CN210148084U

CN210148084U - Hand swing arm of human upper body exoskeleton and human upper body exoskeleton

Info

Publication number: CN210148084U
Application number: CN201920966510.2U
Authority: CN
Inventors: 胡陆平; 朱霞霞; 胡懿馨; 胡敖语
Original assignee: Zhiyin Taizhou Robot Technology Co ltd
Current assignee: Zhiyin Taizhou Robot Technology Co ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-03-17
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a hand swing arm of human upper body ectoskeleton and human upper body ectoskeleton. Including the casing, the arm axle, move the gear, the fixed gear, first support, second support and spring, first support mounting is on the casing, it sets up on the casing to move the gear rotation, the second support mounting is in the eccentric position department that moves the gear, the both ends of spring are fixed a position respectively on first support and second support, the arm axle is fixed with the fixed gear, move gear and fixed gear meshing, the casing is installed on the arm, the arm drives the casing and rotates around the arm axle, it is in order to drive spring deformation to move the gear rotation. The whole supporting force is realized by the spring without electric drive, so that almost no noise is generated, and the influence on the working environment is small.

Description

Hand swing arm of human upper body exoskeleton and human upper body exoskeleton

[ technical field ] A method for producing a semiconductor device

The utility model relates to a hand swing arm and human upper part of the body ectoskeleton of human upper part of the body ectoskeleton belongs to the ectoskeleton field.

[ background of the invention ]

The existing supporting force of a plurality of exoskeletons on arms is realized by a motor, so that potential safety hazards are caused, and meanwhile, the noise of the motor can influence the working environment. Furthermore, the steering of the motors is servo-controlled, and the exoskeleton is often unable to maintain a support force on the arm at all times in view of the input speed of the response and command control of the respective motors.

[ Utility model ] content

The utility model aims to solve the technical problem that overcome prior art not enough and provide a hand swing arm and the human upper part of the body ectoskeleton that can support the human upper part of the body ectoskeleton steadily.

Solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a hand swing arm of human first body ectoskeleton, which comprises a housin, the arm axle, the moving gear, the fixed gear, first support, second support and spring, first support mounting is on the casing, the moving gear rotates and sets up on the casing, the eccentric position department at the moving gear is installed to the second support, the both ends of spring are fixed a position respectively on first support and second support, the arm axle is fixed with the fixed gear, moving gear and fixed gear meshing, the casing is installed on the arm, the arm drives the casing and rotates around the arm axle, the moving gear rotates in order to drive spring deformation.

The utility model has the advantages that:

the fixed gear is fixed on the shoulder support along with the arm shaft, the arm provides the shell rotation power, the shell drives the moving gear and the first support to revolve around the arm shaft, and the moving gear can also rotate due to the meshing of the moving gear and the fixed gear. The distance between the second support and the first support, which are correspondingly positioned at the eccentric position of the moving gear, can be changed, so that the spring between the second support and the first support is deformed. The reaction force of spring deformation acts on the second support, makes the second support act on moving gear, provides a power that moves gear around arm axle reversal, and then transmits to the casing through moving gear's center pin, provides the holding power that the arm resets by the casing. Therefore, no matter the rotation direction of the arm, as long as the arm deviates from the original position, the spring can immediately make corresponding deformation, and the supporting force for rotating the arm towards the original position is generated, so that the corresponding speed is extremely high. Meanwhile, the whole supporting force is realized by the spring without electric drive, so that almost no noise is generated, and the influence on the working environment is small.

First support rotates and installs on the casing, and the second support rotates and installs on moving the gear.

The inner wall of casing is fixed with the draw-in groove support, runs through first locating lever in the draw-in groove of draw-in groove support, and the both ends of first locating lever all are fixed with the lateral wall of draw-in groove, and first support rotates and sets up on first locating lever, and first support rotates through first locating lever and installs on the casing.

The casing internal fixation has the second locating lever, and the equal chucking in both ends of second locating lever is on the lateral wall of casing, and the second locating lever is on a parallel with the arm axle, and moving gear rotates and installs on the second locating lever.

The quantity of spring is many.

The spring is total two, and two springs set up side by side, and first support and second support are the A-frame, and the both ends of spring are fixed a position respectively at the tip of first support and the tip of second support.

The edge that moves the gear is provided with the U-shaped board, the both ends of U-shaped board are fixed with two diapire that move the gear respectively, and it has the third locating lever to run through on the U-shaped board, and the third locating lever is located the edge outside that moves the gear, and the second support rotates around the third locating lever and sets up, and the second support passes through the rotation of third locating lever to be installed on moving the gear.

Rotate on the shells inner wall and be provided with the locking switch, seted up the through-hole on the lateral wall of casing, the locking switch is at least partly exposed in the through-hole outside, and the locking switch compresses tightly movable gear time limit brake gear and rotates, and the locking switch moves the gear with the unblock when moving the gear separation.

Be provided with the torsional spring between locking switch and the casing, torsional spring deformation when locking switch and moving gear separation.

An exoskeleton for the upper half of the human body comprises a base and a hand swing arm, wherein an arm shaft is installed on the base, a shell is installed on the base in a rotating mode through the arm shaft, and the base is supported on a spine, shoulders or a waist.

Locking switch is semi-circular, and locking switch's outer wall department is provided with the friction texture.

Other features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.

[ description of the drawings ]

The invention will be further explained with reference to the drawings:

fig. 1 is a schematic perspective view of an exoskeleton of an upper half of a human body according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a hand swing arm according to an embodiment of the present invention;

fig. 3 is a schematic front view of the housing according to the embodiment of the present invention.

[ detailed description ] embodiments

The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.

In the following description, the appearances of the indicating orientation or positional relationship, such as the terms "inner", "outer", "upper", "lower", "left", "right", etc., are only for convenience in describing the embodiments and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

Example (b):

referring to fig. 1-3, the present embodiment illustrates an exoskeleton for the upper half of a human body, which includes a base and a hand swing arm. The base is supported on the spine, the shoulder or the waist, the hand swing arm is arranged on the arm and movably arranged relative to the base, and the arm provides power for the hand swing arm so that the hand swing arm can move on the base. In which fig. 1 shows a right hand swing arm and fig. 2 shows a left hand swing arm.

Specifically, the hand swing arm includes a housing 1, an arm shaft 2, a moving gear 3, a fixed gear 4, a first bracket 5, a second bracket 6, and a spring 7.

The first bracket 5 is mounted on the housing 1, and the connection manner of the first bracket 5 and the housing 1 includes, but is not limited to, fixed connection. For example, the first bracket 5 is rotatably mounted to the housing 1 in this embodiment.

Preferably, the inner wall of the shell 1 is provided with a clamping groove support 8, the inner wall of the shell 1 is provided with limiting ribs matched with the clamping groove support 8 in shape, the clamping groove support 8 is clamped between the limiting ribs, and the clamping groove support 8 is fixed on the shell 1 through the limiting ribs matched with screws. A first locating rod 9 penetrates through the clamping groove of the clamping groove support 8, and two ends of the first locating rod 9 are fixed with the side wall of the clamping groove. The first bracket 5 is rotatably arranged on the first positioning rod 9 to realize the fixed-axis rotation of the first bracket 5 in the clamping groove. The first positioning rod 9 cooperates with the side wall of the card slot to prevent the first bracket 5 and the card slot bracket 8 from separating. The first bracket 5 rotates relative to the shell 1 in a fixed axis mode.

A second positioning rod 10 is fixed in the casing 1, and two ends of the second positioning rod 10 are clamped on the side wall of the casing 1. Similar with first locating lever 9 principle, move the gear 3 and rotate and install on second locating lever 10, prevent through casing 1 that second locating lever 10 and moving gear 3 separate, move gear 3 and do the dead axle through second locating lever 10 relative casing 1 and rotate.

Second support 6 installs in the eccentric position department that moves gear 3, moves gear 3 and drives second support 6 around second locating lever 10 rotation in-process around second locating lever 10. The connection of the second bracket 6 and the moving gear 3 also includes but is not limited to fixed connection. For example, the second bracket 6 is rotatably mounted on the moving gear 3 in this embodiment.

Specifically, the edge of moving gear 3 is provided with U-shaped plate 11, and the both ends of U-shaped plate 11 are fixed with two diapire of moving gear 3 respectively. A third positioning rod 12 penetrates through the U-shaped plate 11, both ends of the third positioning rod 12 are fixed on the U-shaped plate 11 at the moment, the second support 6 is arranged in a rotating mode around the third positioning rod 12, and the second support 6 rotates relative to the fixed gear 3 in a fixed shaft mode through the third positioning rod 12. Second support 6 passes through third locating lever 12 and rotates and install on moving gear 3.

Both ends of the spring 7 are positioned on the first bracket 5 and the second bracket 6, respectively, and both ends of the spring 7 are fixed with the first bracket 5 and the second bracket 6, respectively, for example, by locking the ends of the spring 7 with screws.

Preferably, the third positioning rod 12 is located outside the edge of the moving gear 3, so that the spring 7 is as far away from the teeth on the outer wall of the moving gear 3 as possible during the rotation of the second bracket 6 relative to the moving gear 3.

Moving gear 3 rotates around second locating lever 10, drives second support 6 and rotates around second locating lever 10 for

first support

5 and 6 intervals of second support change, thereby make spring 7 take place to deform.

Simultaneously the 7 deformation in-process of spring can make first support 5 rotate on draw-in groove support 8, and second support 6 rotates on moving gear 3 simultaneously to make spring 7 along self axial deformation as far as possible, in order to reduce the distortion of 7 deformation in-process of spring, increase spring 7's life-span.

Arm axle 2 adopts if fixed mode to install on the base, and casing 1 rotates through arm axle 2 and installs on the base, and arm axle 2 and fixed gear 4 are coaxial fixed, and casing 1 carries out the dead axle around arm axle 2 and fixed gear 4 and rotates. The casing 1 is installed on the arm, and the arm drives casing 1 and rotates around arm axle 2, and the moving gear 3 rotates in order to drive spring 7 deformation.

Move gear 3 and the meshing of fixed gear 4, casing 1 installs on the arm, and the arm drives casing 1 and rotates around arm axle 2, and casing 1 is rotating in-process second locating lever 10 and first locating lever 9 around arm axle 2 and also rotates around arm axle 2. The base, arm axle 2 and fixed gear 4 three are fixed, consequently second locating lever 10 can force driven gear 3 to rotate around second locating lever 10 around 2 rotation in-process of arm axle, with this deformation that makes spring 7, move gear 3 and rotate around second locating lever 10 and form the hindrance effect, and then move gear 3 and hinder around 2 rotations of arm axle, move gear 3 and transmit above-mentioned hindrance power to casing 1 through moving gear 3, form the holding power to the arm through casing 1.

When the spring 7 is at the original length, the position of the shell 1 on the arm shaft 2 is the reference position, and then the arm receives a reverse supporting force of the shell 1 to the arm no matter the arm drives the shell 1 to rotate clockwise or anticlockwise around the arm shaft 2, the direction of the supporting force is always to make the shell 1 rotate towards the reference position, and the more the shell 1 deviates from the reference position, the larger the supporting force is. The variation of the supporting force is almost a real-time response considering the deformation speed of the spring 7.

The position of the arm relative to the trunk when the shell 1 is in the reference position is controlled, so that the arm rotates a larger angle relative to the trunk when the shell 1 rotates a large angle around the arm shaft 2, an action with larger difficulty is formed, and the corresponding arm can bear larger supporting force. And the larger the action difficulty is, the larger the supporting force is.

Preferably, the first positioning rod 9, the second positioning rod 10 and the third positioning rod 12 are all parallel to the arm shaft 2 so as to make the rotation planes of the first bracket 5, the second bracket 6, the moving gear 3 and the housing 1 as parallel as possible.

The number of the springs 7 is plural to increase the supporting force of the housing 1. While a plurality of springs 7 can increase the rotational stability of the first bracket 5 and the second bracket 6.

For example, in this embodiment there are two springs 7 in total to reduce the risk of the springs becoming entangled with each other. Two springs 7 are arranged side by side, wherein the first bracket 5 and the second bracket 6 are both triangular brackets, and two ends of the springs 7 are respectively positioned at the end part of the first bracket 5 and the end part of the second bracket 6. At this time, the first bracket 5 and the second bracket 6 each have three positioning points to prevent the first bracket 5 and the second bracket 6 from unnecessarily shaking.

The inner wall of the shell 1 is rotatably provided with a locking switch 13, the inner wall of the shell 1 is fixedly provided with a fourth positioning rod 14, the locking switch 13 rotates around the fixed axis of the fourth positioning rod 14 on the inner wall of the shell 1, the side wall of the shell 1 is provided with a through hole, and at least part of the locking switch 13 is exposed outside the through hole so as to facilitate a user to control the locking switch 13 to rotate around the fourth positioning rod 14 outside the shell 1.

Wherein a torsion spring is arranged between the locking switch 13 and the housing 1, and the torsion spring is sleeved on the fourth positioning rod 14. When the torsion spring is not deformed, the locking switch 13 presses the moving gear 3 to limit the rotation of the moving gear 3, so that the effect of locking the shell 1 on the arm shaft 2 is achieved. Rotating locking switch 13, driving about the torsional spring deformation, driving about locking switch 13 simultaneously and moving gear 3 separation, unblock moving gear 3 for casing 1 can rotate on arm axle 2. After the locking switch 13 is loosened, the locking switch 13 is contacted with the moving gear 3 again under the action of the torsion spring, so that the locking effect is achieved.

In other embodiments, the housing 1 may be unlocked when the torsion spring is undeformed and locked when the torsion spring is deformed.

In addition, the locking switch 13 is semicircular, so that when the locking switch 13 rotates around the fourth positioning rod 14, the distance between the fourth positioning rod 14 and the fastening gear 3 changes.

Preferably, the outer wall of the locking switch 13 is provided with a friction texture to facilitate the user to rotate the locking switch 13.

In other embodiments, the U-shaped plate 11 may be replaced by two flat plates fixed to the two bottom walls of the moving gear 3. Two ends of the third positioning rod 12 are fixed on the two flat plates respectively.

In yet another embodiment, the U-shaped plate 11 may be replaced by only one flat plate, which is fixed to one of the bottom walls of the moving gear 3 and to which one end of the third positioning rod 12 is fixed.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims

1. The utility model provides a hand swing arm of human upper half ectoskeleton which characterized in that: including the casing, the arm axle, move the gear, the fixed gear, first support, second support and spring, first support mounting is on the casing, it sets up on the casing to move the gear rotation, the second support mounting is in the eccentric position department that moves the gear, the both ends of spring are fixed a position respectively on first support and second support, the arm axle is fixed with the fixed gear, move gear and fixed gear meshing, the casing is installed on the arm, the arm drives the casing and rotates around the arm axle, it is in order to drive spring deformation to move the gear rotation.

2. The hand swing arm for an exoskeleton of a human upper body of claim 1, wherein: the first support is rotatably mounted on the shell, and the second support is rotatably mounted on the moving gear.

3. The hand swing arm for an exoskeleton of a human upper body of claim 2, wherein: the inner wall of casing is fixed with the draw-in groove support, runs through first locating lever in the draw-in groove of draw-in groove support, and the both ends of first locating lever all are fixed with the lateral wall of draw-in groove, and first support rotates and sets up on first locating lever, and first support rotates through first locating lever and installs on the casing.

4. The hand swing arm for an exoskeleton of a human upper body of claim 1, wherein: a second positioning rod is fixed in the shell, two ends of the second positioning rod are clamped on the side wall of the shell, the second positioning rod is parallel to the arm shaft, and the moving gear is installed on the second positioning rod in a rotating mode.

5. The hand swing arm for an exoskeleton of a human upper body of claim 1, wherein: the number of the springs is multiple.

6. The hand swing arm for an exoskeleton of a human upper body of claim 5, wherein: the spring is total two, and two springs set up side by side, and first support and second support are the A-frame, and the both ends of spring are fixed a position respectively at the tip of first support and the tip of second support.

7. The hand swing arm for an exoskeleton of a human upper body of claim 2, wherein: the edge that moves the gear is provided with the U-shaped board, and the both ends of U-shaped board are fixed with two diapire that move the gear respectively, and it has the third locating lever to run through on the U-shaped board, and the third locating lever is located the marginal outside that moves the gear, and the second support rotates around the third locating lever and sets up, and the second support passes through the third locating lever and rotates and install on moving the gear.

8. The hand swing arm for an exoskeleton of a human upper body of claim 1, wherein: the locking switch is rotatably arranged on the inner wall of the shell, a through hole is formed in the side wall of the shell, at least part of the locking switch is exposed out of the through hole, the locking switch presses the moving gear to stop the rotation of the gear in a time limit manner, and the moving gear is unlocked when the locking switch is separated from the moving gear.

9. The hand swing arm for an exoskeleton of a human upper body of claim 8, wherein: a torsion spring is arranged between the locking switch and the shell, and the torsion spring deforms when the locking switch is separated from the moving gear.

10. An exoskeleton of a human upper body, comprising: comprising a base and a swing hand arm according to any one of claims 1 to 9, the arm shaft being mounted on the base, the housing being pivotally mounted on the base by the arm shaft, the base being supported on the spine, shoulders or waist.