CN208744819U - A kind of portable passive exoskeleton robot of upper limb power-assisted - Google Patents
A kind of portable passive exoskeleton robot of upper limb power-assisted Download PDFInfo
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- CN208744819U CN208744819U CN201821348176.6U CN201821348176U CN208744819U CN 208744819 U CN208744819 U CN 208744819U CN 201821348176 U CN201821348176 U CN 201821348176U CN 208744819 U CN208744819 U CN 208744819U
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- support
- support unit
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- upper limb
- arm
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Abstract
The utility model discloses a kind of portable passive exoskeleton robots of upper limb power-assisted, including the first support unit and the second support unit, the first end of first support unit is fixed on trunk, the first end of hinged second support unit of second end, the second end of second support unit is provided with arm support, relatively described second support unit of first support unit forms acute angle to constitute power-assisted station, and relatively described second support unit of first support unit forms obtuse angle to constitute non-power-assisted station.The utility model at least has the following advantages: human body large arm strength can be effectively reduced, when reducing off working state, influence that arm powered ectoskeleton interferes human motion.
Description
Technical field
The utility model relates to power-assisting robot technical field more particularly to a kind of portable passive ectoskeletons of upper limb power-assisted
Robot.
Background technique
In ectoskeleton field, have the passive support equipment case that offer arm support torque on trunk is provided,
But above-mentioned case still has biggish limitation.Passive support equipment as escribed above intends the upper of oneself of resting in wearer
When arm, support torque cannot be cut down or substantially reduced automatically, and the support function that torque reduces automatically can not be provided.The above problem
It then will lead to when wearer does not need to support or when inoperative posture, passive support equipment can inhibit wearer motion and to wear
Wearer generates uncomfortable.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of portable passive exoskeleton robot of upper limb power-assisted,
It can effectively reduce human body large arm strength, when reducing off working state, influence that arm powered ectoskeleton interferes human motion.
In order to solve the above-mentioned technical problem, the utility model provides a kind of passive ectoskeleton machine of portable upper limb power-assisted
People, including the first support unit and the second support unit, the first end of first support unit is fixed on trunk,
The first end of hinged second support unit in two ends, the second end of second support unit are provided with arm support, and described the
Relatively described second support unit of one support unit forms acute angle to constitute power-assisted station, and first support unit is relatively described
Second support unit forms obtuse angle to constitute non-power-assisted station.
Further, first support unit include the first support arm, be arranged on first support arm and with institute
The offset adjuster that trunk is fixedly connected is stated, adjustment pin is provided on the offset adjuster, the adjustment pin is for adjusting
Save the gradient of the relatively described offset adjuster of first support arm.
Further, the offset adjuster is horizontally disposed.
Further, second support unit include the second support arm, the energy storage that is arranged in second support arm
Device and connecting rope, the connecting rope first end is arranged on the accumulator, second end is arranged on first support unit,
The accumulator drives the connecting rope to move along the second support arm extending direction.
Further, the second end of second support arm is provided with idler wheel, and the connecting rope is separate by the accumulator
First support unit one end is drawn and is attached on the idler wheel with wrapping up in, and turns back to first support unit.
Further, the end-rack adjustment axis for adjusting the connecting rope position is provided on first support unit,
The connecting rope is fixed in the end-rack adjustment axis.
Further, the accommodation groove for accommodating the accumulator, the accommodation groove are provided on second support arm
Side wall on be provided with accumulator adjustment axis for adjusting accumulator position.
Further, the junction of first support unit and the second support unit is provided with connection pin shaft.
Further, the cam for abutting or separating the connecting rope is provided on the connection pin shaft.
By above-mentioned technical proposal, the utility model at least has the following advantages: by be provided with the first support unit and
Second support unit, when in running order, first support unit and second support unit form acute angle with structure
At power-assisted station, upper arm can be provided to wearer and support torque, torque needed for reducing wearer's shoulder；When in inoperative shape
When state, first support unit and second support unit form obtuse angle to constitute non-power-assisted station, can preferably drop
Low support torque does not hinder the upper arm of wearer to rest；Above two state switching is freely, adaptable.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the power-assisted station angle schematic diagram of the utility model；
Fig. 3 is the power-assisted station structure schematic diagram of the utility model；
Fig. 4 is the power-assisted station stress sketch of the utility model；
Fig. 5 is the non-power-assisted station angle schematic diagram of the utility model；
Fig. 6 is the non-power-assisted station structure schematic diagram of the utility model；
Fig. 7 is the non-power-assisted station stress sketch of the utility model.
In the figures above: 1, arm supports；2, the first support arm；3, offset adjuster；4, adjustment pin；5, the second support arm；6,
Accumulator；7, connecting rope；8, idler wheel；9, end-rack adjustment axis；10, accommodation groove；11, accumulator adjustment axis；12, pin shaft is connected；13,
Cam；14, acute angle；15, obtuse angle.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
As shown in connection with fig. 1, the utility model discloses a kind of portable passive exoskeleton robots of upper limb power-assisted, including
One support unit and the second support unit, the first end of first support unit is fixed on trunk, second end is hinged
The first end of second support unit, the second end of second support unit are provided with arm support 1.First support is single
Member includes the first support arm 2, the offset adjuster being fixedly connected on first support arm 2 and with the trunk is arranged in
3, be provided with adjustment pin 4 on the offset adjuster 3, the adjustment pin 4 for adjust first support arm 2 relatively it is described partially
Move the gradient of adjuster 3.The storage that second support unit includes the second support arm 5, is arranged in second support arm 5
Energy device 6 and connecting rope 7,7 first end of connecting rope is arranged on the accumulator 6, second end setting is in first support
On unit, the accumulator 6 drives the connecting rope 7 to move along 5 extending direction of the second support arm.By being provided with first
Support unit and the second support unit, when in running order, first support unit and the second support unit shape
At an acute angle 14 to constitute power-assisted station, can provide upper arm to wearer and support torque, torque needed for reducing wearer's shoulder；When
When in off working state, first support unit and second support unit form obtuse angle 15 to constitute non-power-assisted work
Position, can preferably reduce support torque, the upper arm of wearer not hindered to rest；Above two state switching is free, adaptability
By force.
In the utility model, the end-rack tune for adjusting 7 position of connecting rope is provided on first support unit
Nodal axisn 9, the connecting rope 7 are fixed in the end-rack adjustment axis 9.In the utility model, the preferably described offset adjusted
Device 3 is horizontally disposed.The second end of second support arm 5 is provided with idler wheel 8, and the connecting rope 7 is by the accumulator 6 far from institute
It states the extraction of first support unit one end to be attached on the idler wheel 8 to wrap up in, and turns back to first support unit.
In the utility model, the accommodation groove 10 for accommodating the accumulator 6, institute are provided on second support arm 5
State the accumulator adjustment axis 11 being provided on the side wall of accommodation groove 10 for adjusting 6 position of accumulator.First support unit
The junction of second support unit is provided with connection pin shaft 12, the connecting pin is provided with for abutting or separating institute on 12
State the cam 13 of connecting rope.
In conjunction with shown in Fig. 2 to Fig. 4, relatively described second support unit of first support unit forms acute angle 14 to constitute
Power-assisted station can provide upper arm to wearer and support torque, torque needed for reducing wearer's shoulder.If specifically dressing at this time
Person's large arm stress, the first support arm 2 and trunk junction F1 subject to downward force, to connect pin shaft 12 as rotation point
Torque is analysed, the accumulator 6 conducts power F2 to connecting rope 7, and the power F2 acted at this time by accumulator 6 can be formed multiplied by torque
One booster torquemoment M2, for offsetting the weighing torque M1 of part F1 formation.In conjunction with shown in Fig. 5 to Fig. 7, first support is single
Relatively described second support unit of member forms obtuse angle 15 to constitute non-power-assisted station, can preferably reduce support torque, not hinder
The upper arm of wearer is hindered to be rested.Specifically power F2 is constant at this time, and L2 becomes the radius of cam 13, is formed by torque M2 and is essentially
Zero, and then enable to wearer that can be rested.
Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model
Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model
It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.
Claims (9)
1. a kind of portable passive exoskeleton robot of upper limb power-assisted, which is characterized in that including the first support unit and second
Unit is supportted, the first end of first support unit is fixed on trunk, second end hinged second support unit
First end, the second end of second support unit are provided with arm support, relatively described second support of first support unit
Unit forms acute angle to constitute power-assisted station, and relatively described second support unit of first support unit forms obtuse angle to constitute
Non- power-assisted station.
2. the portable passive exoskeleton robot of upper limb power-assisted as described in claim 1, which is characterized in that first support
Unit includes the first support arm, the offset adjusted being fixedly connected on first support arm and with the trunk is arranged in
Device is provided with adjustment pin on the offset adjuster, and the adjustment pin is for adjusting first support arm relative to the offset
The gradient of adjuster.
3. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 2, which is characterized in that the offset adjusted
Device is horizontally disposed.
4. the portable passive exoskeleton robot of upper limb power-assisted as described in claim 1, which is characterized in that second support
Unit includes the second support arm, the accumulator being arranged in second support arm and connecting rope, and the connecting rope first end is set
Set on the accumulator, second end be arranged on first support unit, the accumulator prolongs along second support arm
Length direction drives the connecting rope movement.
5. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that second support
The second end of arm is provided with idler wheel, and the connecting rope is drawn by the accumulator far from first support unit one end attached to wrap up in
On the idler wheel, and turn back to first support unit.
6. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that first support
The end-rack adjustment axis for adjusting the connecting rope position is provided on unit, the connecting rope is fixed at the end-rack tune
On nodal axisn.
7. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that second support
It is provided with the accommodation groove for accommodating the accumulator on arm, is provided on the side wall of the accommodation groove for adjusting accumulator position
The accumulator adjustment axis set.
8. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 4, which is characterized in that first support
The junction of unit and the second support unit is provided with connection pin shaft.
9. the portable passive exoskeleton robot of upper limb power-assisted as claimed in claim 8, which is characterized in that the connection pin shaft
On be provided with cam for abutting or separating the connecting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821348176.6U CN208744819U (en) | 2018-08-21 | 2018-08-21 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821348176.6U CN208744819U (en) | 2018-08-21 | 2018-08-21 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
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| Publication Number | Publication Date |
|---|---|
| CN208744819U true CN208744819U (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821348176.6U Active CN208744819U (en) | 2018-08-21 | 2018-08-21 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
Country Status (1)
| Country | Link |
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| CN (1) | CN208744819U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789382A (en) * | 2018-08-21 | 2018-11-13 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
-
2018
- 2018-08-21 CN CN201821348176.6U patent/CN208744819U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789382A (en) * | 2018-08-21 | 2018-11-13 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of portable passive exoskeleton robot of upper limb power-assisted |
| CN108789382B (en) * | 2018-08-21 | 2024-04-26 | 迈宝智能科技(苏州)有限公司 | Portable upper limb power-assisted passive exoskeleton robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee after: Jiangsu Ji Ju micro automation system and equipment Technology Research Institute Co., Ltd. Address before: 215100 F003 workstation, 3rd floor, 58 South Tiancheng Road, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee before: Jiangsu Ji Ju micro automation system and equipment Technology Research Institute Co., Ltd. |
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| CP02 | Change in the address of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210831 Address after: 215100 room d306, South third floor, huanxiuhu building (formerly Yicheng Horticulture), high speed railway new town, Xiangcheng District, Suzhou, Jiangsu Province Patentee after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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| TR01 | Transfer of patent right |