CN208713970U - Wearable exoskeleton shoulder power assisting equipment - Google Patents
Wearable exoskeleton shoulder power assisting equipment Download PDFInfo
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- CN208713970U CN208713970U CN201821437901.7U CN201821437901U CN208713970U CN 208713970 U CN208713970 U CN 208713970U CN 201821437901 U CN201821437901 U CN 201821437901U CN 208713970 U CN208713970 U CN 208713970U
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims description 18
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 229920001296 polysiloxane Polymers 0.000 claims 6
- 230000003014 reinforcing effect Effects 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 13
- 229920002379 silicone rubber Polymers 0.000 description 12
- 206010016256 fatigue Diseases 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
穿戴式外骨骼肩部助力设备，包括穿戴部分、安装基座、支撑框架、手臂机构；手臂机构包括框架，框架通过支撑轴转动连接卷簧壳体，支撑轴端头接棘轮棘爪机构，卷簧壳体内有卷簧，卷簧内端头接在支撑轴上，卷簧外端头接在卷簧壳体内壁上；框架的侧面通过连接臂转动连接摆动臂，手臂框架一端与摆动臂转动连接，手臂框架另一端接手臂支撑；卷簧壳体外侧固定有限位轴，限位轴一端有限位端头，限位端头与框架上边沿相匹配；钢索一端挂在限位轴另一端，钢索另一端挂在摆动臂端头上的钢索挂轴上；支撑轴、限位轴、摆动臂轴相互平行设置，销轴与摆动臂轴相互垂直设置。结构简单，重量轻，高自由度，灵活可靠，穿戴舒适。
A wearable exoskeleton shoulder assist device includes a wearing part, a mounting base, a support frame, and an arm mechanism; the arm mechanism includes a frame, and the frame is connected to a coil spring shell through a support shaft, and the end of the support shaft is connected to a ratchet and pawl mechanism, and the coil There is a coil spring in the spring shell, the inner end of the coil spring is connected to the support shaft, and the outer end of the coil spring is connected to the inner wall of the coil spring shell; the side of the frame is connected to the swing arm through the rotation of the connecting arm, and one end of the arm frame rotates with the swing arm Connection, the other end of the arm frame is connected to the arm support; the outer side of the coil spring shell is fixed with a limit shaft, one end of the limit shaft has a limit end, and the limit end matches the upper edge of the frame; one end of the wire rope is hung on the other end of the limit shaft The other end of the wire rope is hung on the wire rope hanging shaft on the end of the swing arm; the support shaft, the limit shaft and the swing arm shaft are arranged parallel to each other, and the pin shaft and the swing arm shaft are arranged perpendicular to each other. Simple structure, light weight, high degree of freedom, flexible and reliable, comfortable to wear.
Description
Technical field
The utility model relates to a kind of power assistive device, especially a kind of wearable ectoskeleton shoulder power assistive device.
Background technique
Human body shoulder is and its complicated motion structure.Freedom degree and weight are past in traditional shoulder assistance exoskeleton equipment
Past is opposition.The such weight of equipment for possessing labyrinth and high-freedom degree is big, causes wearing uncomfortable, such as EKSO bionics
Company's shoulder ectoskeleton.Often shoulder freedom degree is subject to certain restrictions the lower ectoskeleton equipment of weight, because of its machinery knot
Structure is relatively simple, and dexterity of action is poor.Superelevation freedom degree product is again slightly inferior in terms of its power output stability.It is wearable outer
The installation pedestal part of bone shoulder power assistive device is by all kinds of rigid connections that mechanical part is direct with wearing portion
Connection, makes its stress concentrate on junction, wearer has significant discomfort sense.
Summary of the invention
That the purpose of the utility model is to provide a kind of structures is simple, overall weight is light, has high-freedom degree, flexible movements can
Leaning on, generate the elastic force of the elastic component of power-assisted to facilitate, adjustment, wearing portion are comfortable securely, have flexible base, flexible branch can be achieved
Support, the wearable ectoskeleton shoulder power assistive device for mitigating user of service's sense tired out, overcome the deficiencies in the prior art.
The wearable ectoskeleton shoulder power assistive device of the utility model, including wearing portion, is connected on wearing portion
Installation pedestal, the arm mechanism of the braced frame being connected with installation pedestal and installation on the support frame；
The arm mechanism includes frame, and support shaft is equipped on frame, is rotatably connected to wind spring shell in support shaft,
Support shaft end head is fixed ratchet is housed, the pawl to match with ratchet is connected on frame by pawl shaft, is set in wind spring shell
There is wind spring, the inner termination of wind spring is connected in support shaft, and the external end head of wind spring is connected on the inner wall of wind spring shell；
It is fixed with linking arm in frame facet, one end of swing arm is rotatablely connected by swing arm shaft and linking arm, hand
One end of arm frame is rotatablely connected by the other end of pin shaft and swing arm, and the other end of arm frame is connected with arm support；
Limit shaft is fixed on the outside of wind spring shell, one end of limit shaft limits end and frame equipped with limit end
Upper edge matches；One end of cable wire is articulated in the other end of limit shaft, and the other end of cable wire is articulated on swing arm end
On cable wire hanging scroll；
The support shaft, limit shaft, swing arm shaft are arranged in parallel, and the pin shaft is mutually perpendicular to swing arm shaft
Setting.
The wearing portion includes waistband, and there are the elastic buckle of waistband, the lower end of back connecting band and waist in the front of waistband
The relatively fixed connection in position, back connecting band are buckled equipped with length adjustment among the back of band, and the upper end of back connecting band connects
It is connected to backboard, the top two sides of backboard connect with one end of shoulder belt, the back central region phase of the other end and waistband of shoulder belt
It connects, length adjustment is equipped on shoulder belt and is buckled；
It is located at front side between two shoulder belts and is connected with chest strap, chest strap is equipped with chest strap strainer；
Symmetrical bandage is fixed with behind the backboard；At back, the lower end outside of connecting band has fixed installation
The fixing belt of pedestal；It is connected separately with symmetrical connecting band in the two sides of waistband, connecting band is equipped with fastening buckle.
The installation pedestal includes limiting seat by the movement that fixing belt bundlees, and is fitted with silica gel in movement limitation seat
The both ends of elastic connection plate, the both ends autokinesis limitation seat of silicone elastomer connecting plate are stretched out, the both ends pair of silicone elastomer connecting plate
Title is connected to connection framework, and connecting plate is fixed in connection framework, the long hole for penetrating connecting band is offered on connecting plate, in connection framework
Jack equipped with the support rod in the fixed braced frame of inserting.
The both ends of the silicone elastomer connecting plate and the connection structure of connection framework are as follows: the two of silicone elastomer connecting plate
End is equipped with mounting hole, and the both ends of pressing plate are equipped with mounting hole corresponding with the mounting hole, has and institute in the end of connection framework
The corresponding mounting hole of the mounting hole stated, silicone elastomer connecting plate two ends are clamped between pressing plate and connection framework and pass through pressure
Plate bolt and each mounting hole tighten together pressing plate, silicone elastomer connecting plate, connection framework；The connection framework and connecting plate
It is fixedly connected by connecting plate screw.
The braced frame includes support rod, the jack in the fixed insertion in the lower end of the support rod connection framework
Interior, support rod top fold is simultaneously connected to the lacing wire of reinforcement in bending part, passes through linking arm axis connection in the upper end of support rod
There is connector, the frame connects with the end of connector.
The arm frame ends fixing sleeve is equipped with limit base, and the end of limit base covers on swing arm end, limit base
There is gap between swing arm.
The wearable ectoskeleton shoulder power assistive device of the utility model is a kind of without the purely mechanic wearable of energy input
Power assistive device.Its main function is the pressure and fatigue influence for mitigating labourer and generating in the carry arm course of work on shoulder.
Shoulder power-assisted is provided for wearer to complete the work posture for repeating carry arm for a long time.This, which is that one kind is wearable, has height certainly
By the ectoskeleton equipment spent, it is negative to mitigate shoulder can to provide servo-actuated support force for wearer's arm for the equipment during the work time
Load, servo-actuated support force refer to that wearer still can lift or put down the dynamic of arm while providing support force for wearer
Make.This equipment is not necessarily to the energy, and support force output is provided by wind spring in this equipment.By the design of mechanical mechanism and wind spring
It can make wearer while obtain freedom of motion and support force.Storing spring elastic potential energy during arm pushes, to
On lift arm during elastic potential energy start to discharge and be converted to the mechanical energy to arm support.Furthermore it presses under an arm
In the process due to the design of mechanical mechanism make its as long as normally by arm droop as long as be enough to store enough mechanical energy, arm is not necessarily to
The strength additionally pushed.The installation pedestal of shoulder shaft and flexible support makes the equipment have high-freedom degree to adapt to dress
The various movements of person.Connection with installation pedestal flexible and waistband is connected wearing portion and mechanical part by connecting band
It picks up and, not tight installation pedestal flexible has flexibility, and dresses mode itself also with flexibility, while by gravity after waist
It is distributed to waist two sides, makes entire waistband uniform force, being not in that local pressure is excessive causes to dress unstable situation.Have
Structure is simple, overall weight is light, the elastic force with high-freedom degree, reliable, generation power-assisted the elastic component of flexible movements facilitates adjustment,
Wearing portion is comfortable securely, has the advantages that flexible base, flexible support can be achieved, mitigate user of service's sense tired out.
Detailed description of the invention
Fig. 1 is the schematic perspective view of specific embodiment of the present invention.
Fig. 2 is the schematic front view of specific embodiment of the present invention.
Fig. 3 is schematic rear view shown in Fig. 2.
Fig. 4 is the schematic perspective view of arm mechanism in specific embodiment of the present invention.
Fig. 5 is the decomposition texture schematic diagram of installation pedestal in specific embodiment of the present invention.
Fig. 6 is the schematic perspective view of wearing portion in specific embodiment of the present invention.
Fig. 7 is the schematic front view of wearing portion in specific embodiment of the present invention.
Fig. 8 is schematic rear view shown in Fig. 7.
Specific embodiment
It is as shown in Figure 1, 2, 3: the wearable ectoskeleton shoulder power assistive device of the utility model, including wearing portion, connection
Installation pedestal on wearing portion, the arm machine of the braced frame being connected with installation pedestal and installation on the support frame
Structure.
As shown in Figure 4: arm mechanism includes the frame 51 of flute profile, support shaft 50 is equipped on frame 51, in support shaft 50
It is rotatably connected to wind spring shell 52, wind spring shell 52 is located in the slot of frame 51, and the side of wind spring shell 52 is fixed by screw
It is connected with wind spring cap 66.50 end of support shaft is fixed to be equipped with ratchet 63, and ratchet 63 is located at the outside of frame 51.With 63 phase of ratchet
The pawl 64 matched is connected on frame 51 by pawl shaft 65.Wind spring is equipped in wind spring shell 52, the inner termination of wind spring connects
In support shaft 50, i.e., in the elongated gap in end insertion support shaft 50.The external end head of wind spring is connected to wind spring shell 52
On inner wall, i.e., in the long table gap on insertion 52 inner wall of wind spring south body.
It is fixed with linking arm 55 in the side of frame 51, one end of swing arm 56 passes through swing arm shaft 70 and 55 turns of linking arm
Dynamic connection, swing arm 56 can be rotated relative to linking arm 55.One end of arm frame 58 is another by pin shaft 57 and swing arm 56
One end rotation connection, the other end of arm frame 58 are connected with arm support 59.
It is fixed with limit shaft 54 in the outside of wind spring shell 52, one end of limit shaft 54 is equipped with limit end 53, positive stop end
First 53 match with 51 upper edge 71 of frame, i.e., limit end 53 is just leaned on after wind spring shell 52 rotate in place under wind spring effect
On the upper edge of frame 51 71.One end of cable wire 62 is articulated in the other end of limit shaft 54, and the other end of cable wire 62 is articulated in
On cable wire hanging scroll 61 on 56 end of swing arm.
Support shaft 50, limit shaft 54, swing arm shaft 70 are arranged in parallel, and pin shaft 57 is mutually perpendicular to set with swing arm shaft 70
It sets.
As shown in Fig. 6,7,8: wearing portion includes waistband 1, and there is the waistband for fastening or unclamping waistband in the front of waistband 1
Elastic buckle 2.Position is relatively fixed among the lower end of back connecting band 8 and the back of waistband 1 connects, and sets in back connecting band 8
There is length adjustment to buckle 9.The upper end of back connecting band 8 is connected with backboard 6.The top two sides of backboard 6 with one end phase of shoulder belt 3
It connects, the other end of shoulder belt 3, i.e., shoulder belt end 12 connects with the back central region of waistband 1, and length adjustment is equipped on shoulder belt 3
Buckle forms two symmetrical left and right shoulder harness structures.
It is located at front side between two shoulder belts 3 and is connected with lateral chest strap 4, chest strap 4 is equipped with chest strap strainer 5.
Symmetrical bandage 7 is fixed with behind backboard 6.At back, the lower end outside of connecting band 8 has fixed installation base
The fixing belt 11 of seat.It is connected separately with symmetrical connecting band 10 in the two sides of waistband 1, connecting band 10 is equipped with fastening buckle.
Above-mentioned each buckle can be selected with all kinds of knapsacks with mutually isostructural buckle is buckled, as long as being adjustable the length or phase of band
It, can be in material and purposive change on structure and specification in order to increase intensity to clamping (playing connection function).
As shown in Figure 5: installation pedestal includes the movement limitation seat 30 bundled by fixing belt 11, in movement limitation seat 30
It is fitted with silicone elastomer connecting plate 31, the both ends of the both ends autokinesis limitation seat 30 of silicone elastomer connecting plate 31 are stretched out, silica gel bullet
The both ends of property connecting plate 31 are symmetrically connected to connection framework 34.It is respectively and fixedly provided with connecting plate 35 in each connection framework 34, is opened on connecting plate 35
Equipped with the long hole 36 for penetrating connecting band 10.The jack of the support rod 38 in inserting fixed support frame frame is equipped in connection framework 34
37。
The both ends of silicone elastomer connecting plate 31 and the connection structure of connection framework 34 are as follows: the two of silicone elastomer connecting plate 31
End is equipped with mounting hole, and the both ends of pressing plate 32 are equipped with mounting hole corresponding with aforementioned mounting hole, have in the end of connection framework 34
Mounting hole corresponding with aforementioned mounting hole, 31 two ends of silicone elastomer connecting plate are clamped between pressing plate 32 and connection framework 34
And pressing plate 32, silicone elastomer connecting plate 31, connection framework 34 are tightened together by bridge screw 33 and each mounting hole.Connection
Frame 34 is fixedly connected with connecting plate 35 by connecting plate screw 39.
As shown in Figure 3: braced frame includes support rod 38, inserting in the fixed insertion connection framework 34 in the lower end of support rod 38
In hole 37, and fixation is held out against by jackscrew.38 top fold of support rod is simultaneously connected to the lacing wire 69 of reinforcement in bending part.It is supporting
The upper end of bar 38 is connected with 67 frame 51 of connector by connection arm axle 68 and is fixedly connected with the end of connector 67.
As shown in Figure 4: 58 end fixing sleeve of arm frame is equipped with limit base 60, and the end of limit base 60 covers on swing arm 56
There is gap in end between limit base 60 and swing arm 56.When arm frame 58 along pin shaft 57 rotate when, can by limit base 60 into
The limit of row rotational angle.
As shown in Figure 1, 2, 3: wherein support rod 38 and arm mechanism are two groups, form bilateral symmetry.
The upper body of operator is worn on when use by wearing portion, with 2 systems of the elastic buckle of the waistband of waistband 1 and front side
Tightly, the length adjustment of shoulder belt 3 is moderate, and chest strap 4 is moderate using elastic 5 adjusting of buckle of chest strap, can be good by this equipment fixing wearing.
The wearable ectoskeleton shoulder power assistive device of the utility model, wherein the elastic force of arm mechanism is by being placed in wind spring
Wind spring in shell 52 and wind spring cap 66 provides.62 both ends of cable wire are connected to the limit shaft 54 in 52 outside of wind spring shell
On cable wire hanging scroll 61, arm support 59 holds up arm after wearing, and the elastic force that wind spring is formed keeps wind spring shell inverse along support shaft 50
Clockwise rotate (such as Fig. 4), in no arm resistance, limit end 53 can lean against on the upper edge 71 of frame 51, i.e., on
Play position-limiting action in edge 71.Arm frame 58 and swing arm 56 turn clockwise along swing arm shaft 70 when having arm pushing
It is dynamic, while cable wire 62 pulls wind spring shell 52 rotationally clockwise, overcomes the elastic force of wind spring at this time, has laid in mechanical energy, together
When cable wire 62 can Da on the end of swing arm shaft 70 and form bending state.When arm lifts work, under the effect of elasticity
An active force being lifted up can be formed to arm, achieve the purpose that ectoskeleton shoulder power-assisted.Wherein ratchet 63 and pawl
The pretightning force of 64 adjustable wind springs, can overcome the elastic force of wind spring when arm normally pushes, without firmly pushing.Arm mechanism is logical
It crosses connection arm axle 68 to rotate and connect with the support rod 38 in braced frame, the swing arm 56 cooperated in use process is relative to pendulum
The movement of high-freedom degree can be achieved relative to the rotation of pin shaft 57 for the swing of swing arm axis 70 and arm frame 58, have flexibility in addition
Installation pedestal, this equipment is simple with structure, overall weight is light, with high-freedom degree, flexible movements are reliable, generate power-assisted
The elastic force of elastic component facilitates that adjustment, wearing portion are comfortable securely, have flexible base, flexible support can be achieved, mitigate user
The advantages of member's sense tired out.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821437901.7U CN208713970U (en) | 2018-09-04 | 2018-09-04 | Wearable exoskeleton shoulder power assisting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821437901.7U CN208713970U (en) | 2018-09-04 | 2018-09-04 | Wearable exoskeleton shoulder power assisting equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208713970U true CN208713970U (en) | 2019-04-09 |
Family
ID=65980862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821437901.7U Withdrawn - After Issue CN208713970U (en) | 2018-09-04 | 2018-09-04 | Wearable exoskeleton shoulder power assisting equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208713970U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839002A (en) * | 2018-09-04 | 2018-11-20 | 赤源动力（大连）科技有限责任公司 | Wearable exoskeleton shoulder assist device |
| CN118975910A (en) * | 2024-07-29 | 2024-11-19 | 豪博特医疗科技(苏州)有限公司 | A shoulder rehabilitation auxiliary exoskeleton device |
-
2018
- 2018-09-04 CN CN201821437901.7U patent/CN208713970U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839002A (en) * | 2018-09-04 | 2018-11-20 | 赤源动力（大连）科技有限责任公司 | Wearable exoskeleton shoulder assist device |
| CN108839002B (en) * | 2018-09-04 | 2024-02-02 | 赤源动力（大连）科技有限责任公司 | Wearable exoskeleton shoulder assistance device |
| CN118975910A (en) * | 2024-07-29 | 2024-11-19 | 豪博特医疗科技(苏州)有限公司 | A shoulder rehabilitation auxiliary exoskeleton device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190409 Effective date of abandoning: 20240202 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190409 Effective date of abandoning: 20240202 |