CN213218971U

CN213218971U - Reverse-driven wearable upper limb exoskeleton robot

Info

Publication number: CN213218971U
Application number: CN202020621682.9U
Authority: CN
Inventors: 朱赤; 倪受东; 吴方亮
Original assignee: Nanjing Chiyan Technology Co ltd
Current assignee: Nanjing Chiyan Technology Co ltd
Priority date: 2020-04-23
Filing date: 2020-04-23
Publication date: 2021-05-18
Anticipated expiration: 2030-04-23

Abstract

The utility model discloses a reverse drive's wearable upper limbs ectoskeleton robot, concretely relates to ectoskeleton robot technical field, including the neck frame, neck frame below is provided with the massage piece, fixedly connected with bandage on the massage piece, neck frame both sides are provided with first support, install the bolster on the first support, first support end is articulated to be provided with the second support. The utility model discloses a massage piece has been set up, fix whole device behind the upper half body, the protection network on the back of the body frame this moment is in the same place with the back contact, the massage post that vibrating motor drove on the fly leaf vibrates, the cushioning effect of first spring and second spring is being cooperated, can vibrate the massage for the back of the wearer, the effectual comfort level that improves the wearer in the motion process possesses good massage health care effect, the effectual blood circulation that has promoted the human body has improved the functional of upper limbs ectoskeleton robot.

Description

Reverse-driven wearable upper limb exoskeleton robot

Technical Field

The utility model relates to an ectoskeleton robot technical field, more specifically say, the utility model relates to a reverse drive's wearable upper limbs ectoskeleton robot.

Background

The exoskeleton robot technology is a comprehensive technology integrating sensing, control, information, fusion and mobile computing, provides a wearable mechanical mechanism for a person as an operator, and the development current situation and trend of the exoskeleton world robot technology in the field of military affairs refer to a robot sleeved outside a human body, which is also called a wearable robot.

However, in actual use, the upper limb exoskeleton robot still has many defects, and has a certain function of assisting the upper body only after being worn, does not have other functions, and has a single function.

SUMMERY OF THE UTILITY MODEL

In order to overcome prior art's above-mentioned defect, the embodiment of the utility model provides a back drive's wearable upper limbs ectoskeleton robot, through having set up the massage piece, fix whole device behind the upper body, the protection network on the back of the body frame is in the same place with the back contact this moment, vibrating motor drives the massage post on the fly leaf and vibrates, the cushioning effect of first spring and second spring is being cooperated, can vibrate the massage for the back of wearer, the effectual comfort level of wearing person in the motion process that has improved, good massage health care effect is possessed, the effectual blood circulation that has promoted the human body, the functionality of upper limbs ectoskeleton robot has been improved.

In order to achieve the above object, the utility model provides a following technical scheme: a wearable upper limb exoskeleton robot driven reversely comprises a neck frame, a massage part is arranged below the neck frame, a binding band is fixedly connected onto the massage part, first supports are arranged on two sides of the neck frame, buffering parts are mounted on the first supports, a second support is hinged to one end of each first support, a third support is hinged to one end of each second support, a fourth support is hinged to one end of each third support, and clamping hoops are arranged on the side surfaces of the third support and the fourth support;

the massage part is including carrying the back of the body frame, install the protection network on the frame of carrying the back of the body, the first spring of fixedly connected with on the frame inner wall of carrying the back of the body, the fly leaf is installed to first spring one end, the fixed vibrating motor that is provided with in fly leaf one side, fly leaf opposite side fixed mounting has the massage post, it is provided with the second spring to be close to massage post one side on the fly leaf, the one end fixed mounting of second spring has the fixed block.

Further, the fixed block is connected with the inner side wall of the back frame, and the fixed block is connected with the movable plate through a second spring.

Further, the movable plate is rotatably connected with the massage column through threads, and the massage column is made of rubber materials.

Further, the bandage sets up in pairs, be provided with the buckle on the bandage.

Further, the buffer piece comprises an air bag, and a sealing plug is embedded and installed on the side surface of the air bag.

Furthermore, the gasbag semicircular structure design, the quantity of gasbag is provided with the multiunit altogether, the gasbag surface is fixed to bond has the scratch resistance pad.

Furthermore, a rotating pin shaft penetrates between the first support, the second support, the third support and the fourth support in pairs.

The utility model discloses a technological effect and advantage:

1. the utility model discloses in through having set up massage piece, fix whole device behind the upper half body, the protection network on the back frame contacts together with the back this moment, and the vibrating motor drives the massage post on the fly leaf and vibrates, is cooperating with the cushioning effect of first spring and second spring, can vibrate the massage for the back of the wearer, has effectively improved the comfort level of wearer in the motion process, has good massage health care effect, has effectively promoted the blood circulation of human body, has improved the functional of upper limbs ectoskeleton robot;

2. the utility model discloses in through having set up the bolster, fix the gasbag in the bolster respectively in the inboard of first support, second support, third support and fourth support, open the shutoff stopper, fill gas to the gasbag is inside to for the place of whole robot and skin contact provides a heavy air protection, make between exoskeleton robot and the human body more comfortable.

Drawings

The invention will be further described with reference to the following figures and examples:

fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the massage component of the present invention.

Fig. 3 is a schematic structural diagram of the buffer member of the present invention.

The reference signs are: the massage head comprises a neck frame 1, a massage part 2, a back frame 21, a protective net 22, a first spring 23, a movable plate 24, a massage column 25, a vibration motor 26, a second spring 27, a fixing block 28, a binding band 3, a first bracket 4, a buffering part 5, an air bag 51, a sealing plug 52, a second bracket 6, a third bracket 7, a fourth bracket 8 and a hoop 9.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The wearable upper limb exoskeleton robot driven in reverse direction shown in fig. 1 and fig. 2 comprises a neck frame 1, a massage part 2, a back frame 21, a protective net 22, a first spring 23, a movable plate 24, a massage column 25, a vibration motor 26, a second spring 27, a fixed block 28, a binding band 3, a first support 4, a buffer 5, an air bag 51, a sealing plug 52, a second support 6, a third support 7, a fourth support 8 and a hoop 9, a massage part 2 is arranged below the neck frame 1, a binding belt 3 is fixedly connected on the massage part 2, two sides of the neck frame 1 are provided with first brackets 4, the first brackets 4 are provided with buffer parts 5, one end of the first bracket 4 is hinged with a second bracket 6, one end of the second bracket 6 is hinged with a third bracket 7, a fourth bracket 8 is hinged to one end of the third bracket 7, and a clamp 9 is arranged on the side surfaces of the third bracket 7 and the fourth bracket 8;

massage part 2 is including carrying the back of the body frame 21, install protection network 22 on the frame 21 of carrying the back of the body, the first spring 23 of fixedly connected with on the frame 21 inner wall of carrying the back of the body, fly leaf 24 is installed to first spring 23 one end, the fixed vibrating motor 26 that is provided with in fly leaf 24 one side, fly leaf 24 opposite side fixed mounting has massage post 25, it is provided with second spring 27 to be close to massage post 25 one side on fly leaf 24, the one end fixed mounting of second spring 27 has fixed block 28.

In this embodiment, the fixed block 28 is connected to an inner sidewall of the back frame 21, and the fixed block 28 is connected to the movable plate 24 through the second spring 27.

In this embodiment, the movable plate 24 is rotatably connected to the massage pillar 25 by a thread, and the massage pillar 25 is made of rubber.

In this embodiment, the binding bands 3 are arranged in pairs, and the binding bands 3 are provided with buckles.

In this embodiment, the first support 4, the second support 6, the third support 7 and the fourth support 8 are provided with a rotating pin shaft in a penetrating manner.

During actual use, the neck frame 1 is sleeved at the position of the back neck, the massage part 2 is attached to the position of the back, the back frame 21 of the massage part 2 is fixed on the body through the binding band 3, the big arm is fixed on the third support 7 through the hoop 9, the small arm is fixed on the fourth support 8, the protective net 22 on the back frame 21 is in contact with the back, the vibration motor 26 on the movable plate 24 is controlled to work, the vibration motor 26 drives the massage column 25 on the movable plate 24 to vibrate, and the first spring 23 and the second spring 27 are matched with the buffering effect, so that the back of a wearer can be subjected to vibration massage.

The wearable upper limb exoskeleton robot capable of being driven reversely as shown in fig. 1 and fig. 3 further comprises a buffer 5, wherein the buffer 5 comprises an air bag 51, and a sealing plug 52 is embedded and mounted on a side surface of the air bag 51.

In this embodiment, the air bags 51 are designed in a semicircular structure, a plurality of groups of air bags 51 are arranged, and scratch-resistant pads are fixedly bonded on the outer surfaces of the air bags 51.

In practical use, the air bags 51 in the buffer parts 5 are respectively fixed on the inner sides of the first support 4, the second support 6, the third support 7 and the fourth support 8, the sealing plugs 52 are opened, and air is filled into the air bags 51, so that a heavy air protection is provided for the whole robot in contact with the skin, and the exoskeleton robot is more comfortable to use with the human body.

The utility model discloses the theory of operation:

referring to the attached drawings 1 and 2 of the specification, by arranging the massage part 2, the neck frame 1 is sleeved at the position of the back neck, the massage part 2 is attached to the position of the back, the back frame 21 in the massage part 2 is fixed on the body by the binding band 3, the big arm is fixed on the third support 7 by the hoop 9, and the small arm is fixed on the fourth support 8, at this time, the protective net 22 on the back frame 21 is contacted with the back, the vibration motor 26 on the movable plate 24 is controlled to work, the vibration motor 26 drives the massage column 25 on the movable plate 24 to vibrate, and the vibration motor 26 is matched with the buffering effect of the first spring 23 and the second spring 27, so that the back of a wearer can be subjected to vibration massage, the comfort degree of the wearer in the movement process is effectively improved, a good massage health-care effect is achieved, the blood circulation of the human body is effectively promoted, and the functionality of the upper limb exoskeleton robot is improved;

referring to the specification, referring to fig. 1 and 3, the buffering parts 5 are arranged, the air bags 51 in the buffering parts 5 are respectively fixed on the inner sides of the first support 4, the second support 6, the third support 7 and the fourth support 8, the sealing plugs 52 are opened, and air is filled into the air bags 51, so that heavy air protection is provided for the whole contact place between the robot and the skin, and the exoskeleton robot and the human body are more comfortable.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims

1. The utility model provides a wearable upper limbs ectoskeleton robot of back drive, includes neck frame (1), its characterized in that: a massage part (2) is arranged below the neck frame (1), a binding band (3) is fixedly connected to the massage part (2), first supports (4) are arranged on two sides of the neck frame (1), a buffer part (5) is installed on each first support (4), a second support (6) is hinged to one end of each first support (4), a third support (7) is hinged to one end of each second support (6), a fourth support (8) is hinged to one end of each third support (7), and clamping hoops (9) are arranged on the side surfaces of the third supports (7) and the fourth supports (8);

massage piece (2) are including carrying the back of the body frame (21), install protection network (22) on carrying the back of the body frame (21), the first spring (23) of fixedly connected with on the frame (21) inner wall of the back of the body, fly leaf (24) are installed to first spring (23) one end, fly leaf (24) one side is fixed and is provided with vibrating motor (26), fly leaf (24) opposite side fixed mounting has massage post (25), be close to massage post (25) one side on fly leaf (24) and be provided with second spring (27), the one end fixed mounting of second spring (27) has fixed block (28).

2. The back-driven wearable upper extremity exoskeleton robot of claim 1, wherein: the fixed block (28) is connected with the inner side wall of the back frame (21), and the fixed block (28) is connected with the movable plate (24) through a second spring (27).

3. The back-driven wearable upper extremity exoskeleton robot of claim 1, wherein: the movable plate (24) is rotatably connected with the massage column (25) in a threaded mode, and the massage column (25) is made of rubber materials.

4. The back-driven wearable upper extremity exoskeleton robot of claim 1, wherein: the binding bands (3) are arranged in pairs, and the binding bands (3) are provided with buckles.

5. The back-driven wearable upper extremity exoskeleton robot of claim 1, wherein: the buffer piece (5) comprises an air bag (51), and a sealing plug (52) is embedded and installed on the side surface of the air bag (51).

6. The back-driven wearable upper extremity exoskeleton robot of claim 5, wherein: the air bags (51) are in a semicircular structure design, multiple groups of air bags (51) are arranged, and scratch-resistant pads are fixedly bonded on the outer surfaces of the air bags (51).

7. The back-driven wearable upper extremity exoskeleton robot of claim 1, wherein: and a rotating pin shaft penetrates between the first support (4), the second support (6), the third support (7) and the fourth support (8).