CN209520893U - A kind of wearable mechanical exoskeleton for upper half of human body protection - Google Patents

Abstract

The utility model provides a kind of wearable mechanical exoskeleton for upper half of human body protection, including thoracic dorsal armor, right arm armor and left arm armor；The thoracic dorsal armor is made of chest armor, shoulder protector sling, shoulder armor, omoplate support, clavicle armor and vertebra armor；Right arm or left arm armor are made of rerebrace, ancon armor, forearm armor, upper arm flank armor, rerebrace longitudinally guiding axis, elbow rest part, forearm flank armor, forearm armor longitudinally guiding axis and wrist armor；The attachment device and mechanical joint links together, it can be achieved that upper half of human body multiple degrees of freedom omnibearing movable, can support upper body weight and protect vertebra that each component is made up of hinged pair, cylindrical pair, prismatic pair and spherical hinge；This ectoskeleton can not only eliminate the kinetic energy of outer bound pair upper body impact, protect to human body, and can be compatible with Anti-falling gilet, bullet-proof vest, lower limb exoskeleton, and user can dress in coat, for security protection or the protection of disabled limbs.

Description

A kind of wearable mechanical exoskeleton for upper half of human body protection

Technical field

It is specific a kind of for the wearable mechanical outer of upper half of human body protection the present invention relates to mechanical exoskeleton field Bone.

Background technique

The development of mechanical exoskeleton is like a raging fire in recent years, but in ectoskeleton available on the market and academic report The ectoskeleton of research and development is nearly all to do the electromechanical integrated device for power-assisted or rehabilitation training.Wherein most dermoskeleton Bone device volume is huge and heavy, is unsuitable for human body wearing, it is necessary to carry out complicated man-machine binding.Some ectoskeleton manufacturers or Research and development institution has been made into ectoskeleton the motor drive machinery equipment of only connecting rod to mitigate weight.It can be seen that realizing outer The bone most basic function, the i.e. ectoskeleton as insect and Crustaceans in the Nature, for the ectoskeleton product of self-protection, It is of inadequate achievement.Simultaneously, for the protector of physical protection, the disease of either police, military or disabled person or limbs injury The limbs protector that people uses, all has that structure is stiff, dresses inconvenient problem.Police military protector, is vest mostly, does not have There are the protection of limbs, the more function without load-bearing protection vertebra；For the protector of disabled person or handicapped crowd, it is most of all It is the rigid structure of a monolith.Such as arm protector, typically a casting die structure body, arm are placed on wherein, protect it from Encountered by external, not any attachment device and mechanical joint, is generally bundled it with human body by rope.Not whether this device Conducive to the rehabilitation training of patient's middle and later periods, and wearing is uncomfortable, and the inconvenience of many lives is brought to patient.

Summary of the invention

The present invention is in view of the above-mentioned problems, devise a kind of wearable mechanical dermoskeleton for upper half of human body protection Bone, including thoracic dorsal armor, right arm armor and left arm armor；The thoracic dorsal armor is connected by attachment device with mechanical joint Right arm armor and left arm armor are connect, shoulder joint three orthogonal axis direction rotations can be realized, and can realize and shrug upwards, let droop Shoulder visits forward shoulder, expands shoulder backward, and because the shoulder in human body cross section side direction caused by the back of a bow or chest expanding displacement, That is it is translatable in three orthogonal axis directions, the movement of perfection simulation 6 freedom degrees of shoulders of human body does not constrain spatially；In this Simultaneously as prismatic pair link is linked with cylindrical pair pair and matched, the range for constraining shoulder to be translatable can be in hard hit or play Protection shoulder joint key is played when strong movement, is reduced the incidence of shoulder dislocation, is met the requirement of ergonomics；The right arm shield First connect each portion with mechanical joint by supporting member with left arm armor, and the range and benefit of protection are diffused by flank armor It is fixed in human body.A kind of wearable mechanical exoskeleton for upper half of human body protection, meets potential for weak person Mortal injury protection demand and it is disabled with limbs the wounded to the protection demand of limbs, by mechanical structure to using The two-arm and chest and back of person is protected；It can be not only used for the kinetic energy for eliminating outer bound pair upper body impact, protect to human body Shield, and it can be compatible with Anti-falling gilet, bullet-proof vest, lower limb exoskeleton, and user can dress in coat, for pacifying Full protection or deformity or the protection of injured limb.

Further, the thoracic dorsal armor is by chest armor, shoulder protector sling, omoplate support, clavicle armor and vertebra armor It constitutes；Chest armor is connected with clavicle armor, and there are three the freedom degrees in orthogonal rotation direction for this connection tool, so that chest Armor can be movable with chest muscle movement, stiff unlike the armor of rigidity, and so that constraining human body upper half significantly The movement of body；Clavicle armor is connected with shoulder armor, while shoulder armor is connected by spherical hinge with omoplate spar, this connection mentions Complete rotational freedom on three orthogonal directions is supplied, so as to combine the articulation realized on all directions；The omoplate wing The attachment device and shoulder protector sling that beam passes through pivot hinge pair and one group of cylindrical pair and pivot hinge secondary combination on three orthogonal directions Connection, the articulation on all directions can be realized in this mechanical joint, and may be implemented to prolong the movement on shoulder direction, it can Realize armor with the omnibearing movable of 6 freedom degrees of shoulders of human body；The vertebra armor can carry out more according to human vertebra length Piece combination connects, and is connected by vertebra spar supporting element with vertebra central sill supporting element between each vertebra armor, is formed by each vertebra Quadrangle defined by bone and vertebra supporting element；This quadrilateral structure can by cornerwise folding direction along the plane into Row rotation, while the amplitude of itself rotation can be constrained again, avoid movement from excessively fiercely leading to spinal cord injury；This connection has certain Flexibility, the physiological bending of analog human vertebra, while mechanism of its rigidity can support and weight and protect vertebra.

Further, the right arm armor and left arm armor respectively by its rerebrace, ancon armor, forearm armor, on Arm flank armor, rerebrace longitudinally guiding axis, ancon upper supporting piece, ancon lower support element, forearm flank armor, forearm armor Longitudinally guiding axis and Wrist support are constituted；Rerebrace is connected by ancon armor with forearm armor, and ancon armor is by with tough Property elastic material constitute, can be bent between ancon upper supporting piece and ancon lower support element, realize that the folding of mankind's ancon is dynamic Make.

Further, the rerebrace two sides are respectively furnished with upper arm flank armor；The upper arm flank armor has one A upper arm flank armor support shaft, and upper arm flank armor support shaft both ends are connected by spherical hinge with rerebrace, two sides Upper arm flank armor support shaft its on rerebrace central axes longitudinally guiding axis and spherical hinge formed one have axis The quadrilateral structure of constraint；This quadrilateral structure can be thus achieved rerebrace and axially turn with rerebrace longitudinally guiding axis It is dynamic, i.e., by cornerwise folding direction rotary motion along the plane, while the amplitude of its rotation can be constrained again, avoid moving Work excessively fiercely leads to injury.

Further, forearm armor two sides are furnished with forearm flank armor；The forearm flank armor has one Forearm flank armor support shaft, and forearm flank armor support shaft both ends are connected by spherical hinge with forearm armor, before two sides Arm flank armor support shaft its on forearm armor central axes longitudinally guiding axis and spherical hinge formed one with axis about The quadrilateral structure of beam；This quadrilateral structure can be thus achieved forearm arm armor and axially turn with forearm armor longitudinally guiding axis It is dynamic, i.e., by cornerwise folding direction rotary motion along the plane, while the amplitude of its rotation can be constrained again, avoid moving Work excessively fiercely leads to injury.

Further, the connection between the wrist armor and forearm armor is elastic material, while protecting wrist, Moveing freely for wrist is not hindered, its wearing for not interfering military or police gloves yet.

Further, a kind of wearable mechanical exoskeleton for upper half of human body protection, user can To be dressed in coat, protected for the body region that can suffer from mortal injury, for example, chest, back and on Limb；The design side that the invention uses rigid structure, elastic construction and multi freedom degree mechanical joint and attachment device blends Method allows ectoskeleton to imitate the athletic performance of user completely, meets protection demand with this；User can pass through simultaneously The active of limb action is protected, and is actively protected using rerebrace, forearm armor, using ectoskeleton tough parts dispersion by Shock, i.e. different factor combinations get up to thereby protect body by the ectoskeleton safety equipment that freely uses of user.

Further, a kind of wearable mechanical exoskeleton for upper half of human body protection, is one complete The mechanical protection equipment of full articulation, also may be defined as mechanical underwear, can replace traditional Anti-falling gilet；It can also be with simultaneously Anti-falling gilet, flak jackets are compatible, can both be through Anti-falling gilet, inside or outside flak jackets, and back armor can also have been dismantled, Right arm armor, left arm armor are fixedly connected by the mechanical component of armlet sling with Anti-falling gilet or flak jackets；Further Ground, a kind of described wearable mechanical exoskeleton for upper half of human body protection, mechanical part include convenient for its with The fixed slot of human body, bracket, hole；Ectoskeleton can be fixed to wearer's in fixed point by all suitable removable devices On body and/or wearer's limbs, they may include a variety of materials: woven belt, belt, suspender belt, binding, adhesive means, from Dynamic hook means or any other device appropriate.

Detailed description of the invention

Fig. 1 is that a kind of overall structure of wearable mechanical exoskeleton for upper half of human body protection of the invention is total View.

Fig. 2 is a kind of back structures view of wearable mechanical exoskeleton for upper half of human body protection of the invention Figure.

Fig. 3 is two kinds of solution schematic diagrames of vertebra armor connector.

Fig. 4 is each component of ectoskeleton shoulder structure and the structural schematic diagram that is connected directly to each other.

Fig. 5 is each component of ectoskeleton Arm structure and the structural schematic diagram that is connected directly to each other.

Fig. 6 is each component of rerebrace and the structural schematic diagram that is connected directly to each other.

Fig. 7 is each component of forearm armor and the structural schematic diagram that is connected directly to each other.

Wherein: 1- left arm armor；2- right arm armor；3- thoracic dorsal armor；The support of 4- omoplate；5- shoulder protector sling；6- vertebra shield First；7- vertebra armor connector；8- vertebra anchorage portion；9- vertebra spar supporting element；10- vertebra central sill supporting element；11- clavicle shield First；12- omoplate spar；13- chest armor；14- shoulder armor；15- rerebrace；16- ancon armor；17- forearm armor； 18- upper arm flank armor support shaft, 19- upper arm flank armor；20- rerebrace longitudinally guiding axis；It is supported on 21- ancon armor Part；22- ancon armor lower support element；23 forearm flank armor support shafts, 25- forearm flank armor；24- forearm armor is longitudinally led To axis；26- wrist armor；27,28,29,30,33,34, the 35, rotary shaft of the pivot hinge pair of 36- mechanical joint and attachment device Line direction；The cylindrical pair axis direction of 31 mechanical joints and attachment device；32, the 37, flexural pivot of 38- mechanical joint and attachment device Chain.

Specific embodiment

In order to which the purpose of the present invention, technical solution and advantage is more clearly understood, with reference to the accompanying drawing to the present invention Structure elaborate.The present embodiment is implemented under the premise of with technical solution of the present invention, gives detailed implementation Mode and specific operating process.It should be pointed out that it will be apparent to those skilled in the art that not departing from present inventive concept Under the premise of, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.

As shown in Figure 1, a kind of wearable mechanical exoskeleton for upper half of human body protection, including left arm Armor 1, right arm armor 2, thoracic dorsal armor 3；It is a completely hinged mechanical protection equipment, also may be defined as mechanical underwear； Its mechanical part includes convenient for its slot fixed with human body, bracket, hole；It can be existed by all suitable removable devices when use Ectoskeleton is fixed on the body and/or wearer's limbs of wearer by fixed point, they may include a variety of materials: canvas Band, belt, suspender belt, binding, adhesive means, automatic hitch means or any other device appropriate.

As shown in Fig. 2, the thoracic dorsal armor 3 supports 4 phases with the omoplate of two sides respectively by the shoulder protector sling 5 of two sides Even, the omoplate support 4 of two sides is connected with right arm armor 2, left arm armor 1 respectively；The vertebra armor 6 can be long according to human vertebra Degree carries out multi-disc combination connection, is connected between each vertebra armor 6 by vertebra armor connector 7.

As shown in figure 3, two kinds of solutions of the vertebra armor connector 7, the vertebra of upper and lower vertebra armor is anchored Portion 8 by vertebra spar supporting element 9 with (or) vertebra central sill supporting element 10 connect, formation is by upper and lower vertebra vertebra anchorage portion and vertebra Quadrangle defined by bone supporting element；This quadrilateral structure can be by being revolved along cornerwise folding direction of the plane Turn, while the amplitude of itself rotation can be constrained again, movement is avoided excessively fiercely to lead to spinal cord injury；This connection has certain soft Property, the physiological bending of analog human vertebra, while the mechanism of its rigidity can support weight and protect vertebra.

As shown in figure 4, chest armor 13 is connected with clavicle armor 11, and there are three orthogonal rotation directions for this connection tool 33, the freedom degree on 34,35 allows chest armor movable with chest muscle movement, stiff unlike the rigid armor Firmly, and so that constraining the movement of upper half of human body significantly；Clavicle armor 11 is connected with shoulder armor 14, while shoulder armor is logical Spherical hinge 32 to be crossed to be connected with omoplate spar 12, this connection provides complete rotational freedom on three orthogonal directions, so as to The articulation on all directions is realized in combination；Omoplate spar 12 passes through 27,28,29 and of pivot hinge pair on three orthogonal directions The secondary 30 combined attachment devices of one group of cylindrical pair 31- pivot hinge are connect with shoulder protector sling 12, this mechanical joint can be realized all Articulation on direction, and can realize and shrug upwards, the shoulder that lets droop, visit shoulder forward, expand shoulder, and because the back of a bow or expansion backward Moving on shoulder direction caused by chest is translatable in i.e. three orthogonal axis directions, the fortune of perfection simulation 6 freedom degrees of shoulders of human body It is dynamic, it does not constrain spatially；Simultaneously, it is matched since pivot hinge pair 30 is linked with cylindrical pair 31, constrains shoulder flat Dynamic range can play protection shoulder joint key in hard hit or strenuous exercise, reduce the incidence of shoulder dislocation, meet human body The requirement of engineering science.

As shown in figure 5, the left arm armor or right arm armor are by rerebrace 15, ancon armor 16, forearm armor 17 are constituted, and rerebrace is connected by ancon armor with forearm armor, and ancon armor is made of the elastic material with toughness, elbow It can be bent between portion's upper supporting piece and ancon lower support element, realize the jackknife action of mankind's ancon.

As shown in Figure 5,6, the rerebrace 15 is by upper arm flank armor 18, upper arm flank armor support shaft 19, upper arm Armor longitudinally guiding axis 20 is constituted, and is connected with ancon upper supporting piece；Rerebrace 15 and shoulder armor 14 pass through pivot hinge pair Connection, can rotate around Y direction, that is, realize that the movement of arm is put in lift；15 two sides of rerebrace are respectively furnished with upper arm flank armor 19, It is connected by the spherical hinge 37 at 18 both ends of upper arm flank armor support shaft with rerebrace 15, the upper arm flank armor support of two sides Longitudinally guiding axis 20 and six spherical hinges 37 on axis 18 and rerebrace central axes form four with axis constraint Side shape structure；This quadrilateral structure can be thus achieved rerebrace and axially rotate with rerebrace longitudinally guiding axis, i.e., logical Cornerwise folding direction rotary motion along the plane is crossed, while the amplitude of its rotation can be constrained again, avoids movement excessively Fiercely lead to injury.

As shown in Fig. 5,7, the forearm armor 17 is by forearm flank armor 25, upper arm flank armor support shaft 23, upper arm Armor longitudinally guiding axis 24 is constituted, and is connected with ancon lower support element 22；Respectively it is furnished with forearm flank armor in 17 two sides of forearm armor 25, it is connected by the spherical hinge 38 at 23 both ends of forearm flank armor support shaft with forearm armor 17, the forearm flank armor of two sides Longitudinally guiding axis 24 and six spherical hinges 38 in support shaft 23 and forearm armor central axes form one and constrain with axis Quadrilateral structure；This quadrilateral structure can be thus achieved forearm armor and axially rotate with forearm armor longitudinally guiding axis, I.e. by cornerwise folding direction rotary motion along the plane, while the amplitude of its rotation can be constrained again, avoid acting Excessively fiercely lead to injury.

Claims (10)

1. a kind of wearable mechanical exoskeleton for upper half of human body protection, which is characterized in that protected including thoracic dorsal armor, right arm First and left arm armor；It is connected between the thoracic dorsal armor, right arm armor and left arm armor by multiple hinged mode, forms one A complete mechanical protection equipment, body can imitate and follow the upper part of the body of wearer with the movement of upper limb.

2. a kind of wearable mechanical exoskeleton for upper half of human body protection as described in claim 1, which is characterized in that chest Back armor is made of chest armor, shoulder armor, shoulder protector sling, omoplate support, omoplate spar, clavicle armor and vertebra armor.

3. a kind of wearable mechanical exoskeleton for upper half of human body protection as claimed in claim 2, which is characterized in that chest Portion's armor is connected with clavicle armor, and there are three the freedom degrees in orthogonal rotation direction for this connection tool.

4. a kind of wearable mechanical exoskeleton for upper half of human body protection as claimed in claim 2, which is characterized in that shoulder Portion's armor is connected by spherical hinge with omoplate spar, and there are three complete rotational freedoms on orthogonal direction for tool；The omoplate wing The attachment device and shoulder protector sling that beam passes through pivot hinge pair and one group of cylindrical pair and pivot hinge secondary combination on three orthogonal directions Connection.

5. a kind of wearable mechanical exoskeleton for upper half of human body protection as claimed in claim 2, which is characterized in that vertebra It is connected by vertebra spar supporting element with vertebra central sill supporting element between bone armor, formation is limited by upper and lower vertebra and vertebra supporting element Fixed quadrangle；This quadrilateral structure can be rotated by cornerwise folding direction along plane where the quadrangle, The amplitude of itself rotation is constrained simultaneously.

6. a kind of wearable mechanical exoskeleton for upper half of human body protection as described in claim 1, which is characterized in that Right arm armor and left arm armor include rerebrace, ancon armor, forearm armor and Wrist support.

7. a kind of wearable mechanical exoskeleton for upper half of human body protection as claimed in claim 6, which is characterized in that on Arm armor is connected by ancon armor with forearm armor, and ancon armor is made of toughness elastic material, ancon upper supporting piece and elbow It can be bent between subordinate's supporting element, realize the jackknife action of ancon.

8. a kind of wearable mechanical exoskeleton for upper half of human body protection as claimed in claim 6, which is characterized in that on Arm armor includes upper arm flank armor, rerebrace longitudinally guiding axis and upper arm flank armor support shaft；The upper arm flank Armor support shaft both ends are connected by spherical hinge with rerebrace, the upper arm flank armor support shafts of two sides its in rerebrace Longitudinally guiding axis and spherical hinge on axis form the quadrilateral structure with axis constraint；This quadrilateral structure To realize that rerebrace is axially rotated with rerebrace longitudinally guiding axis, that is, pass through pair along plane where the quadrangle The folding direction rotary motion of linea angulata, while the amplitude of its rotation can be constrained again.

9. a kind of wearable mechanical exoskeleton for upper half of human body protection as described in claim 6, which is characterized in that Forearm armor includes forearm flank armor, forearm armor longitudinally guiding axis and forearm flank armor support shaft；The forearm side Shield with one's own body first support shaft both ends and be connected with forearm armor by spherical hinge, the forearm flank armor support shafts of two sides its with forearm armor Longitudinally guiding axis and spherical hinge on central axes form the quadrilateral structure with axis constraint；Forearm armor can lead to The axial direction rotation that this quadrilateral structure realizes it along forearm armor longitudinally guiding axis is crossed, i.e., along pair of plane where the quadrangle The folding direction rotary motion of linea angulata, while the amplitude of its rotation is constrained again.

10. a kind of wearable mechanical exoskeleton for upper half of human body protection, feature exist as described in claim 1 In, it can be compatible with Anti-falling gilet, flak jackets, Anti-falling gilet can be through, inside or outside flak jackets；Back armor is torn open After unloading, right arm armor, left arm armor are fixedly connected by the mechanical component of armlet sling with Anti-falling gilet or flak jackets.