CN215511038U

CN215511038U - Upper limb assisting exoskeleton

Info

Publication number: CN215511038U
Application number: CN202122243697.3U
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-01-14
Anticipated expiration: 2031-09-16

Abstract

The utility model belongs to the technical field of power-assisted skeletons, and discloses an upper limb power-assisted exoskeleton which comprises a main binding band, wherein an auxiliary binding band is arranged above the main binding band, a driving box is arranged on the back surface between the main binding band and the auxiliary binding band, the left end and the right end of the driving box are fixedly connected with a supporting box, a guide block is fixedly arranged at the top of the inner cavity of the supporting box, and chains are arranged inside the supporting box and the guide block. According to the utility model, the guide block, the chain, the support block and the limiting block are arranged, the double-shaft motor is started, the transmission shaft and the transmission rod can be used for transmitting the gear, the chain can be driven to move to the upper part of the guide block along the inner walls of the support box and the guide block, and meanwhile, the guide block can have a certain deflection angle after moving to the outer part of the support box under the action of the guide block, so that the chain can be controlled to always keep the fixed angle in the supporting process under the action of the limiting block, and the supporting effect is achieved.

Description

Upper limb assisting exoskeleton

Technical Field

The utility model belongs to the technical field of power-assisted skeletons, and particularly relates to an upper limb power-assisted exoskeleton.

Background

The power-assisted exoskeleton is a mechanical and electronic device, and a wearable machine capable of enhancing the capability of a human body; it can help people run faster, jump higher, carry more and heavier things, and reduce the wearer's injure on battlefields, construction sites, or other hazardous locations; this technique has been known for over twenty years, but for technical reasons the device has not been widely used at present.

At present, the development of helping hand ectoskeleton is hot day by day, for example the taitan arm ectoskeleton can need long-time instrument of lifting to the arm, strengthen the ectoskeleton supporting effect to the upper limbs when fixed station is designed, and then reduce the fatigue degree that the work of raising the hand for a long time brought, and although current upper limbs helping hand ectoskeleton also can reach the effect of supporting the arm when daily use, nevertheless because current helping hand skeleton adopts all kinds of sensors more, its controllability is not strong, and then not convenient for user uses, current helping hand ectoskeleton does not have good mechanical support effect simultaneously, consequently need improve it.

Meanwhile, because the two arms are not required to be supported simultaneously every time when the power-assisted exoskeleton is used, the supporting structure needs to be adjusted before use, and the existing power-assisted exoskeleton does not have the function of facilitating selective change of the two-arm support, so that improvement of the existing power-assisted exoskeleton is also required.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems, the utility model provides the upper limb assistance exoskeleton which has the advantages of convenience in support and simplicity in operation.

In order to achieve the purpose, the utility model provides the following technical scheme: the upper limb assisting exoskeleton comprises a main binding band, an auxiliary binding band is arranged above the main binding band, a driving box is arranged on the back surface between the main binding band and the auxiliary binding band, the left end and the right end of the driving box are fixedly connected with supporting boxes, a guide block is fixedly arranged at the top of an inner cavity of each supporting box, chains are arranged in the supporting boxes and the guide block, the top of each chain penetrates through the supporting boxes and extends to the upper part of the guide block, the supporting blocks are fixedly connected with the top of each chain, gears located in front of the chains are movably connected in the supporting boxes, the back surfaces of the gears are meshed with the front surfaces of the chains, a limiting block is fixedly connected to the right side of each chain, the chains moving to the outer parts of the supporting boxes can be guided through the arranged guide blocks, and then the chains can reach a certain deflection angle, and further the chains can be controlled to keep the fixed deflection angle all the time in the later-stage moving supporting process under the cooperation of the limiting blocks, thereby achieving the function of supporting.

As a preferable technical solution of the present invention, the main band, the auxiliary band and the support box are fixedly connected with the fabric belt therebetween, and the left and right ends of the main band and the auxiliary band are fixedly connected with the locking belt, so that the main band, the auxiliary band and the support box can be connected with each other by the fabric belt, and the fabric belt is also conveniently stored, and more importantly, the load of the user is not excessively increased.

According to the preferable technical scheme, the double-shaft motor is fixedly installed in the middle of the inner cavity of the driving box, the transmission shafts are fixedly sleeved at the other ends of the output shafts of the double-shaft motor, the number of the transmission shafts is two, the fixed tooth plates are fixedly connected at the other ends of the two transmission shafts, and the effect of simultaneously transmitting the two transmission rods can be achieved through the matching of the transmission shafts, so that the transmission number and the transmission position can be conveniently controlled by a user.

As a preferred technical scheme of the utility model, bearings positioned at the left side and the right side of a double-shaft motor are movably sleeved in the driving box, a transmission rod is fixedly sleeved in the bearings, the right end of the transmission rod penetrates through the bearings and extends to the left side of a fixed tooth plate, and is fixedly connected with a positioning tooth plate, the right side of the positioning tooth plate is meshed with the left side of the fixed tooth plate, due to the arrangement of the bearings, a good connecting and supporting effect can be achieved on the transmission rod and a pull block, and an effect of locking the transmission shaft and the transmission rod can be achieved under the matching of the positioning tooth plate and the fixed tooth plate, so that the double-shaft motor can transmit the transmission rod at the corresponding side, and the selectivity of conveniently supporting any arm can be achieved.

According to the preferable technical scheme, the number of the transmission rods is two, the other ends of the two transmission rods penetrate through the driving box, extend into the corresponding side supporting box and are fixedly connected with the side face of the gear, the effect of simultaneously transmitting the left gear and the right gear to rotate can be achieved under the matching of the double-shaft motor and the transmission shaft through the arranged transmission rods, and then the two arms can be simultaneously supported.

As a preferred technical scheme of the utility model, a movable groove is formed in the bottom of the driving box, a stop block is fixedly mounted inside the movable groove, the inside of the movable groove is movably connected with the outer surface of the pull block and the outer surface of the stop block respectively, the top of the pull block penetrates through the movable groove, extends into the driving box and is fixedly connected with the bottom of the bearing, a baffle plate positioned on the left side of the movable groove is fixedly mounted at the bottom of the inner cavity of the driving box, a return spring is fixedly mounted on the right side of the baffle plate, and the right side of the return spring is fixedly connected with the left side of the bearing.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the guide block, the chain, the support block and the limiting block are arranged, the double-shaft motor is started, the transmission shaft and the transmission rod can be used for transmitting the gear, the chain can be driven to move to the upper part of the guide block along the inner walls of the support box and the guide block, and meanwhile, the guide block can have a certain deflection angle after moving to the outer part of the support box under the action of the guide block, so that the chain can be controlled to always keep the fixed angle in the supporting process under the action of the limiting block, and the supporting effect is achieved.

2. According to the utility model, by arranging the double-shaft motor, the fixed tooth plate, the positioning tooth plate and the pull block, the double-shaft motor is started to drive the two gear pieces through the transmission shaft and the transmission rod, and the pull block can drive the positioning tooth plate to move through the bearing and the transmission rod, so that the positioning tooth plate can be separated from the fixed tooth plate, and the connection between the transmission shaft and the transmission rod is released, thereby achieving the effect of conveniently and selectively supporting two arms.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a side sectional view of the support box of the present invention;

FIG. 4 is a schematic view of a cross-sectional structure of the rear side of the two-shaft motor according to the present invention;

FIG. 5 is a schematic view of a partial structure in section at a bearing according to the present invention;

fig. 6 is a partially enlarged structural view of a portion a in fig. 3.

In the figure: 1. a main strap; 2. a secondary strap; 3. a drive box; 4. a support box; 5. a guide block; 6. a chain; 7. a support block; 8. a gear; 9. a limiting block; 10. weaving the cloth belt; 11. a locking band; 12. a double-shaft motor; 13. fixing the tooth plate; 14. a bearing; 15. a transmission rod; 16. positioning a tooth plate; 17. pulling the block; 18. a baffle plate; 19. a return spring; 20. a stopper; 21. a drive shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 6, the utility model provides an upper limb assistance exoskeleton, which comprises a main binding band 1, a secondary binding band 2 arranged above the main binding band 1, a driving box 3 arranged on the back surface between the main binding band 1 and the secondary binding band 2, supporting boxes 4 fixedly connected to the left and right ends of the driving box 3, a guide block 5 fixedly installed on the top of the inner cavity of the supporting box 4, chains 6 arranged inside the supporting boxes 4 and the guide block 5, a supporting block 7 fixedly connected above the guide block 5 and penetrating through the supporting box 4 at the top of the chain 6, a gear 8 located in front of the chain 6 movably connected inside the supporting box 4, a limit block 9 fixedly connected to the right side of the chain 6, and a chain 6 moving to the outside of the supporting box 4 can be guided by the guide block 5 arranged to achieve a certain deflection angle, and then the chain 6 can be controlled to always keep a fixed deflection angle in the later moving and supporting process under the coordination of the limiting block 9, so that the supporting function is achieved.

Wherein, equal fixedly connected with braid area 10 between main bandage 1, vice bandage 2 and the supporting box 4, main bandage 1 and vice bandage 2 about equal fixedly connected with locking band 11 in both ends, owing to the setting of braid area 10, can play the effect of connecting main bandage 1, vice bandage 2 and supporting box 4, also be convenient for accomodate it simultaneously, more importantly can not increase user's heavy burden excessively.

Wherein, the middle part fixed mounting of 3 inner chambers of drive box has double-shaft motor 12, and the fixed cover of the other end of double-shaft motor 12 output shaft has connect transmission shaft 21, and the quantity of transmission shaft 21 is two, and the equal fixedly connected with of the other end of two transmission shafts 21 fixes toothed bar 13, through the double-shaft motor 12 who sets up, can reach simultaneously and carry out driven effect to two transfer lines 15 under the cooperation of transmission shaft 21 to can convenient to use person control transmission quantity and transmission position.

The bearings 14 located on the left side and the right side of the double-shaft motor 12 are sleeved in the driving box 3 in a movable mode, the transmission rod 15 is sleeved in the bearings 14 in a fixed mode, the right end of the transmission rod 15 penetrates through the bearings 14 and extends to the left side of the fixed tooth plate 13, the positioning tooth plate 16 is fixedly connected to the right side of the positioning tooth plate 16 and the left side of the fixed tooth plate 13 in a meshed mode, due to the fact that the bearings 14 are arranged, the transmission rod 15 and the pull block 17 can be well connected and supported, the effect that the transmission shaft 21 and the transmission rod 15 are locked can be achieved under the matching of the positioning tooth plate 16 and the fixed tooth plate 13, the double-shaft motor 12 can transmit the transmission rod 15 on the corresponding side, and the selectivity that any arm is supported conveniently can be achieved.

Wherein, the quantity of transfer line 15 is two, and the other end of two transfer lines 15 all runs through drive box 3 and extend to the inside of corresponding one side supporting box 4 and with gear 8's side fixed connection, through the transfer line 15 that sets up, can reach the effect of two gear 8 rotations about the simultaneous transmission under the cooperation of biax motor 12 and transmission shaft 21, and then can support both arms simultaneously.

Wherein, the movable groove has been seted up to the bottom of drive box 3, the inside fixed mounting in movable groove has dog 20, the inside in movable groove respectively with the surface of drawing piece 17 and the surface swing joint of dog 20, the top of drawing piece 17 runs through the movable groove and extends to the inside of drive box 3 and with the bottom fixed connection of bearing 14, the bottom fixed mounting in drive box 3 inner chamber has the baffle 18 that is located the left side of movable groove, the right side fixed mounting of baffle 18 has reset spring 19, reset spring 19's right side and bearing 14's left side fixed connection, because the setting of dog 20, can be convenient for the user to drawing piece 17 to remove after can will drawing piece 17 to fix through dog 20, can ensure that dog 20 can be firm will draw piece 17 to lock under reset spring 19's elasticity recovery effect simultaneously.

The working principle and the using process of the utility model are as follows:

firstly, a main binding band 1 and an auxiliary binding band 2 are fixedly bound on the surface of the body of a user in sequence through a locking belt 11, then a supporting block 7 is fixed at the bottom of the two arms of the user, a double-shaft motor 12 is started to drive a fixed tooth plate 13 to rotate through a transmission shaft 21, two gears 8 can be driven to rotate through a positioning tooth plate 16 and a transmission rod 15 under the supporting effect of a bearing 14 due to the rotation of the fixed tooth plate 13, chains 6 in two supporting boxes 4 can be driven to move simultaneously due to the rotation of the two gears 8, the chains 6 can obtain a certain angle under the limitation of the guide block 5 on the chains 6, the chains 6 can keep the fixed angle to move under the action of a limiting block 9, and then the two arms can be supported through the supporting block 7 under the movement of the chains 6;

then, pulling the pulling block 17 to the left can drive the transmission rod 15 to move to the left through the bearing 14, since the movement of the transmission rod 15 can drive the positioning tooth plate 16 to move to the left, and thus the positioning tooth plate 16 is separated from the fixed tooth plate 13, thereby releasing the connection between the driving shaft 21 and the driving lever 15, while the transmission rod 15 moves, it can bring the gear wheel 8 to slide inside the supporting box 4, but it is always engaged with the chain 6, then the pulling block 17 is pulled to the position which meets the requirement of releasing the fixed tooth dental plate 13 from the positioning tooth dental plate 16, the pull block 17 is then rotated backwards along the surface of the transmission rod 15 by means of the bearing 14, so that its right side is connected with the left side of the stop 20, then, the pull block 17 can be driven by the bearing 14 to move rightwards under the elastic force recovery action of the return spring 19 by loosening the pull block 17, and further, the stop 20 can be stably connected with the pull block 17.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Upper limbs helping hand ectoskeleton includes main bandage (1), its characterized in that: the top of main bandage (1) is provided with vice bandage (2), the back between main bandage (1) and vice bandage (2) is provided with drive case (3), the equal fixedly connected with in both ends supports case (4) about drive case (3), the top fixed mounting of support case (4) inner chamber has guide block (5), the inside of support case (4) and guide block (5) all is provided with chain (6), the top of chain (6) runs through support case (4) and extends to the top and the fixedly connected with supporting shoe (7) of guide block (5), the inside swing joint of support case (4) has gear (8) that are located chain (6) the place ahead, the back of gear (8) is connected with the front meshing of chain (6), the right side fixedly connected with stopper (9) of chain (6).

2. The upper extremity assisting exoskeleton of claim 1 wherein: equal fixedly connected with braid area (10) between main bandage (1), vice bandage (2) and support box (4), equal fixedly connected with locking band (11) in both ends about main bandage (1) and vice bandage (2).

3. The upper extremity assisting exoskeleton of claim 1 wherein: the middle part fixed mounting of drive case (3) inner chamber has double-shaft motor (12), the fixed cover of the other end of double-shaft motor (12) output shaft has connect transmission shaft (21), the quantity of transmission shaft (21) is two, two the equal fixedly connected with of the other end of transmission shaft (21) fixes tooth dental lamina (13).

4. The upper extremity assisting exoskeleton of claim 1 wherein: the inside activity of drive box (3) is cup jointed and is located bearing (14) of biax motor (12) left and right sides, the inside fixed transfer line (15) of cup jointing of bearing (14), the right-hand member of transfer line (15) runs through bearing (14) and extends to the left side of fixed tooth dental lamina (13) and fixedly connected with location tooth dental lamina (16), the right side of location tooth dental lamina (16) is connected with the left side meshing of fixed tooth dental lamina (13).

5. The upper extremity assisting exoskeleton of claim 4 wherein: the number of the transmission rods (15) is two, and the other ends of the two transmission rods (15) penetrate through the driving box (3) and extend to the inside of the corresponding side supporting box (4) and are fixedly connected with the side face of the gear (8).

6. The upper extremity assisting exoskeleton of claim 1 wherein: the movable groove has been seted up to the bottom of drive case (3), the inside fixed mounting in movable groove has dog (20), the inside in movable groove respectively with the surface of drawing piece (17) and the surface swing joint of dog (20), the top of drawing piece (17) run through the movable groove and extend to the inside of drive case (3) and with the bottom fixed connection of bearing (14), the bottom fixed mounting of drive case (3) inner chamber has baffle (18) that are located the left side in movable groove, the right side fixed mounting of baffle (18) has reset spring (19), the right side of reset spring (19) and the left side fixed connection of bearing (14).