CN217669391U

CN217669391U - Human arm auxiliary wearing device and human arm easy to wear

Info

Publication number: CN217669391U
Application number: CN202221627280.5U
Authority: CN
Inventors: 王春荣; 潘永雄; 夏尔冬
Original assignee: Sanming University
Current assignee: Sanming University
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-10-28
Anticipated expiration: 2032-06-28

Abstract

The utility model provides a supplementary device of dressing of human arm, including the main part frame, the main part frame is suitable for installation arm, include: a shoulder wearing structure, a waist wearing structure and a control device; the waist wearing structure is arranged on the main body frame, the shoulder wearing structure is connected to the main body frame through a universal joint, and the shoulder wearing structure and the waist wearing structure are both connected to the control device; the shoulder wearing structure comprises a pressing plate suitable for being worn on the shoulders of a human body, and the pressing plate is suitable for rotating up and down; the waist wearing structure comprises a waist plate and a driving device, wherein the waist plate is used for wearing on the waist of a human body, and the driving device can drive the waist plate to stretch in the horizontal direction. Through this scheme, can make the user more conveniently dress arm of a arm device. The utility model also provides an easily human arm of dressing.

Description

Human arm auxiliary wearing device and human arm easy to wear

Technical Field

The utility model relates to a technical field is dressed to the arm, particularly, relate to a supplementary device of dressing of human arm, human arm of easy dressing.

Background

The disabled assisting mechanical arm has very important function for the disabled patients, and can help the disabled patients to improve the living ability. At present, the disabled assisting mechanical arm on the market is provided with a mode of being carried on the upper half body for a user to use, but the mode is inconvenient for most of people with too many amputations to wear, meanwhile, due to the self-weight of the machine, the arm of the user cannot bear long-time weight, the service life cannot be prolonged, the use comfort is poor, the daily life of the user cannot be met, and most of disabled assisting machines cannot meet the independent wearing requirements of the user.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a supplementary device of wearing of human arm, the human arm of easily dressing, simple structure, the operation is convenient, aims at improving above-mentioned problem.

The utility model adopts the following scheme: a human arm assists wearing device, includes the main part frame, the main part frame is suitable for installation arm, includes: a shoulder wearing structure, a waist wearing structure and a control device; the waist wearing structure is arranged on the main body frame, the shoulder wearing structure is connected to the main body frame through a universal joint, and the shoulder wearing structure and the waist wearing structure are both connected to the control device; the shoulder wearing structure comprises a pressing plate suitable for being worn on the shoulders of a human body, and the pressing plate is suitable for rotating up and down; the waist wearing structure comprises a waist plate and a driving device, wherein the waist plate is used for being worn on the waist of a human body, and the driving device can drive the waist plate to stretch out and draw back in the horizontal direction.

Furthermore, the pressing plate of the shoulder wearing device comprises a fixed pressing plate and a movable pressing plate, a rotating motor is arranged between the fixed pressing plate and the movable pressing plate, the rotating motor can drive the movable pressing plate to rotate for a certain angle around the fixed pressing plate, and the rotating motor is electrically connected to the control device.

Further, waist board that the structure was worn to waist set up in the both sides of main part frame, drive arrangement is provided with two, connects respectively the waist board, and it includes ball screw structure, link structure, the one end of link structure is connected the waist board, and the other end is connected the first slider of ball screw structure, and its configuration is to be able to make under the drive of ball screw structure the waist board is flexible in the horizontal direction.

Further, the connecting rod structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein a sliding body suitable for sliding on the second connecting rod is arranged on the second connecting rod; two ends of the first connecting rod are respectively hinged on the sliding body and the first sliding block, and two ends of the second connecting rod are respectively hinged with the inner side of one end of the third connecting rod and the main body frame; the inner side of the other end of the third connecting rod is hinged to a fourth connecting rod, and the fourth connecting rod is hinged to the waist plate.

Furthermore, a fifth connecting rod is hinged to the end part, close to the second connecting rod, of the third connecting rod, and the other end of the fifth connecting rod is hinged to the first connecting rod; and the end part of the fourth connecting rod, which is close to the third connecting rod, is hinged with a sixth connecting rod, and the other end of the sixth connecting rod is hinged on the second connecting rod.

Furthermore, the main body frame is also provided with a shock absorption device, the shock absorption device comprises slide rails, second slide blocks, a telescopic rod, a spring and an installation body, the two slide rails are connected to two sides of the main body frame, and the two second slide blocks are respectively arranged on the slide rails and are suitable for sliding up and down on the slide rails; the telescopic rod is arranged in the middle of the main body frame, and the spring is arranged on the telescopic rod; the mounting body is suitable for mounting a mechanical arm and is connected to the upper ends of the second sliding block and the telescopic rod through a connecting strip.

Furthermore, soft materials are arranged in the waist plate and the pressing plate.

The utility model also provides an easily human arm of dressing, including the arm, still include the aforesaid human arm supplementary wearing device, the arm is installed on the supplementary wearing device of human arm.

By adopting the technical scheme, the utility model discloses can gain following technological effect: the utility model discloses a dress wearing equipment on the back, make things convenient for the disabled person oneself to dress, set up clamp plate and wainscot and fix, reduce the arm to the pressure to user's arm, the junction adopts the universal joint structure, can adapt to the activity of vertebra department, has set up seismic isolation device simultaneously, can make and dress more comfortable, further adopts the combination mode of ball screw and connecting rod, controls more accurately, and the sensitivity is good, and vertical placing can not appear sliding.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of the overall structure of a human body mechanical arm auxiliary wearing device according to a first embodiment of the present invention;

fig. 2 is a schematic view of an overall structure of a wearable human body mechanical arm according to a second embodiment of the present invention;

fig. 3 is another schematic structural view of a wearable robotic arm according to a second embodiment of the present invention;

fig. 4 is a schematic structural view of a link structure of a wearable human body mechanical arm according to a second embodiment of the present invention;

fig. 5 is a schematic structural view of a weight reduction structure of a wearable human body mechanical arm according to a second embodiment of the present invention;

an icon: the waist wearing structure comprises a main body frame 10, a shoulder wearing structure 20, a pressing plate 21, a fixed pressing plate 22, a movable pressing plate 23, a rotating motor 24, a universal joint 30, a mechanical arm 40, a waist wearing structure 50, a screw rod 51, a first sliding block 52, a lower sliding rail 53, a connecting rod structure 54, a first connecting rod 541, a second connecting rod 542, a third connecting rod 543, a fourth connecting rod 544, a fifth connecting rod 545, a sixth connecting rod 546, a sliding body 547, a waist plate 55, a weight reducing structure 60, an upper sliding rail 61, a second sliding block 62, an expansion rod 63, a spring 64, an installation body 65, a connecting strip 66 and a control device 70.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are 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. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

With reference to fig. 1, a first embodiment of the present invention provides a human body mechanical arm auxiliary wearing device, which includes a main body frame 10, wherein the main body frame 10 is suitable for mounting a mechanical arm 40, including: the shoulder wearing structure 20, the waist wearing structure 50, and the control device 70; wherein the waist wearing structure 50 is disposed on the main body frame 10, the shoulder wearing structure 20 is connected to the main body frame 10 through a universal joint 30, and the shoulder wearing structure 20 and the waist wearing structure 50 are both connected to the control device 70; the shoulder wearing structure 20 comprises a pressure plate 21 suitable for wearing on the shoulders of a human body, and the pressure plate 21 is suitable for rotating up and down; the waist wearing structure 50 includes a waist panel 55 for wearing around the waist of a human body and a driving device capable of driving the waist panel 55 to extend and retract in the horizontal direction.

In this embodiment, the main body frame 10 may be made of a hollow stainless steel tube, which is used to connect the shoulder wearing structure 20 and the waist wearing structure 50, and may also be used to mount the power supply and control device 70 on the main body frame 10.

As shown in fig. 2 to fig. 3, in particular, the pressure plate 21 of the shoulder wearing apparatus includes a fixed pressure plate 22 and a movable pressure plate 23, a rotating motor 24 is disposed between the fixed pressure plate 22 and the movable pressure plate 23, and the rotating motor 24 is adapted to drive the movable pressure plate 23 to rotate around the fixed pressure plate 22; the rotary electric machine 24 is connected to the control device 70. Here, the fixed pressing plate 22 of the shoulder wearing device is formed in a U-shape, the bottom of which is connected to the main body frame 10, and the two fixed pressing plates 22 at the upper part are formed in an arc shape to be able to be attached to the shoulders of the human body, and the movable pressing plate 23 is formed in an arc shape matched with the fixed pressing plate 22, which is enclosed in a U-shape together with the fixed plate, and is able to be attached to the shoulders of the human body, thereby improving comfort. Further, the movable pressing plate 23 can be rotatably arranged on the fixed pressing plate 22, meanwhile, the rotating motors 24 are arranged between the fixed pressing plate 22 and the movable pressing plate 23, the rotating motors 24 are electrically connected to the control device 70, the movable pressing plate 23 can be driven to rotate up and down at a certain angle on the fixed pressing plate 22 through the rotating motors 24, the angle during wearing can be adjusted by controlling the rotation of the movable pressing plate 23, the angle between the fixed pressing plate and the movable pressing plate is enlarged before wearing and when taking off, and the wearing and taking off of a user are facilitated.

With reference to fig. 1 to 4, the waist plates 55 of the waist wearing structure 50 are disposed on two sides of the main body frame 10, and the two driving devices are respectively connected to the waist plates 55 disposed on two sides of the main body frame 10 and each driving device includes a ball screw structure and a link structure 54, one end of the link structure 54 is connected to the waist plate 55, and the other end is connected to the first slider 52 of the ball screw structure, and the first slider is configured to enable the waist plate 55 to extend and retract in the horizontal direction under the driving of the ball screw structure. Here, two sets of ball screw structures are fixedly connected to both sides of the main body frame 10, each ball screw structure includes a screw 51 and a first slider 52, two lower slide rails 53 are further disposed on both sides of the main body frame 10, and the first slider 52 is disposed on the screw 51 and connected to the lower slide rails 53, so that when the screw 51 rotates, the first slider 52 can slide up and down on the lower slide rails 53 along the screw 51; the screw rods 51 are respectively provided with a driving motor, and the driving motors are electrically connected to the control device 70 and are used for driving the screw rods 51 to rotate. The link structure 54 is used for connecting the first slider 52 with the waist plate 55, so as to control the extension and retraction of the waist plate 55, and the link structure 54 specifically includes a first link 541, a second link 542, a third link 543 and a fourth link 544, wherein the second link 542 is provided with a sliding body 547 adapted to slide on the second link 542; two ends of the first connecting rod 541 are respectively hinged to the sliding body 547 and the first slider 52, and two ends of the second connecting rod 542 are respectively hinged to the inner side of one end of the third connecting rod 543 and the main body frame 10; the inner side of the other end of the third link 543 is hinged to a fourth link 544, the fourth link 544 is hinged to the waist plate 55, further, the end of the third link 543 close to the second link 542 is hinged to a fifth link 545, and the other end of the fifth link 545 is hinged to the first link 541; a sixth link 546 is hinged to an end of the fourth link 544 close to the third link 543, and the other end of the sixth link 546 is hinged to the second link 542. Through the arrangement, when the first slider 52 moves, the angles of the first connecting rod 541 and the second connecting rod 542 are constantly changed, when the first connecting rod 541 is in the horizontal device, the waist board 55 is pushed to the maximum distance, and at the moment, the first slider 52 continues to move upwards or downwards, so that the two waist boards 55 can be contracted simultaneously, and the waist holding is further completed. The waist plate 55 is formed in an arc shape matching the waist of the human body and has an arc space on the same plane as the arc space of the shoulder pressing plate 21 up and down, thereby being more conformable to the human body. Further, a soft material such as rubber or sponge is provided at the waist plate 55 and the pressing plate 21, which can improve comfort.

The shoulder wearing structures 20 and the waist wearing structure 50 are connected by the universal joints 30, so that a certain torsion angle can be formed between the waist wearing structure 50 and the shoulder wearing structure 20, and the requirement of the rotation of the waist and the shoulders in daily life is met, for example, when the shoulders rotate and the waist does not rotate, the rotation of the shoulders is not influenced.

Referring to fig. 2 and 5, in a preferred embodiment, a shock absorbing device is further disposed on the main body frame 10 and disposed between the shoulder wearing structure 20 and the waist wearing structure 50, the shock absorbing device includes an upper slide rail 61, a second slide block 62, an expansion link 63, a spring 64 and an installation body 65, the two upper slide rails 61 are connected to two sides of the main body frame 10, and the two second slide blocks 62 are respectively disposed on the upper slide rails 61 and adapted to slide up and down on the upper slide rails 61; the telescopic rod 63 is arranged in the middle of the main body frame 10, and the spring 64 is arranged on the telescopic rod 63; the mounting body 65 is adapted to mount the robot arm 40, and is connected to the upper ends of the second slider 62 and the telescopic bar 63 by a connecting bar 66. Here, two upper slide rails 61 are disposed on both sides above the main body frame 10, and a mounting bar is connected between the two upper slide rails 61 for connecting with the upper shoulder wearing structure 20 through a universal joint 30. A connecting strip 66 is arranged between the two second sliding blocks 62, a telescopic rod 63 and a spring 64 are connected below the connecting strip 66, the two sides of the connecting strip 66 are fixedly connected with the second sliding blocks 62, and the rear end of the connecting strip 66 is connected with the mounting body 65, so that the mounting body 65 can move up and down on the upper sliding rail 61 through the connecting strip 66 and is subjected to the elastic force of the spring 64. The mounting body 65 can be used for mounting the mechanical arm 40, wherein the shock absorbing device plays a shock absorbing role, and converts static load into dynamic load through energy storage and release of elastic potential energy, so that the average load (i.e. the weight of human body) is effectively reduced. Through the device for the arm 40 is realizing snatching or when user's up-and-down motion is frequent, can effectively play the effect of moving away to avoid possible earthquakes, improves user's use and experiences and feel.

It should be noted that the control device 70 mentioned in the present invention is a prior art, and may be a CPU or MPU system, which is used for controlling the operations of the rotating motor 24, the driving motor, and the robot arm 40. In a preferred embodiment, a voice control system may be provided in conjunction with the control device 70 to effect voice control of the operation of the rotary motor 24, drive motor, etc.

The utility model discloses in the second embodiment, still provide an easy human arm of dressing, including arm 40, still include the aforesaid supplementary wearing device of human arm, arm 40 is installed on the supplementary wearing device of human arm 40. The robotic arm 40 may be implemented using conventional technology, and is not further described herein.

By adopting the technical scheme, the utility model can be worn on the back by wearing the wearable device, so that the disabled can wear the wearable device conveniently, and more functions can be realized to adapt to more people; set up clamp plate 21 and waist board 55 and fixed, made weight shift to the back, reduced 40 weight of arm to the pressure of user's arm, the junction adopts the universal joint 30 structure, can adapt to the activity of vertebra department, has set up seismic isolation device simultaneously, can reach seismic isolation's effect, makes and dresses more comfortable, further adopts the combination mode of ball screw 51 and connecting rod, controls more accurately, and the sensitivity is good, and the slip can not appear in vertical placing.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection.

Claims

1. The utility model provides a supplementary wearing device of human arm, includes the main part frame, the main part frame is suitable for installation arm, its characterized in that still includes: a shoulder wearing structure, a waist wearing structure and a control device; wherein, the first and the second end of the pipe are connected with each other,

the waist wearing structure is arranged on the main body frame, the shoulder wearing structure is connected to the main body frame through a universal joint, and the shoulder wearing structure and the waist wearing structure are both connected to the control device;

the shoulder wearing structure comprises a pressing plate suitable for being worn on the shoulders of a human body, and the pressing plate is suitable for rotating up and down by a certain angle;

the waist wearing structure comprises a waist plate and a driving device, wherein the waist plate is used for wearing on the waist of a human body, and the driving device can drive the waist plate to stretch in the horizontal direction.

2. The human body mechanical arm auxiliary wearing device as claimed in claim 1, wherein the pressing plate of the shoulder wearing device comprises a fixed pressing plate and a movable pressing plate, a rotating motor is arranged between the fixed pressing plate and the movable pressing plate, the rotating motor can drive the movable pressing plate to rotate around the fixed pressing plate for a certain angle, and the rotating motor is electrically connected to the control device.

3. The human body mechanical arm auxiliary wearing device as claimed in claim 1, wherein the waist plate of the waist wearing structure is disposed on two sides of the main body frame, and the two driving devices are respectively connected to the waist plates and comprise a ball screw structure and a link structure, one end of the link structure is connected to the waist plate, the other end of the link structure is connected to the first slider of the ball screw structure, and the link structure is configured to enable the waist plate to extend and retract in a horizontal direction under the driving of the ball screw structure.

4. The humanoid robot arm wearable aid device of claim 3, wherein the linkage structure comprises a first linkage, a second linkage, a third linkage and a fourth linkage, wherein the second linkage is provided with a sliding body adapted to slide on the second linkage; two ends of the first connecting rod are respectively hinged to the sliding body and the first sliding block, and two ends of the second connecting rod are respectively hinged to the inner side of one end of the third connecting rod and the main body frame; the inner side of the other end of the third connecting rod is hinged to a fourth connecting rod, and the fourth connecting rod is hinged to the waist plate.

5. The body arm wearable aid of claim 4, wherein a fifth link is hinged to the third link near an end of the second link, and the other end of the fifth link is hinged to the first link; and the end part of the fourth connecting rod, which is close to the third connecting rod, is hinged with a sixth connecting rod, and the other end of the sixth connecting rod is hinged on the second connecting rod.

6. The human body mechanical arm auxiliary wearing device as claimed in claim 3, wherein a shock absorbing device is further arranged on the main body frame, the shock absorbing device comprises an upper slide rail, second slide blocks, a telescopic rod, a spring and an installation body, the two upper slide rails are connected to two sides of the main body frame, and the two second slide blocks are respectively arranged on the upper slide rails and are suitable for sliding up and down on the upper slide rails; the telescopic rod is arranged in the middle of the main body frame, and the spring is arranged on the telescopic rod; the mounting body is suitable for mounting a mechanical arm and is connected to the upper ends of the second sliding block and the telescopic rod through a connecting strip.

7. The body arm assistive wearable device of claim 1, wherein soft material is disposed within the lumbar and pressure plates.

8. An easily wearable human body mechanical arm, comprising a mechanical arm, and characterized by further comprising the human body mechanical arm auxiliary wearing device of any one of claims 1 to 7, wherein the mechanical arm is mounted on the human body mechanical arm auxiliary wearing device.