CN215618063U

CN215618063U - Power-assisted angle adjusting mechanism and upper limb exoskeleton robot

Info

Publication number: CN215618063U
Application number: CN202120968697.7U
Authority: CN
Inventors: 施泽宏; 李熙; 刘明强
Original assignee: Sany Construction Robot Xian Research Institute Co Ltd
Current assignee: Sany Construction Robot Xian Research Institute Co Ltd
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2022-01-25
Anticipated expiration: 2031-05-07

Abstract

The utility model provides a power-assisted angle adjusting mechanism and an upper limb exoskeleton robot, wherein the power-assisted angle adjusting mechanism comprises: the indexing disc is suitable for being connected with a torque output shaft of the upper limb exoskeleton robot and synchronously rotating, and at least two indexing grooves are formed in the indexing disc; the clamping pin is slidably connected to the bracket of the upper limb exoskeleton robot and has a first state located in the indexing groove and a second state located outside any indexing groove; and the resetting component is arranged on the bracket, is connected with the bayonet and is suitable for applying elastic supporting force for switching the bayonet from the second state to the first state. The power-assisted angle adjusting mechanism and the upper limb exoskeleton robot provided by the utility model can conveniently realize the power-assisted angle adjusting function, do not need tools, and can be adjusted at any time according to the actual use requirement.

Description

Power-assisted angle adjusting mechanism and upper limb exoskeleton robot

Technical Field

The utility model relates to the technical field of power-assisted equipment, in particular to a power-assisted angle adjusting mechanism and an upper limb exoskeleton robot.

Background

Passive form upper limbs ectoskeleton robot as a novel helping hand equipment, aims at helping hand to solve and lifts the tired problem of shoulder joint of operating personnel under the arm operating mode. However, the expected assistance angles of operators in different working conditions are different, most of the existing upper limb exoskeleton robots do not have an angle adjusting function, and a small part of the existing upper limb exoskeleton robots have an adjusting function, so that the adjusting process is inconvenient, and the adjustment can be completed only by using an external tool. When adjusting the helping hand angle, need loosen holding the screw with hexagon socket head cap spanner, then rotatory to required position with torque generator, then screw up again and hold the screw tightly to realize helping hand angle modulation function. Although the power-assisted angle adjusting function can be achieved by the exoskeleton robot, the adjusting process is complicated, an additional external tool is needed, actual operation is quite inconvenient, the exoskeleton robot needs to be taken off during adjustment, and random adjustment and switching in the operation process cannot be achieved.

SUMMERY OF THE UTILITY MODEL

The utility model provides a power-assisted angle adjusting mechanism and an upper limb exoskeleton robot, which are used for solving the problems that in the prior art, the power-assisted angle of a power-assisted robot needs to be adjusted by means of a tool, the operation is inconvenient, and random adjustment in operation cannot be realized.

The utility model provides a power-assisted angle adjusting mechanism, which comprises:

the indexing disc is suitable for being connected with a torque output shaft of the upper limb exoskeleton robot and synchronously rotating, and at least two indexing grooves are formed in the indexing disc;

the clamping pin is connected to the bracket of the upper limb exoskeleton robot in a sliding mode and has a first state located in any one indexing groove and a second state located outside any one indexing groove;

and the resetting component is arranged on the bracket, is connected with the bayonet and is suitable for applying elastic supporting force for switching the bayonet from the second state to the first state.

According to the power-assisted angle adjusting mechanism provided by the utility model, the reset assembly comprises a connecting piece and an elastic piece, the connecting piece is respectively connected with the clamping pin and the elastic piece, and the elastic piece is connected with the bracket.

According to the power-assisted angle adjusting mechanism provided by the utility model, the connecting piece is rotatably connected to the bracket, and the elastic piece is a torsion spring respectively connected with the connecting piece and the bracket.

According to the power-assisted angle adjusting mechanism provided by the utility model, the connecting piece is provided with the mounting cavity, and the torsion spring is arranged in the mounting cavity.

According to the power-assisted angle adjusting mechanism provided by the utility model, the bracket is provided with a first sliding groove which is an arc-shaped groove, and the clamping pin is connected in the first sliding groove in a sliding manner.

According to the power-assisted angle adjusting mechanism provided by the utility model, the connecting piece is connected with the bracket in a sliding manner, and the elastic piece is a compression spring which is respectively connected with the connecting piece and the bracket.

According to the power-assisted angle adjusting mechanism provided by the utility model, the mounting piece is arranged on the bracket and/or the connecting piece, the mounting piece is arranged along the expansion direction of the compression spring, and the end part of the compression spring is sleeved with the mounting piece.

According to the power-assisted angle adjusting mechanism provided by the utility model, the bracket is provided with a second sliding groove which is a linear sliding groove, and the connecting piece and the clamping pin are connected in the second sliding groove in a sliding manner.

According to the power assisting angle adjusting mechanism provided by the utility model, the indexing grooves are circumferentially arranged around the axis of the torque output shaft.

The present invention also provides an upper limb exoskeleton robot comprising: the power assisting angle adjusting mechanism comprises a support, a pair of torque generators and any one of the power assisting angle adjusting mechanisms, wherein a back belt and a waist belt are arranged on the support; the pair of torque generators is connected with the bracket through a torque output shaft and is respectively arranged on two sides of the bracket; the power-assisted angle adjusting mechanisms and the torque generator are correspondingly provided with a pair.

According to the power-assisted angle adjusting mechanism and the upper limb exoskeleton robot, the dividing disc and the torque output shaft synchronously rotate, and when the clamping pin is switched to the first state, the dividing disc axially rotates and limits the torque output shaft, so that a power-assisted angle is fixed; when the clamping pin is switched to the second state, the dividing disc and the torque output shaft can rotate relative to the bracket to adjust the boosting angle. The power-assisted angle adjusting mechanism and the upper limb exoskeleton robot provided by the utility model can conveniently realize the power-assisted angle adjusting function, do not need tools, and can be adjusted at any time according to the actual use requirement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an upper limb exoskeleton robot provided by the utility model;

FIG. 2 is a schematic view of an installation structure of a power-assisted angle adjustment mechanism provided by the present invention;

FIG. 3 is a schematic diagram of a matching structure of a detent and an index plate in the power-assisted angle adjusting mechanism provided by the utility model;

FIG. 4 is a schematic view of a connection structure of a connecting member and a locking pin in the power-assisted angle adjusting mechanism provided by the present invention;

FIG. 5 is a schematic view showing the structure of an elastic member in the power-assisted angle adjusting mechanism provided by the present invention;

fig. 6 is a schematic diagram showing a matching structure of a clamping pin and an indexing disc in another power-assisted angle adjusting mechanism provided by the utility model.

Reference numerals:

100. a support; 110. A harness; 120. A waistband;

130. a first chute; 140. A second chute; 150. A mounting member;

200. a torque generator; 300. A torque output shaft; 400. An index plate;

410. an indexing groove; 500. A bayonet lock; 600. A connecting member;

610. a mounting cavity; 620. Mounting grooves; 700. An elastic member.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the utility model, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

An assist angle adjusting mechanism according to an embodiment of the present invention will be described below with reference to fig. 1 to 4, and the assist angle adjusting mechanism can be applied to a position where the bracket 100 of the upper limb exoskeleton robot is connected to the torque generator 200. The moment generator 200 of the upper limb exoskeleton robot is connected with the bracket 100 through the moment output shaft 300, the moment generator 200 is upward in an initial state, and when the upper limb drives the moment generator 200 to rotate around the moment output shaft 300, an elastic element between the moment generator 200 and the moment output shaft 300 stores energy, so that upward assistance is formed to support the upper limb.

The assistance angle adjusting mechanism provided by the utility model is arranged at the connecting position of the bracket 100 and the torque output shaft 300, and can be used for conveniently adjusting the assistance angle. Specifically, helping hand angle adjustment mechanism includes: indexing disk 400, detent 500 and a reset assembly. The dividing disc 400 is suitable for being connected with the torque output shaft 300 of the upper limb exoskeleton robot and synchronously rotating, and when the dividing disc 400 and the torque output shaft 300 are assembled, a flat surface can be arranged on the torque output shaft 300, or the torque output shaft 300 and the dividing disc 400 are connected through a flat key, a spline or a thread. The indexing disk 400 is provided with at least two indexing grooves 410, the indexing grooves 410 forming openings on the side facing away from the torque output shaft 300.

Bayonet 500 is slidably coupled to upper extremity exoskeleton robot stand 100 and bayonet 500 can be slid into any of indexing slots 410. Bayonet 500 has a first state located inside either indexing groove 410 and a second state located outside indexing groove 410, and is switchable between the first state and the second state. In a first state, the click pin 500 restricts axial rotation of the index plate 400 and the torque output shaft 300, and in a second state, the index plate 400 and the torque output shaft 300 can be axially rotated to adjust the assist angle.

Alternatively, the indexing grooves 410 are arranged circumferentially about the axis of the torque output shaft 300 so that the indexing disk 400 and torque output shaft 300 can be rotated to conveniently move the detent 500 into the other indexing grooves 410.

The reset assembly is disposed on stand 100 and coupled to bayonet 500. The restoring member is adapted to apply an elastic supporting force to the click 500, which is switched from the second state to the first state.

In use, bayonet 500 can be manually switched from the first state to the second state and the assist angle adjusted. After the power-assisted angle is adjusted, the bayonet 500 is loosened, the bayonet 500 is automatically switched to the first state under the action of the reset assembly, and the bayonet 500 is always in the first state under the normal state.

In one embodiment of the present invention, the reduction assembly includes a connection member 600 and an elastic member 700. Connecting piece 600 connects bayonet 500 and elastic component 700 respectively, and elastic component 700 connects support 100, and connecting piece 600 can play the supporting role to bayonet 500 to, connecting piece 600 can act on elastic component 700 when taking bayonet 500 to switch the state. In the process of switching bayonet 500 from the first state to the second state, elastic element 700 stores energy to generate a reverse acting force on connecting element 600, and after the external force is removed, elastic element 700 releases energy to drive connecting element 600 and bayonet 500 to move until reset.

In an alternative, as shown in fig. 2, the connecting member 600 is rotatably connected to the stand 100, and the rotation axis of the connecting member 600 is parallel to the torque output shaft 300, so that when the connecting member 600 swings around the shaft, the bayonet 500 is driven to move in an arc. The elastic member 700 employs torsion springs respectively connecting the link member 600 and the bracket 100, and the torsion springs may be disposed at the rotational axis position of the link member 600.

Optionally, a mounting cavity 610 is formed in the connecting member 600, the mounting cavity 610 is disposed on one side of the connecting member 600 close to the bracket 100, and the torsion spring is disposed in the mounting cavity 610 and can form protection for the torsion spring.

Optionally, the bracket 100 is provided with a first sliding groove 130, the first sliding groove 130 is an arc-shaped groove, the detent 500 is slidably connected in the first sliding groove 130, and one end of the detent 500 facing away from the connecting member 600 passes through the arc-shaped groove and can be snapped into the indexing groove 410.

In another alternative, as shown in FIG. 5, the connecting member 600 is slidably connected to the stand 100, the elastic member 700 is a compression spring respectively connecting the connecting member 600 and the stand 100, and the compression spring is extended or compressed when the connecting member 600 slides the latch 500. Specifically, when the bayonet 500 is switched from the first state to the second state, the connecting member 600 extrudes the compression spring to store energy, and after the power-assisted angle adjustment is completed, the compression spring releases energy to push the connecting member 600 and the bayonet 500 to move linearly until the bayonet 500 is switched to the first state.

Optionally, a mounting member 150 is disposed on at least one of the bracket 100 and the connecting member 600, the mounting member 150 is along the expansion and contraction direction of the compression spring, and the end of the compression spring is sleeved with the mounting member 150. The mounting member 150 may be a rod with a diameter smaller than the inner diameter of the compression spring and inserted into the compression spring, or a sleeve with an inner diameter not smaller than the outer diameter of the compression spring and sleeved on the outer side of the end of the compression spring. The mounting member 150 allows the compression spring to be stably extended and retracted, and prevents the compression spring from being deflected.

Optionally, the bracket 100 is provided with a second sliding groove 140, the second sliding groove 140 is a linear sliding groove and extends toward the torque output shaft 300, the connecting member 600 and the detent 500 are slidably connected in the second sliding groove 140, the connecting member 600 drives the detent 500 to slide along the second sliding groove 140 to realize switching between the first state and the second state, when the connecting member 600 and the detent 500 slide in a direction away from the torque output shaft 300, the switching is performed to the second state, and when the connecting member 600 slides in a direction close to the torque output shaft 300, the switching is performed to the first state.

Optionally, as shown in fig. 6, two sides of the connecting member 600 are respectively provided with a mounting groove 620, and the plate bodies of the bracket 100 located at two sides of the second sliding groove 140 are slidably connected to the mounting grooves 620, so that the connecting member 600 can be prevented from being separated from the second sliding groove 140.

In one embodiment of the utility model, an upper limb exoskeleton robot is also provided. Referring back to fig. 1, the upper extremity exoskeleton robot includes: a bracket 100, a pair of torque generators 200 and any one of the above-mentioned power-assisted angle adjusting mechanisms. The support 100 is provided with a back belt 110 and a waist belt 120, which can be conveniently fixed with a human body. The pair of torque generators 200 are connected to the bracket 100 through the torque output shaft 300 and are disposed at both sides of the bracket 100 to respectively provide assistance to the left arm and the right arm. The assistance angle adjusting mechanisms are provided in a pair corresponding to the torque generators 200, and can be respectively used for adjusting the assistance angles of the two torque generators 200.

The power-assisted angle adjusting mechanism and the upper limb exoskeleton robot provided by the utility model can conveniently adjust the power-assisted angle without using tools, and have the advantages of simple structure and low use and production cost.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An angle adjustment mechanism for power assist, comprising:

2. A power assisted angle adjustment mechanism according to claim 1, wherein the return assembly comprises a connector and a resilient member, the connector connecting the detent and the resilient member respectively, the resilient member connecting the bracket.

3. A power assisted angle adjustment mechanism according to claim 2, wherein the link is pivotally connected to the bracket and the resilient member is a torsion spring connecting the link and the bracket respectively.

4. A power assisted angle adjustment mechanism according to claim 3, wherein the attachment member is provided with a mounting cavity and the torsion spring is disposed within the mounting cavity.

5. A power assisted angle adjustment mechanism according to claim 3, wherein the bracket is provided with a first slot, the first slot is an arc slot, and the detent is slidably connected in the first slot.

6. A power assisted angle adjustment mechanism according to claim 2, wherein the link is slidably connected to the bracket and the resilient member is a compression spring connecting the link and the bracket respectively.

7. A power assisted angle adjustment mechanism according to claim 6, wherein the bracket and/or the connector is provided with a mounting member which is along the extension and retraction direction of the compression spring, the end of the compression spring being journalled in the mounting member.

8. A power assisted angle adjustment mechanism according to claim 6, wherein the bracket is provided with a second runner, the second runner being a linear runner, the connector and the detent being slidably connected within the second runner.

9. The power assist angle adjustment mechanism of claim 1, wherein the indexing groove is circumferentially disposed about an axis of the torque output shaft.

10. An upper extremity exoskeleton robot comprising: a bracket, a pair of torque generators and the power-assisted angle adjusting mechanism of any one of claims 1-9, wherein a back belt and a waist belt are arranged on the bracket; the pair of torque generators is connected with the bracket through a torque output shaft and is respectively arranged on two sides of the bracket; the power-assisted angle adjusting mechanisms and the torque generator are correspondingly provided with a pair.