CN212352012U - Pneumatic artificial muscle exoskeleton device - Google Patents
Pneumatic artificial muscle exoskeleton device Download PDFInfo
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- CN212352012U CN212352012U CN202021000207.6U CN202021000207U CN212352012U CN 212352012 U CN212352012 U CN 212352012U CN 202021000207 U CN202021000207 U CN 202021000207U CN 212352012 U CN212352012 U CN 212352012U
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- arm
- pneumatic artificial
- rod
- artificial muscle
- back frame
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Abstract
The utility model relates to a pneumatic artificial muscle exoskeleton device, which comprises a back frame and an arm rod consisting of a first arm rod and a second arm rod which are fixedly connected with each other, wherein an arm pad is arranged on the first arm rod, and two sides of the back frame are respectively provided with a tension device; the tension device comprises a support rod and pneumatic artificial muscles, the joint of the first arm rod and the second arm rod is hinged with the top of the support rod, and the bottom of the support rod is hinged with the back frame; the bottom of the pneumatic artificial muscle is connected with the supporting rod, and the pneumatic artificial muscle is connected with the second arm rod; the pneumatic artificial muscles of the two tension devices are communicated through an air duct, and an air inlet valve and an air outlet valve are arranged on the air duct. The device can greatly reduce the damage to the muscle and the skeleton of the upper limb of the human body caused by long-time heavy object lifting and repetitive actions.
Description
Technical Field
The utility model relates to a pneumatic artificial muscle ectoskeleton device belongs to upper limbs ectoskeleton technical field.
Background
In many fields such as industry, agriculture, etc., most workers or farmers often need to process a large amount of assembly lines or crops in large areas for a long time, long-time repetitive actions and long-time arm lifting states cause certain injuries to the workers and the farmers, under the background, in order to provide support for arms to avoid exoskeleton equipment with pain caused by the work, the output effect of the human body is enhanced, the research on the upper limb exoskeleton assisting device is gradually developed, and the exoskeleton assisting device has wider and wider application prospects.
The traditional upper limb exoskeleton power assisting device adopts a series mechanism with the same structure as the human upper limb movement, so that the self weight of an elbow actuator becomes a part of exoskeleton load, and the load capacity of the exoskeleton power assisting device is reduced; in addition, the existing exoskeleton power assisting device is coupled with human shoulders, large arms, elbows, small arms, hands and the like to realize various motions of human upper limbs, including stretching, bending, abduction, adduction, convolution and the like, and because each part often has poor rigidity, the problem of safety causing human body injury can be caused.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: provides a pneumatic artificial muscle exoskeleton device which can greatly reduce the damage to the muscles and bones of the upper limbs of human beings caused by lifting heavy objects for a long time and repetitive actions.
In order to solve the technical problem, the utility model provides a technical scheme is: a pneumatic artificial muscle exoskeleton device comprises a back frame and an arm rod, wherein an arm pad for supporting an arm is arranged on the arm rod; the arm lever is composed of a first arm lever and a second arm lever which are fixedly connected with each other, the arm pad is arranged on the first arm lever, and two sides of the back frame are respectively provided with a tension device; the tension device comprises a support rod and pneumatic artificial muscles, the joint of the first arm rod and the second arm rod is hinged with the top of the support rod, and the bottom of the support rod is hinged with the back frame; the bottom of the pneumatic artificial muscle is connected with the supporting rod, and the pneumatic artificial muscle is connected with the second arm rod; the pneumatic artificial muscles of the two tension devices are communicated through an air duct, and an air inlet valve and an air outlet valve are arranged on the air duct. Preferably, the length of the supporting rod is adjustable, so that the supporting rod can be suitable for wearers with different heights.
The pneumatic artificial muscle is the prior art, can be driven by compressed air provided by the outside to act in a pushing and pulling way, the process is like the muscle movement of a human body, the pneumatic artificial muscle can provide great strength, and the weight is smaller. The pneumatic artificial muscle can automatically brake when reaching the push-pull limit, and cannot break through the preset range.
When the utility model is used, a wearer fixes two arms on the arm pad, and the angle is adjusted to ensure that the two pneumatic artificial muscles are respectively positioned at the rear sides of the two arms of the human body; then an inflator or an air pump is used for adjusting the air pressure in the pneumatic artificial muscle to be proper, the assisting force generated by the pneumatic artificial muscle acts on the arms of the human body through the arm rods, and the load of the upper limbs is transferred to the hip of the human body through the spherical joint at the lower part of the adjustable supporting rod, so that the burden of the two arms and the spine of the human body is greatly reduced, and the effect of providing the assisting force is achieved; when the wearer needs to adjust the boosting force, the air pressure in the air cylinder can be adjusted through inflation or exhaust, and therefore the boosting force can be changed.
The utility model discloses a pneumatic artificial muscle provides the buffering to the power that the armed lever produced, impact load and load overload have stronger adaptability, make the person of wearing have fine experience and feel, it is high to have factor of safety, it is effectual to subtract the burden, the helping hand supports greatly, man-machine integration, the nimble advantage such as convenient of motion, especially in long-time lifting arm work, like agricultural pruning, pick, the cover bag, industrial maintenance, the transport of assembly line, there is obvious burden effect that subtracts in some scenes such as building installation, can apply to assembly line production, fruit is picked, fruit cover bag, prune the leaf, interior decoration, the bill-board installation, aircraft maintenance and military field etc..
The further improvement of the technical scheme is as follows: the back frame is provided with an inflator or a battery-powered air pump, and an air outlet of the inflator or the air pump is communicated with the air inlet valve. Therefore, in the using process, the air pressure of the pneumatic artificial muscle can be increased at any time or reduced through the exhaust valve according to the requirement, so that the assisting force is adjusted.
The technical scheme is further improved as follows: the second arm rod is provided with a plurality of connecting holes, and the top of the pneumatic artificial muscle is provided with a hook matched with the connecting holes. When the pneumatic artificial muscle is connected with the second arm rod, the hook can be selectively hung in one of the connecting holes, so that the angle of the first arm rod can be adjusted.
Preferably, the second arm rod is connected with the back frame through an elastic rope.
Preferably, a back reinforcing plate is arranged on the back frame.
Preferably, the included angle between the first arm rod and the second arm rod is 15-40 degrees.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the back of fig. 1.
Fig. 3 is a schematic view of a tension device.
Reference numerals: arm pad 1, first arm pole 2, second arm pole 3, couple 4, pneumatic artificial muscle 5, bracing piece 6, connecting piece 7, spherical joint 8, inflater 9, air duct 10, discharge valve 11, admission valve 12, back reinforcing plate 13, back frame 14.
Detailed Description
The pneumatic artificial muscle exoskeleton device of the embodiment, as shown in fig. 1-comprises a back frame 14 and arm rods, wherein the arm rods are composed of a first arm rod 2 and a second arm rod 3 which are fixedly connected with each other, an arm pad 1 for supporting an arm is arranged on the first arm rod 2, and two sides of the back frame 14 are respectively provided with a tension device. The back frame 14 is provided with necessary wearing members such as shoulder straps, waist belts, and buckles (not shown) for wearing on the human body, and the back reinforcement plate 13 is fixedly installed at the waist position of the back frame 14 for increasing the strength of the back frame. The arm pad 1 is made of plastic materials, plays a role in fixing the arm and enables the supporting force to accurately act on the arm.
The tension device comprises a support rod 6 and pneumatic artificial muscles 5, the joint of the first arm rod 2 and the second arm rod 3 is hinged with the top of the support rod 6, and the bottom of the support rod 6 is hinged with a back frame 14. In order to achieve omnidirectional tracking of the wearer's hands, the articulation may be performed by a spherical joint, such as the spherical joint 8 at the lower portion of the support bar 6 in fig. 1 and 3. Preferably, the length of the support rod 5 is adjustable, so that the support rod can be suitable for wearers with different heights. In order to facilitate pneumatic artificial muscle assistance, an included angle between the first arm rod and the second arm rod is set to be 15-40 degrees, and is preferably about 30 degrees.
The bottom of the pneumatic artificial muscle 5 is connected with the supporting rod 6 through the connecting piece 7, the pneumatic artificial muscle 5 is connected with the second arm rod 3, and therefore the pneumatic artificial muscle 5 can provide assistance for the first arm rod 2. In this embodiment, the pneumatic artificial muscles of the two pulling devices are communicated through the air duct 10, so that the assistance provided by the two pneumatic artificial muscles is relatively balanced.
In addition, the air duct 10 is provided with an air inlet valve 12 and an air outlet valve 11, and the air pressure of the pneumatic artificial muscle can be adjusted by air inlet of the air inlet valve 12 or air outlet of the air outlet valve 11, so that the magnitude of the boosting force can be changed. Preferably, an air pump 9 is arranged on the back frame 14, and an air outlet of the air pump 9 is communicated with the air inlet valve 12. Therefore, in the using process, the air pressure of the pneumatic artificial muscle 5 can be increased through the inflator 9 or reduced through the exhaust valve at any time according to the requirement to adjust the assistance; of course, the pump 9 may be replaced by a battery powered air pump, so that the assistance may even be adjusted by a remote control.
The embodiment can be further modified as follows:
1) the second arm 3 is connected with the back frame 14 through an elastic rope (not shown in the figure). The elastic rope can not only ensure that the structure of the exoskeleton device is not disordered when the equipment is idle, but also prevent the swing amplitude of the two hand connecting parts from being too large in the using process and facilitate the wearing of a wearer.
2) As shown in fig. 1 and 3, the second arm lever 3 is provided with a plurality of connecting holes, and the top of the pneumatic artificial muscle 5 is provided with a hook 4 matched with the connecting holes; when the pneumatic artificial muscle is connected with the second arm rod, the hook is hung in one connecting hole. When the pneumatic artificial muscle is connected with the second arm rod, the hook can be selectively hung in one connecting hole, so that the angle of the first arm rod is adjusted, and the direction of the assisting force is changed.
When the pneumatic artificial muscle arm cushion is used, a wearer fixes two arms on the arm cushion 1, and the angle is adjusted to enable the two pneumatic artificial muscles 5 to be respectively positioned at the rear sides of the two arms of the human body; the air pressure in the pneumatic artificial muscle 5 is adjusted to a proper value by using an air pump 9; the assistance generated by the pneumatic artificial muscle 5 acts on the arms of the person through the first arm rod 2 and the second arm rod 3, and the load of the upper limbs is transferred to the hip of the person through the spherical joint 8 at the lower part of the support rod 6, so that the burden of the two arms and the spine of the person is greatly reduced, and the effect of providing the assistance is achieved.
Claims (7)
1. A pneumatic artificial muscle exoskeleton device comprises a back frame and an arm rod, wherein an arm pad for supporting an arm is arranged on the arm rod; the method is characterized in that: the arm lever is composed of a first arm lever and a second arm lever which are fixedly connected with each other, the arm pad is arranged on the first arm lever, and two sides of the back frame are respectively provided with a tension device; the tension device comprises a support rod and pneumatic artificial muscles, the joint of the first arm rod and the second arm rod is hinged with the top of the support rod, and the bottom of the support rod is hinged with the back frame; the bottom of the pneumatic artificial muscle is connected with the supporting rod, and the pneumatic artificial muscle is connected with the second arm rod; the pneumatic artificial muscles of the two tension devices are communicated through an air duct, and an air inlet valve and an air outlet valve are arranged on the air duct.
2. The pneumatic artificial muscle exoskeleton device of claim 1, wherein: the back frame is provided with an inflator or a battery-powered air pump, and an air outlet of the inflator or the air pump is communicated with the air inlet valve.
3. The pneumatic artificial muscle exoskeleton device of claim 1 or claim 2, wherein: the second arm rod is provided with a plurality of connecting holes, and the top of the pneumatic artificial muscle is provided with a hook matched with the connecting holes; when the pneumatic artificial muscle is connected with the second arm rod, the hook is hung in one connecting hole.
4. The pneumatic artificial muscle exoskeleton device of claim 1 or claim 2, wherein: the second arm rod is connected with the back frame through an elastic rope.
5. The pneumatic artificial muscle exoskeleton device of claim 1 or claim 2, wherein: the back frame is provided with a back reinforcing plate.
6. The pneumatic artificial muscle exoskeleton device of claim 1 or claim 2, wherein: the supporting rod is a supporting rod with adjustable length.
7. The pneumatic artificial muscle exoskeleton device of claim 1 or claim 2, wherein: the included angle between the first arm rod and the second arm rod is 15-40 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021000207.6U CN212352012U (en) | 2020-06-04 | 2020-06-04 | Pneumatic artificial muscle exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021000207.6U CN212352012U (en) | 2020-06-04 | 2020-06-04 | Pneumatic artificial muscle exoskeleton device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212352012U true CN212352012U (en) | 2021-01-15 |
Family
ID=74153240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021000207.6U Expired - Fee Related CN212352012U (en) | 2020-06-04 | 2020-06-04 | Pneumatic artificial muscle exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212352012U (en) |
-
2020
- 2020-06-04 CN CN202021000207.6U patent/CN212352012U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |