CN212825381U - Upper limb exoskeleton for upper limb lifting operation - Google Patents
Upper limb exoskeleton for upper limb lifting operation Download PDFInfo
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- CN212825381U CN212825381U CN202021863239.9U CN202021863239U CN212825381U CN 212825381 U CN212825381 U CN 212825381U CN 202021863239 U CN202021863239 U CN 202021863239U CN 212825381 U CN212825381 U CN 212825381U
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Abstract
The utility model discloses an upper limbs ectoskeleton for upper limbs are lifted and are held operation, including back subassembly, the downside of back subassembly is equipped with waist subassembly, the bilateral symmetry of back subassembly is equipped with shoulder subassembly, still include upper arm subassembly, upper arm subassembly includes ratchet pawl mechanism and upper arm pole, one side that upper arm pole kept away from its connection shoulder subassembly still is equipped with the mechanism of tie up that is used for dressing upper arm subassembly at human upper arm, ratchet pawl mechanism includes to be equipped with a plurality of ratchets that have the tooth form groove on the outer circumference, and can insert the pawl in the tooth form groove of ratchet, the pawl rotates through the second axial and connects on the cassette, the cassette passes through mount pad fixed connection on shoulder subassembly, ratchet fixed connection is on the first axial rotates the piece, and can follow the motion of upper arm pole. This scheme can effectually provide the holding power at human arm to avoid human arm to hold the excessive fatigue in the operation for a long time, also can not arouse human shoulder joint's discomfort simultaneously.
Description
Technical Field
The utility model relates to a wearable equipment technical field, concretely relates to an upper limbs ectoskeleton that is used for upper limbs to lift operation.
Background
The exoskeleton is a wearable auxiliary device, organically combines human intelligence and physical ability of the exoskeleton together, and plays a role in enhancing human body functions. The mechanical structure of the exoskeleton is the basis of the whole system, and is combined with a human body, so that the exoskeleton not only plays a role in supporting and bearing, but also has the function of transferring motion and force, the human and the machine have a motion coupling effect, and the reasonability of the mechanism design and the matching of the human and the machine sizes directly influence the functional effect. The upper limb exoskeleton is an exoskeleton device which is worn on the upper limb part of a human body to provide assistance or support for the upper limb of the human body.
In the work scenes such as factory, warehouse, building site, need the workman longer or frequent lift heavy object, cause the arm to exert oneself fatigue easily like this, serious can cause the damage of upper limbs muscle and joint even, in order to alleviate long-term, repeated, high strength's effect to the injury that human body caused, has disclosed an upper limbs and has lifted booster unit in publication No. CN210757711U, and it includes: a base joint adapted to be disposed on a person's belt or torso; a first rod, the first end of which is connected with the base joint and has three degrees of freedom of rotation in three different directions in space relative to the base joint; a first end of the first rod is hinged with a second end of the second rod; a transducer is arranged in the second end of the first rod, and a bearing is arranged at the top end of the transducer; a cam is fixedly arranged at the first end of the second rod, and the axis of the cam is superposed with the hinge joint of the second rod and the first rod; or a transducer is arranged in the first end of the second rod, and a bearing is arranged at the top end of the transducer; a cam is fixedly arranged at the second end of the first rod, and the axis of the cam is superposed with the hinge joint of the second rod and the first rod; the bearing is abutted against the curved surface of the cam; the arm supporting rod is hinged with the second end of the second rod; the arm supporting plate is suitable for being fixed on the upper limb of the human body and is hinged with the arm supporting rod. When the upper limb lifting power assisting device is used, when a wearer lifts a heavy object upwards through an arm, the bearing moves along the curved surface of the cam, the transducer is extruded along with the change of the distance from the center of the bearing to the center of the cam, the acting force direction of the transducer to the cam is changed into the axis of the cam, eccentric force is generated, and then the arm is prevented from swinging downwards, so that the upward lifting force can be generated on the arm. However, the above lifting assistor still has the following problems in the use process: 1. because the supporting point of the lifting device when providing the assistance is positioned at the contact position of the bearing and the cam, and the contact position is positioned at the shoulder joint of the human body, the shoulder of the user is easy to feel uncomfortable after being worn for a long time; 2. because the power-assisted supporting point of the lifting device is positioned at the shoulder joint, when a user lifts the arm, if the user lifts the arm and mechanically screws the nut and the like, the downward gravity action also exists on the human arm, and the lifting device cannot provide supporting force for the gravity of the human arm, so that the fatigue phenomenon is easily caused when the human arm is lifted for a long time.
SUMMERY OF THE UTILITY MODEL
The aforesaid to prior art exist not enough, the to-be-solved technical problem of the utility model is: how to provide an upper limb exoskeleton for upper limb holding work, which can provide support for human arms so as to avoid arm fatigue.
In order to solve the technical problem, the utility model discloses a following technical scheme:
an upper limbs ectoskeleton for upper limbs hold operation, including back subassembly, be equipped with the baldric subassembly that is used for dressing at human upper limbs on the subassembly of back, the downside of back subassembly is equipped with the waist subassembly that is used for the winding at human waist, the bilateral symmetry of back subassembly is equipped with shoulder subassembly, still includes upper arm subassembly, upper arm subassembly includes ratchet pawl mechanism and upper arm pole, upper arm pole with shoulder subassembly rotates the piece through first axial and rotates the connection to the anteflexion and the back extension motion of adaptation human shoulder joint, upper arm pole is kept away from its connection one side of shoulder subassembly still is equipped with and is used for with the mechanism is tied up to upper arm subassembly dress at human upper arm, ratchet pawl mechanism includes that the outer circumference is equipped with a plurality of ratchet that have the tooth form groove and can insert the pawl of the tooth form inslot of ratchet, the pawl sets up the ratchet with tie up between the mechanism, the pawl is rotatably connected to the clamping seat through the second axial rotating part, the clamping seat is fixedly connected to the shoulder component through the mounting seat, the ratchet wheel is fixedly connected to the first axial rotating part and can move along with the upper arm rod, and the pawl can be inserted into the tooth-shaped groove in the corresponding position when the ratchet wheel follows the upper arm rod to lift to a set angle.
In this scheme, the direction of human body is taken as the reference direction, that is, the front, back, left, right, up and down in this scheme correspond respectively to the front, back, left, right, up and down of human body, and the axial in this scheme is the left-right direction, and vertical is the up-down direction, and vertical is the fore-and-aft direction simultaneously.
The utility model discloses a theory of operation is: thus, when the upper limb exoskeleton is worn, the shoulder belt assemblies are worn on the shoulders of a human body, the waist assemblies are wound on the waist of the human body, and the binding mechanisms are worn on the arms of the human body, so that the upper limb exoskeleton is worn.
When a human body lifts an arm to carry out lifting operation, the human body arm moves upwards, the human body arm drives the upper arm rod and the ratchet wheel to rotate around the shoulder component together, the pawl is connected to the clamping seat, the clamping seat is fixed on the shoulder component through the mounting seat, so the ratchet wheel rotates relative to the pawl, when the ratchet wheel lifts to a set angle along with the human body arm, the pawl is inserted into the tooth-shaped groove of the ratchet wheel at a corresponding position, the upper surface of the pawl abuts against the ratchet wheel, the ratchet wheel is prevented from falling downwards, and therefore the arm is prevented from drooping downwards, namely, upward supporting force is generated at the abutting position of the pawl and the ratchet wheel on the arm; when the lifting angle of the human body arm needs to be changed, the human body arm moves and drives the upper arm rod and the ratchet wheel to move, and because the tooth-shaped grooves on the ratchet wheel are elastic, when the ratchet wheel moves along with the human body arm, the pawl is withdrawn from the previous tooth-shaped groove until the human body arm moves to the next lifting position, the pawl is inserted into the tooth-shaped groove of the ratchet wheel at the corresponding position again, and therefore the human body arm generates an upward lifting supporting force.
The upper limbs ectoskeleton of this scheme utilizes the effort of ratchet and pawl butt department to realize producing the effect of the holding power of upwards lifting to human arm, so the holding power action point of this scheme is in the butt department of ratchet and pawl, and ratchet and pawl set up the position corresponding with human upper arm, so compare with the mode that sets up the holding point in the shoulder among the prior art, this scheme can effectually provide holding power at human arm, thereby avoid human arm to hold the excessive fatigue in the operation for a long time, also can not arouse human shoulder joint's discomfort simultaneously.
Preferably, the pawl is further provided with a return spring, the return spring is used for generating a return force for the pawl, and the length of the tooth-shaped groove on the ratchet wheel, which is firstly close to the pawl in the lifting process of the arm of the human body, extending outwards along the radial direction of the ratchet wheel is greater than the length of the tooth-shaped grooves extending outwards, so that the tooth-shaped groove which is firstly close to the pawl can be abutted against the pawl and clamp the pawl back into the tooth-shaped groove in the lifting process of the arm of the human body.
Therefore, the reset spring is arranged at the pawl, and the reset spring generates restoring force to the pawl, so that when the lifting angle of the arm of the human body is changed, the pawl can smoothly withdraw from one tooth-shaped groove in the front and insert into the tooth-shaped groove at the other position under the action of the restoring force, and simultaneously, after the limit angle of the ratchet wheel is finished by the pawl due to the lifting of the arm of the human body, the pawl resets under the action of the tension spring, so that the arm of the human body can be freely put down; meanwhile, the length of the tooth-shaped groove on the ratchet wheel, which is firstly close to the pawl in the lifting process of the arm of the human body, which extends outwards along the radial direction of the ratchet wheel is designed to be larger than the length of the tooth-shaped grooves extending outwards, so that when the arm is lifted again, the tooth-shaped groove which is firstly close to the pawl can smoothly grab the pawl, and the resetting of the ratchet wheel and pawl mechanism is facilitated.
Preferably, the reset spring is a tension spring, one end of the tension spring is connected with the pawl, and the end of the tension spring, which is far away from the end connected with the pawl, is fixed on the clamping seat.
Thus, a restoring force is generated to the pawl by the tension spring.
Preferably, the reset spring is a torsion spring, a third axial rotation member is further arranged on the clamping seat, the torsion spring is sleeved on the third axial rotation member, and two ends of the torsion spring are respectively fixed on the clamping seat and the pawl.
Thus, a restoring force is generated to the pawl by the torsion spring.
Preferably, the positions of the pawl inserted into the head and tail two toothed grooves on the ratchet wheel respectively correspond to the positions of 90 degrees and 180 degrees of the lifting angle of the upper arm of the human body.
Therefore, according to the characteristics of the human body during lifting operation, the maximum lifting angle of the human body arm is 180 degrees, and the human body arm cannot generate strong fatigue feeling when the lifting angle of the human body arm is lower than 90 degrees, so that the positions of the pawls inserted into the head-tail two tooth-shaped grooves on the ratchet wheel respectively correspond to the positions of the human body upper arm with the lifting angles of 90 degrees and 180 degrees, and therefore the upper limb exoskeleton device provides upward supporting force for the human body arm in the range of the lifting angle of the human body arm from 90 degrees to 180 degrees, and the supporting requirement of the human body during lifting operation is effectively met.
Preferably, the number of the tooth-shaped grooves on the ratchet wheel is 6, and the tooth-shaped grooves of the 6 ratchet wheels are uniformly distributed on the outer circumference of the ratchet wheel corresponding to the lifting angle of the upper arm of the human body from 90 degrees to 180 degrees.
Therefore, the positions of the pawls inserted into the head-tail two tooth-shaped grooves on the ratchet wheel respectively correspond to the positions of 90 degrees and 180 degrees of the lifting angle of the upper arm of the human body, so that the arms of the human body can obtain better assistance when the arms of the human body are at a plurality of lifting angles.
Preferably, the shoulder subassembly includes first shoulder connecting piece and second shoulder connecting piece, first shoulder connecting piece is close to the one end of back subassembly through first vertical rotation piece with the back subassembly rotates to be connected to the back of adaptation human shoulder blade contracts and the motion of stretching forward, first shoulder connecting piece is kept away from the one end of back subassembly through second vertical rotation piece with second shoulder connecting piece is connected to the adduction and the abduction motion of adaptation human shoulder joint, second shoulder connecting piece is kept away from the one end of first shoulder connecting piece through first axial rotation piece with the upper arm pole rotates to be connected, with the anteflexion and the back motion of adaptation human shoulder joint.
Therefore, the upper limb exoskeleton has multidirectional freedom through the rotary connection among the first shoulder connecting piece, the second shoulder connecting piece, the back component and the upper arm rod, so that the upper limb exoskeleton is adaptive to the outward-folding and inward-unfolding, the forward-flexion and backward-extension and the retraction and forward-extension movement of shoulder blades of a human body shoulder joint, and the wearing comfort and flexibility are improved.
Preferably, the back subassembly includes the bracing piece of vertical setting and the backplate of axial setting, the axial bilateral symmetry of backplate is equipped with the cab apron, cross the cab apron and correspond the position the backplate rotates through first vertical rotation piece and connects to adapt to human shoulder blade and lifting and descending motion, it keeps away from its connection to cross the cab apron the one end of backplate and correspond the position first shoulder connecting piece is connected through first vertical rotation piece, the both ends difference fixed connection of bracing piece be in the backplate with on the waist subassembly.
Like this, utilize the bracing piece to connect backplate and waist subassembly, when the human body is lifting heavy object, can effectually disperse back and waist with this effort, avoid the excessive concentration of this effort to bring the harm to some positions of human body, cross the cab apron simultaneously and rotate through first vertical rotation piece with the backplate and be connected to this lifting and the decline motion that can adapt to human shoulder blade further improves the travelling comfort and the flexibility of this upper limbs ectoskeleton.
Preferably, the two axial ends of the supporting rod are symmetrically provided with gas springs, the lower ends of the gas springs are rotatably connected with the supporting rod at the corresponding position, and the upper ends of the gas springs are inclined outwards and rotatably connected with the transition plates at the corresponding positions.
Like this, the air spring is the part that can realize functions such as support, buffering, braking, height and angle modulation, rotate the lower extreme of air spring and connect on the bracing piece, the upper end leans out the back and rotates with crossing the cab apron and be connected, like this, the air spring of bracing piece both sides forms a triangular supporting mechanism with crossing the cab apron together, this supporting mechanism can support the back atress, certain flexible effect in addition, the air spring can also play certain supplementary and buffering cushioning effect in scapula lifting and descending movement in addition.
Preferably, the support rod includes an inner support rod and an outer support rod, the lower end of the outer support rod is fixedly connected to the lumbar assembly, a first mounting groove is formed in the upper end of the outer support rod along the length direction of the outer support rod, a plurality of first mounting holes penetrating through the outer support rod are distributed in the side wall of the first mounting groove along the length direction of the first mounting groove, the upper end of the inner support rod is fixedly connected to the back plate, the lower end of the inner support rod slidably extends into the first mounting groove, a plurality of first connection holes penetrating through the inner support rod are distributed in the lower end of the inner support rod along the length direction of the inner support rod, and the first connection holes are connected to the first mounting holes in corresponding positions through first screws.
Therefore, by arranging the outer supporting rod and the inner supporting rod, when the whole length of the supporting rod needs to be changed to meet the wearing requirements of different human bodies, the lower end of the inner supporting rod slides along the first mounting groove, so that the first connecting holes in different positions on the inner supporting rod correspond to the first mounting holes in the outer supporting rod, and then the first connecting holes and the first mounting holes in corresponding positions are connected by using the first screws. Therefore, the upper limb exoskeleton can better meet the wearing requirements of different human bodies and can further improve the wearing comfort.
Preferably, the binding mechanism comprises a binding belt and an arc-shaped guide rail, the arc-shaped guide rail is fixedly connected with the upper arm rod and has an arc-shaped structure matched with the shape of the arm of the human body, a pulley is further connected onto the arc-shaped guide rail in a sliding manner so as to adapt to the inward rotation and outward rotation movement of the shoulder joint of the human body, and the binding belt is fixedly connected onto the pulley.
Like this, when dressing, human arm cover is established and is tied up the in-band, when the shoulder joint carries out internal rotation and external rotation motion, the shoulder joint will drive human arm and carry out the motion of internal rotation and external rotation jointly, when human arm is internal rotation and external rotation motion, will drive the pulley through tying up the area and slide on arc guide rail, improved the degree of freedom of this upper limbs ectoskeleton from this for the human body wears travelling comfort and the flexibility behind this upper limbs ectoskeleton better, this upper limbs ectoskeleton can not exert an influence to the normal activity of human upper limbs.
Preferably, the arc guide rail including be used for with the installation department that upper arm rod is connected and follow installation department length direction distributes two arc portions, two connect through the supporting part between the arc portion, all set up the arc track along its length direction distribution in the inboard of two arc portions, every equal sliding connection in arc track department has a plurality of pulleys, every the position of arc portion all is provided with a ligature area, fixed connection is in corresponding the position after the pulley on the same arc track is connected in the ligature area on the supporting part.
Therefore, the binding mechanism can be better connected with the arms of the human body and adapt to the movement of the arms of the human body.
Drawings
Fig. 1 is a schematic structural diagram of an upper limb exoskeleton for upper limb holding operation according to a first embodiment of the present invention (not shown with a shoulder strap assembly and a waist belt);
fig. 2 is a rear view of an upper limb exoskeleton for upper limb holding operation according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of one of the back plate, the transition plate, the left shoulder assembly and the upper arm assembly of the upper limb exoskeleton for upper limb holding operation according to the first embodiment of the present invention;
FIG. 4 is a schematic structural view of FIG. 3 with the mounting base removed;
fig. 5 is a schematic structural view of another view angle of the back plate, the transition plate, the left shoulder assembly and the upper arm assembly of the upper limb exoskeleton for upper limb holding operation according to the first embodiment of the present invention;
fig. 6 is an exploded schematic view of a joint of a mounting seat, a clamping seat and a pawl in an upper limb exoskeleton for upper limb lifting operation according to a first embodiment of the present invention;
fig. 7 is a cross-sectional view of the connection between the clamping seat and the pawl in the upper limb exoskeleton for upper limb holding operation according to the first embodiment of the present invention;
fig. 8 is a schematic structural view of the binding mechanism in the upper limb exoskeleton for upper limb lifting operation of the present invention;
fig. 9 is an exploded view of the support rod in the upper limb exoskeleton of the present invention for upper limb lifting operation;
fig. 10 is a schematic structural view of a connection portion between the clamping seat and the pawl in the upper limb exoskeleton for upper limb lifting operation according to the second embodiment of the present invention (a side structure is removed from the clamping seat).
Description of reference numerals: the waist component 1, the back plate 2, the gas spring 3, the support rod 4, the inner support rod 41, the outer support rod 42, the first connecting hole 43, the first mounting hole 44, the first screw 45, the first shoulder connecting piece 5, the second shoulder connecting piece 6, the upper arm rod 7, the binding mechanism 8, the mounting part 81, the support part 82, the arc part 83, the pulley 84, the binding belt 85, the mounting seat 9, the transition plate 10, the first vertical rotating piece 11, the clamping seat 12, the pawl 13, the ratchet 14, the toothed groove 15, the second vertical rotating piece 16, the first axial rotating piece 17, the tension spring 18, the first vertical rotating piece 19, the second axial rotating piece 20, the third axial rotating piece 21 and the torsion spring 22.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
The first embodiment is as follows:
as shown in the attached drawings 1 to 9, the upper limb exoskeleton for upper limb lifting operation comprises a back component, wherein a shoulder belt component for wearing on the upper limb of a human body is arranged on the back component, a waist component 1 for winding on the waist of the human body is arranged on the lower side of the back component, the waist component 1 comprises a waist belt, shoulder components are symmetrically arranged on two sides of the back component, the exoskeleton further comprises an upper arm component, the upper arm component comprises a ratchet pawl mechanism and an upper arm rod 7, the upper arm rod 7 is rotatably connected with the shoulder components through a first axial rotating part 17 so as to adapt to the forward bending and backward stretching movement of shoulder joints of the human body, a binding mechanism 8 for wearing the upper arm component on the upper arm of the human body is further arranged on one side of the upper arm rod 7, which is far away from the shoulder components, and the ratchet pawl mechanism comprises a plurality of ratchet wheels 14 with tooth-shaped grooves 15 and, the pawl 13 is arranged between the ratchet wheel 14 and the binding mechanism 8, the pawl 13 is rotatably connected to the clamping seat 12 through the second axial rotation piece 20, the clamping seat 12 is fixedly connected to the shoulder component through the mounting seat 9, the ratchet wheel 14 is fixedly connected to the first axial rotation piece 17 and can move along with the upper arm 7, and the pawl 13 can be inserted into the tooth-shaped groove 15 in the corresponding position when the ratchet wheel 14 follows the upper arm 7 to lift to a set angle.
The utility model discloses a theory of operation is: thus, when the upper limb exoskeleton is worn, the shoulder strap assembly is worn on the shoulders of the human body, the waist assembly 1 is wound on the waist of the human body, and the binding mechanism 8 is worn on the arms of the human body, so that the upper limb exoskeleton is worn.
When a human body lifts an arm to carry out lifting operation, the human body arm moves upwards, the human body arm drives the upper arm rod 7 and the ratchet wheel 14 to rotate around the shoulder component together, the pawl 13 is connected to the clamping seat 12, the clamping seat 12 is fixed on the shoulder component through the mounting seat 9, so that the ratchet wheel 14 also rotates relative to the pawl 13, when the ratchet wheel 14 is lifted to a set angle along with the human body arm, the pawl 13 is inserted into the tooth-shaped groove 15 of the ratchet wheel 14 at a corresponding position, the upper surface of the pawl 13 abuts against the ratchet wheel 14, the ratchet wheel 14 is prevented from descending, and therefore the arm is prevented from sagging, namely, upward lifting supporting force is generated at the abutting part of the pawl 13 and the ratchet wheel 14 for the arm; when the lifting angle of the human arm needs to be changed, the human arm moves and drives the upper arm rod and the ratchet wheel 14 to move, and because the tooth-shaped groove 15 on the ratchet wheel 14 has elasticity, when the ratchet wheel 14 moves along with the human arm, the pawl 13 withdraws from the previous tooth-shaped groove 15, until the human arm moves to the next lifting position, the pawl 13 is inserted into the tooth-shaped groove 15 of the ratchet wheel 14 at the corresponding position again, and the human arm generates an upward lifting supporting force.
The upper limb exoskeleton of the scheme utilizes the acting force at the butting part of the ratchet wheel 14 and the pawl 13 to realize the effect of generating upward supporting force on the human arm, so that the acting point of the supporting force of the scheme is at the butting part of the ratchet wheel 14 and the pawl 13, and the ratchet wheel 14 and the pawl 13 are arranged at the positions corresponding to the upper arm of the human body, and compared with the mode of arranging the supporting points at the shoulder in the prior art, the scheme can effectively provide the supporting force at the human arm, thereby avoiding the excessive fatigue of the human arm in the long-term holding operation and simultaneously not causing the discomfort of the shoulder joint of the human body.
In this embodiment, the pawl 13 is further provided with a return spring for generating a return force to the pawl 13, and the tooth-shaped groove 15 of the ratchet wheel 14, which is closest to the pawl 13 first during the lifting of the arm of the human body, extends radially outward along the ratchet wheel 14 for a length greater than the length of the other tooth-shaped grooves 15, so that the tooth-shaped groove 15, which is closest to the pawl 13 first, can abut against the pawl 13 and clamp the pawl 13 back into the tooth-shaped groove 15 during the lifting of the arm of the human body.
Thus, by arranging the return spring on the pawl 13, the return spring generates a restoring force to the pawl 13, so that when the lifting angle of the arm of the human body changes, the pawl 13 can smoothly withdraw from one tooth-shaped groove 15 in front and insert into the tooth-shaped groove 15 at another position under the action of the restoring force, and simultaneously, after the limit angle of the ratchet 14 is completely removed by the pawl 13 due to the lifting of the arm of the human body, the pawl 13 is restored under the action of the tension spring 18, so that the arm of the human body can be freely put down; meanwhile, the length of the tooth-shaped groove 15 on the ratchet wheel 14, which is firstly close to the pawl 13 in the lifting process of the arm of the human body, extending outwards along the radial direction of the ratchet wheel 14 is designed to be larger than the length of the tooth-shaped grooves 15 extending outwards, so that when the arm is lifted again, the tooth-shaped groove 15 which is firstly close to the pawl 13 can smoothly catch the pawl 13 back, and the resetting of the mechanism of the pawl 13 of the ratchet wheel 14 is facilitated.
In this embodiment, the return spring is a tension spring 18, one end of the tension spring 18 is connected to the pawl 13, and one end of the tension spring 18, which is far away from the end connected to the pawl 13, is fixed on the holder 12.
In this embodiment, the positions of the pawls 13 inserted into the first and last two toothed grooves 15 of the ratchet 14 correspond to positions of 90 ° and 180 ° for the human upper arm lifting angle, respectively.
Therefore, according to the characteristics of the human body during lifting operation, the maximum lifting angle of the human body arm is 180 degrees, and the human body arm does not generate strong fatigue feeling when the lifting angle of the human body arm is lower than 90 degrees, so that the positions of the pawls 13 inserted into the head and tail two tooth-shaped grooves 15 on the ratchet wheel 14 respectively correspond to the positions of the human body upper arm with the lifting angles of 90 degrees and 180 degrees, and therefore the upper limb exoskeleton device provides upward supporting force for the human body arm in the range of the lifting angle of the human body arm from 90 degrees to 180 degrees, and the supporting requirement during the human body lifting operation is effectively met.
In the present embodiment, the number of the tooth-shaped grooves 15 on the ratchet wheel 14 is 6, and the tooth-shaped grooves 15 of the 6 ratchet wheels 14 are uniformly distributed on the outer circumference of the ratchet wheel 14 corresponding to the lifting angle of the upper arm of the human body from 90 ° to 180 °.
Thus, the positions of the pawl 13 inserted into the first and the last two tooth-shaped grooves 15 on the ratchet wheel 14 respectively correspond to the positions of the human upper arm with the lifting angles of 90 degrees and 180 degrees, so that the human arm can obtain better assistance when the human arm has a plurality of lifting angles.
In this embodiment, the shoulder assembly comprises a first shoulder connecting piece 5 and a second shoulder connecting piece 6, one end of the first shoulder connecting piece 5 close to the back assembly is rotatably connected with the back assembly through a first vertical rotating piece 11 to adapt to the retraction and protrusion movement of the scapula of the human body, one end of the first shoulder connecting piece 5 far away from the back assembly is connected with the second shoulder connecting piece 6 through a second vertical rotating piece 16 to adapt to the adduction and abduction movement of the shoulder joint of the human body, and one end of the second shoulder connecting piece 6 far away from the first shoulder connecting piece 5 is rotatably connected with the upper arm rod 7 through a first axial rotating piece 17 to adapt to the forward flexion and protrusion movement of the shoulder joint of the human body. First shoulder connecting piece 5 has the hinge of a plurality of vertical rotation connections to constitute, can make better and human laminating of first shoulder connecting piece 5 like this, improves the wearing effect.
Therefore, the upper limb exoskeleton has multidirectional freedom through the rotary connection among the first shoulder connecting piece 5, the second shoulder connecting piece 6, the back component and the upper arm rod 7, so that the upper limb exoskeleton is adaptive to the outward-folding inward-expanding, the forward-flexion and backward-extension and the retraction and forward-extension movement of the shoulder blade of a human body, and the wearing comfort and flexibility are improved.
In this embodiment, the back subassembly includes the backplate 2 of the bracing piece 4 and the axial setting of vertical setting, the axial bilateral symmetry of backplate 2 is equipped with cab apron 10, cab apron 10 rotates through first vertical rotation piece 19 with backplate 2 that corresponds the position and is connected, in order to adapt to human shoulder blade and lifting and descending motion, it keeps away from its one end of connecting backplate 2 and the first shoulder connecting piece 5 that corresponds the position to cross cab apron 10 and is connected through first vertical rotation piece 11, fixed connection is on backplate 2 and waist subassembly 1 respectively at the both ends of bracing piece 4.
Like this, utilize bracing piece 4 to connect backplate 2 and waist subassembly 1, when the human body is lifting the heavy object, can effectually disperse this effort to back and waist, avoid the excessive concentration of this effort to bring the harm to some positions of human body, cross cab apron 10 simultaneously and rotate with backplate 2 through first vertical rotation piece 19 and be connected to this lifting and the descending motion that can adapt to human shoulder blade further improves the travelling comfort and the flexibility of this upper limbs ectoskeleton.
In the embodiment, gas springs 3 are symmetrically arranged at two axial ends of the support rod 4, the lower ends of the gas springs 3 are rotatably connected with the support rod 4 at the corresponding position, and the upper ends of the gas springs 3 are inclined outwards and rotatably connected with the transition plate 10 at the corresponding position.
Like this, air spring 3 is the part that can realize supporting, the buffering, the braking, functions such as height and angle modulation, rotate the lower extreme of air spring 3 and connect on bracing piece 4, the upper end leans out the back and rotates with cab apron 10 and be connected, like this, the air spring 3 of bracing piece 4 both sides forms a triangular supporting mechanism with crossing cab apron 10 together, this supporting mechanism can support the back atress, certain flexible effect also simultaneously, air spring 3 can also play certain supplementary and buffering cushioning effect in scapula lifting and descending movement in addition.
In this embodiment, the supporting rod 4 includes an inner supporting rod 41 and an outer supporting rod 42, a lower end of the outer supporting rod 42 is fixedly connected to the lumbar assembly 1, a first installation groove is formed in an upper end of the outer supporting rod 42 along a length direction thereof, a plurality of first installation holes 44 penetrating through the outer supporting rod 42 are distributed on a side wall of the first installation groove along the length direction thereof, the upper end of the inner supporting rod 41 is fixedly connected to the backboard 2, the lower end of the inner supporting rod 41 slidably extends into the first installation groove, a plurality of first connection holes 43 penetrating through the inner supporting rod 41 are distributed on the lower end of the inner supporting rod 41 along the length direction thereof, and the first connection holes 43 are connected to the first installation holes 44 at corresponding positions through first screws 45.
Thus, by arranging the outer support rod 42 and the inner support rod 41, when the overall length of the support rod 4 needs to be changed to meet the wearing requirements of different human bodies, the lower end of the inner support rod 41 slides along the first mounting groove, so that the first connecting holes 43 at different positions on the inner support rod 41 correspond to the first mounting holes 44 on the outer support rod 42, and then the first connecting holes 43 and the first mounting holes 44 at corresponding positions are connected by the first screws 45. Therefore, the upper limb exoskeleton can better meet the wearing requirements of different human bodies and can further improve the wearing comfort.
In this embodiment, the binding mechanism 8 includes a binding belt 85 and an arc-shaped guide rail, the arc-shaped guide rail is fixedly connected with the upper arm 7 and has an arc-shaped structure adapted to the shape of the arm of the human body, the arc-shaped guide rail is further slidably connected with a pulley 84 to adapt to the inward rotation and outward rotation of the shoulder joint of the human body, and the binding belt 85 is fixedly connected to the pulley 84.
Therefore, when the upper limb exoskeleton is worn, the human arm sleeve is arranged in the binding belt 85, when the shoulder joint carries out internal rotation and external rotation movement, the shoulder joint drives the human arm to carry out the internal rotation and external rotation movement together, when the human arm carries out the internal rotation and external rotation movement, the pulley 84 is driven by the binding belt 85 to slide on the arc-shaped guide rail, so that the degree of freedom of the upper limb exoskeleton is improved, the comfort and the flexibility of the human body after wearing the upper limb exoskeleton are better, and the normal movement of the upper limb of the human body cannot be influenced by the upper limb exoskeleton.
In this embodiment, the arc guide rail includes installation department 81 that is used for being connected with upper arm rod 7, and two arc portions 83 along installation department 81 length direction distribution, connect through supporting part 82 between two arc portions 83, the arc track along its length direction distribution is all seted up in the inboard of two arc portions 83, equal sliding connection has a plurality of pulleys 84 in every arc track department, all be provided with a ligature area 85 in the position of every arc portion 83, ligature area 85 is connected back fixed connection on the supporting part 82 of corresponding position with pulley 84 on the same arc track.
Thus, the binding mechanism 8 can be better connected with the arms of the human body and adapt to the movement of the arms of the human body.
Example two:
as shown in fig. 10, in the present embodiment, the return spring is a torsion spring 22, a third axial rotation member 21 is further disposed on the clamping seat 12, the torsion spring 22 is sleeved on the third axial rotation member 21, and two ends of the torsion spring 22 are respectively fixed on the clamping seat 12 and the pawl 13.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.
Claims (10)
1. An upper limbs ectoskeleton for upper limbs lift operation, including back subassembly, be equipped with the baldric subassembly that is used for wearing at human upper limbs on the subassembly of back, the downside of back subassembly is equipped with the waist subassembly that is used for the winding at human waist, the bilateral symmetry of back subassembly is equipped with shoulder subassembly, its characterized in that still includes the upper arm subassembly, the upper arm subassembly includes ratchet pawl mechanism and upper arm pole, the upper arm pole with shoulder subassembly rotates the piece through first axial and rotates and connect to the anteflexion and the back extension motion of adaptation human shoulder joint, the upper arm pole is kept away from it and is connected one side of shoulder subassembly still is equipped with and is used for with the mechanism is tied up of wearing at human upper arm to the upper arm subassembly, ratchet pawl mechanism is equipped with a plurality of ratchets that have the tooth form groove and can insert on the outer circumference the pawl of ratchet the tooth form inslot of ratchet, the pawl sets up the ratchet with tie up and tie up between the mechanism, just the pawl rotates through the second axial and connects on the cassette, the cassette passes through mount pad fixed connection on shoulder subassembly, ratchet fixed connection is in on the first axial rotates the piece to can follow the motion of last armed lever, just the pawl is in the ratchet is followed last armed lever can insert the tooth inslot of corresponding position when lifting to the settlement angle.
2. The upper extremity exoskeleton of claim 1 wherein said pawl is further provided with a return spring for generating a return force to said pawl, and said ratchet wheel has a tooth-shaped slot that is closest to said pawl during lifting of the arm of the person and extends radially outwardly along said ratchet wheel for a greater length than the remaining tooth-shaped slots, such that the tooth-shaped slot that is closest to said pawl during lifting of the arm of the person can abut said pawl and retain said pawl back in said tooth-shaped slot.
3. The upper limb exoskeleton of claim 2 wherein said return spring is a tension spring, one end of said tension spring is connected to said pawl, and the end of said tension spring remote from said pawl is fixed to said seat.
4. The upper limb exoskeleton of claim 2, wherein the return spring is a torsion spring, the clamping seat is further provided with a third axial rotating member, the torsion spring is sleeved on the third axial rotating member, and two ends of the torsion spring are respectively fixed on the clamping seat and the pawl.
5. The upper extremity exoskeleton of claim 1 wherein said pawls are inserted into said ratchet wheel in two slots, one first and one last, at positions corresponding to 90 ° and 180 ° of the angle of elevation of the upper arm of the person, respectively.
6. The upper extremity exoskeleton of claim 1 wherein there are 6 said ratchet wheel teeth, and 6 said ratchet wheel teeth are evenly distributed around the circumference of said ratchet wheel corresponding to an angle of elevation of the upper arm of the person from 90 ° to 180 °.
7. The upper extremity exoskeleton of claim 1 wherein said shoulder assembly includes a first shoulder link and a second shoulder link, one end of said first shoulder link near said back assembly is rotatably connected to said back assembly by a first vertical rotating member to accommodate the retraction and extension movements of the scapula of the human body, one end of said first shoulder link remote from said back assembly is connected to said second shoulder link by a second vertical rotating member to accommodate the adduction and abduction movements of the shoulder joint of the human body, and one end of said second shoulder link remote from said first shoulder link is rotatably connected to said upper arm rod by a first axial rotating member to accommodate the flexion and extension movements of the shoulder joint of the human body.
8. The upper limb exoskeleton of claim 7 wherein the back assembly comprises a vertically arranged support rod and an axially arranged back plate, the back plate is symmetrically provided with transition plates at two axial sides, the transition plates are rotatably connected with the back plate at corresponding positions through a first longitudinal rotating member to adapt to scapula and lifting and descending movements of the human body, one end of the transition plate, far away from the end where the back plate is connected, is connected with the first shoulder connecting member at corresponding positions through the first longitudinal rotating member, and two ends of the support rod are fixedly connected with the back plate and the waist assembly respectively;
air springs are symmetrically arranged at two axial ends of the supporting rod, the lower ends of the air springs are rotatably connected with the supporting rod at the corresponding position, and the upper ends of the air springs incline outwards and are rotatably connected with the transition plates at the corresponding positions.
9. The upper limb exoskeleton of claim 8 wherein said support rods comprise an inner support rod and an outer support rod, the lower end of said outer support rod is fixedly connected to said lumbar assembly, the upper end of said outer support rod has a first mounting groove along the length direction thereof, the side wall of said first mounting groove has a plurality of first mounting holes extending through said outer support rod along the length direction thereof, the upper end of said inner support rod is fixedly connected to said back plate, the lower end of said inner support rod slidably extends into said first mounting groove, the lower end of said inner support rod has a plurality of first connecting holes extending through said inner support rod along the length direction thereof, and said first connecting holes are connected to the corresponding first mounting holes by first screws.
10. The upper limb exoskeleton of claim 1 wherein the binding mechanism comprises a binding belt and an arc-shaped guide rail, the arc-shaped guide rail is fixedly connected with the upper arm rod and has an arc-shaped structure corresponding to the shape of the arm of the human body, a pulley is slidably connected to the arc-shaped guide rail to adapt to the inward-rotation and outward-rotation movement of the shoulder joint of the human body, and the binding belt is fixedly connected to the pulley;
the arc guide rail including be used for with installation department that the upper arm pole is connected and follow two arc portions that installation department length direction distributes, two connect through the supporting part between the arc portion, all set up the arc track that distributes along its length direction in the inboard of two arc portions, at every the equal sliding connection of arc track department has a plurality of pulleys, at every the position of arc portion all is provided with a ligature area, fixed connection is in corresponding the position after the pulley of ligature area on with same arc track is connected on the supporting part.
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| CN202021863239.9U CN212825381U (en) | 2020-08-31 | 2020-08-31 | Upper limb exoskeleton for upper limb lifting operation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580102A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Upper limb passive power assisting exoskeleton |
| CN113664805A (en) * | 2021-08-24 | 2021-11-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
| CN114643571A (en) * | 2022-03-14 | 2022-06-21 | 南京赤研科技有限公司 | Full-freedom upper limb exoskeleton device |
-
2020
- 2020-08-31 CN CN202021863239.9U patent/CN212825381U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580102A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Upper limb passive power assisting exoskeleton |
| CN113580102B (en) * | 2021-06-28 | 2023-03-14 | 北京机械设备研究所 | Upper limb passive power assisting exoskeleton |
| CN113664805A (en) * | 2021-08-24 | 2021-11-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
| CN113664805B (en) * | 2021-08-24 | 2022-07-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
| CN114643571A (en) * | 2022-03-14 | 2022-06-21 | 南京赤研科技有限公司 | Full-freedom upper limb exoskeleton device |
| CN114643571B (en) * | 2022-03-14 | 2023-07-21 | 南京赤研科技有限公司 | Full-freedom-degree upper limb exoskeleton device |
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