, be can't do without in daily life, and bolt 800 is also referred to as work
The rice of industry.It can be seen that the utilization of bolt 800 is extensive.The operation strategies of bolt 800 have：Electronic product, engineering goods, number production
Product, power equipment, electromechanical engineering goods.Ship, vehicle, bolt 800 is also used in hydraulic engineering, or even chemical experiment.
Embodiment two
Fig. 1-4 are continued referring to, on the basis of embodiment one, a kind of upper limb assistance device provided by the utility model,
Including upper limbs ectoskeleton 600, shoulder ectoskeleton 700 and described shoulder joint；The end cap 500 and the upper limbs ectoskeleton 600
Connection；The rotating shaft 300 is connected with the shoulder ectoskeleton 700；
Upper limb assistance device provided by the utility model, including described shoulder joint, therefore it has all of shoulder joint
Advantage, it will not be repeated here.
Specifically, elaborated below for the other structures of upper limb assistance device in the present embodiment：
In the alternative of the present embodiment, the end cap 500 is connected by more bolts 800 and the upper limbs ectoskeleton 600
Connect；The rotating shaft 300 is connected by more bolts 800 with the shoulder ectoskeleton 700.
It is pointed out that the end cap 500 is connected by more bolts 800 with the upper limbs ectoskeleton 600；Described turn
Axle 300 is connected by more bolts 800 with the shoulder ectoskeleton 700, only as one kind for example, the He of end cap 500
The rotating shaft 300 can also take other modes to be arranged on upper limbs ectoskeleton 600 and shoulder ectoskeleton 700, no longer superfluous herein
State.
In the alternative of the present embodiment, bolt 800 uses mirror to hexagon socket head cap screw, the screw terminal outside of hexagon socket head cap screw
It is round, centre is the hexagon fallen in, and more conventional in industrial processes usually, cost is relatively low.
The upper limb assistance device of the present embodiment also includes other structures, but is disclosed as prior art, herein
Repeat no more.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. shoulder joint, installed in the junction of upper limbs ectoskeleton and shoulder ectoskeleton, it is characterised in that including：Steering body, Bearing, rotating shaft and limit assembly；The limit assembly includes fixed positive stop and movable positive stop；The rotating shaft insert stretch into it is described turn to internal portion, the bearing inner ring is set in the rotating shaft excircle, outside the bearing Ring set is located at the internal circumference of steering, is provided with end cap on the steering body, fixed limiting block is connected with the top of the rotating shaft Block, movable positive stop is internally connected with the end cap；When the steering body rotates, drive activity positive stop rotates, and the movable positive stop turns to fixed positive stop When, the steering body stops operating.
- 2. shoulder joint according to claim 1, it is characterised in that the steering body is consolidated by more bolts with the end cap Fixed connection.
- 3. shoulder joint according to claim 1, it is characterised in that the fixed positive stop includes fixed part and is connected to Limiting section on the fixed part；The limiting section uses arcuate structure, and the fixed part for fitting column is set.
- 4. shoulder joint according to claim 3, it is characterised in that the fixed part passes through multiple bolts and the rotating shaft top Portion is fixedly connected.
- 5. shoulder joint according to claim 4, it is characterised in that the bolt is four.
- 6. according to the shoulder joint described in claim any one of 3-5, it is characterised in that the movable positive stop uses arc knot Structure and the fixed part rotation that the column can be bonded.
- 7. shoulder joint according to claim 6, it is characterised in that the movable positive stop by multiple bolts with it is described Cover internal is fixedly connected.
- 8. shoulder joint according to claim 7, it is characterised in that the bolt is two.
- 9. a kind of upper limb assistance device, it is characterised in that any including upper limbs ectoskeleton, shoulder ectoskeleton and claim 1-8 Shoulder joint described in；The end cap is connected with the upper limbs ectoskeleton；The rotating shaft is connected with the shoulder ectoskeleton.
- 10. upper limb assistance device according to claim 9, it is characterised in that the end cap by more bolts with it is described Upper limbs ectoskeleton connects；The rotating shaft is connected by more bolts with the shoulder ectoskeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721139741.3U CN207104962U (en) | 2017-09-06 | 2017-09-06 | Shoulder joint and upper limb assistance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721139741.3U CN207104962U (en) | 2017-09-06 | 2017-09-06 | Shoulder joint and upper limb assistance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207104962U true CN207104962U (en) | 2018-03-16 |
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ID=61586096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721139741.3U Active CN207104962U (en) | 2017-09-06 | 2017-09-06 | Shoulder joint and upper limb assistance device |
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| Country | Link |
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| CN (1) | CN207104962U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015605A (en) * | 2018-10-19 | 2018-12-18 | 哈尔滨工业大学 | The outer limbs robot of wearable allosteric type |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN110251107A (en) * | 2019-06-25 | 2019-09-20 | 浙江大学 | A kind of device that wrist blood pressure state continuously changes and its detection method |
-
2017
- 2017-09-06 CN CN201721139741.3U patent/CN207104962U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015605A (en) * | 2018-10-19 | 2018-12-18 | 哈尔滨工业大学 | The outer limbs robot of wearable allosteric type |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN110251107A (en) * | 2019-06-25 | 2019-09-20 | 浙江大学 | A kind of device that wrist blood pressure state continuously changes and its detection method |
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