TWI792611B - Exoskeleton robotic arm assembly - Google Patents

Abstract

An exoskeleton robotic arm assembly includes a linear motion actuator for providing a linear motion; and a force transformation member connected to the linear motion actuator for transforming the linear motion into a rotational motion.

Description

Exoskeleton robotic arm assembly

The present application relates to an exoskeleton mechanical arm assembly, and more particularly to an exoskeleton mechanical arm assembly for assisting a user in lifting or lowering an object in a manner that requires no effort.

As technology advances, various forms of robotic assistance and wearable devices have been developed to perform many functions that assist users. More specifically, robot-assisted and wearable devices are currently mainly used in workflows related to object transportation, assembly, and configuration. However, when robot-assisted and wearable devices are gradually popularized in daily life and work, the industry still needs a robot-assisted and wearable device that can provide better performance and reduce weight.

The reason is that, to achieve the above purpose, an embodiment of the present application provides an exoskeleton robot arm assembly, which includes a linear motion driving part and a force conversion part. The linear motion driver is used for providing a linear motion. The force conversion component is connected to the linear motion driver to convert the linear motion into a rotary motion.

The details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other features, aspects and advantages of the subject matter will be apparent from the description, drawings and technical solutions.

In order to better understand the features, contents, advantages and the effects that can be achieved of the present invention, the present invention is hereby combined with the accompanying drawings and described in detail in the form of embodiments as follows, and the drawings used therein are only It is used for illustrative and auxiliary instructions, and should not be interpreted or limited to the patent scope of the present invention based on the proportion and configuration relationship of the attached drawings.

FIG. 1 is a schematic diagram of a user 9 wearing an exoskeleton robotic arm assembly 1 according to an embodiment of the present application. As shown in FIG. 1 , the present application provides an exoskeleton mechanical arm assembly 1 that can be worn by a user 9 . The robot arm assembly 1 may include a first (eg, right side) arm part 2 , a second (eg, left side) arm part 3 and a fixing part 4 . The fixing part 4 can be worn on the torso 90 of the user 9 . The rear side parts of the first arm part 2 and the second arm part 3 are detachably and movably connected to the fixing part 4 on the left and right sides behind the user's 9, so that the first arm part 2 and the second arm part 3 The rear portion extends behind the user 9 . The front side parts of the first arm part 2 and the second arm part 3 can be worn on the two left and right upper arms 91, 92 of the user 9 respectively, and the front side parts of the first arm part 2 and the second arm part 3 can also be worn for use. 9 on the forearm.

FIG. 2 is a front view of the exoskeleton mechanical arm assembly 1 shown in FIG. 1 . FIG. 3 is a rear view of the exoskeleton robot arm assembly 1 shown in FIG. 1 . As shown in FIG. 2 and FIG. 3 , in this embodiment, the fixing part 4 may include a waist belt 40 and a plurality of straps 41 - 46 . The waist belt 40 and the strips 41-46 can be elastic, so they can be adjusted according to the figure and shape of the user 9 . The waist belt 4 may include a buckle 48 so that the waist belt 40 may be attached to or detached from the user 9 via the buckle 48 . As shown in FIG. 2 , in this embodiment, one end of the straps 41 , 42 is connected to the front side of the waist belt 40 . The two ends of the strap 43 located on the chest of the user 9 are connected to the straps 41 and 42 substantially horizontally so as to maintain the distance between the straps 41 and 42 . FIG. 4 is a top view of the exoskeleton robot arm assembly 1 shown in FIG. 1 . As shown in FIG. 4 , the straps 41 , 42 span the shoulders 93 of the user 9 and extend to the back of the user 9 . Referring again to FIG. 3 , the other ends of the straps 41 , 42 are connected to a connector 47 . In addition, the strap 44 connects the first arm part 2 and the connecting part 47 , the strap 45 connects the second arm part 3 and the connecting part 47 , and the strap 46 connects the connecting part 47 and the rear side of the waist belt 40 . Thus, the position of the first arm part 2 and the second arm part 3 can be fixed by the interconnection of the straps 41-46.

As shown in FIG. 3 , the rear parts of the first arm part 2 and the second arm part 3 can be positioned obliquely relative to the user 9 .

FIG. 5 is a left side view of the exoskeleton robot arm assembly 1 shown in FIG. 1 . As shown in FIG. 5, the upper arm 91 of the user 9 is in a first (normal) position, ie, the forearm is not raised or extended downwards. FIG. 6 is a schematic diagram of a user 9 wearing the exoskeleton mechanical arm assembly 1, wherein the upper arms 91, 92 of the user 9 have been raised. As shown in FIG. 6, when the upper arm 91 of the user 9 has been raised, for example, when an object (not shown) is to be lifted, the first arm portion 2 is configured to exert a force to push To raise the forearm. That is to say, the first arm part 2 is activated to assist the user 9 to lift an object, so the user 9 does not need to exert a large force to lift the object.

In one embodiment, the structure of the second arm part 3 shown in FIG. 1 is similar to that of the first arm part 2 . In detail, the second arm part 3 and the first arm part 2 can be symmetrical to each other. In order to make the content of this article clear and concise, the following paragraphs of this specification only describe the first arm part 2 . FIG. 7 is a schematic perspective view of the first (right) arm part 2 of the exoskeleton robotic arm assembly 1 according to an embodiment of the present application. As shown in Figure 7, the first arm part 2 can mainly include an attachment part 20, a joint part 21, a telescoping part 22, a linear motion driver 50, a force conversion part 23, an adjustment part 24, a lever 25 and an arm support 26. Wherein, the attachment part 20 is detachably and movably attached to the rear side of the waist belt 40, as shown in FIG. 3 .

FIG. 8 is an enlarged view of the lower part of the first arm part 2 shown in FIG. 7 . FIG. 9 is a cut-away enlarged view of the lower part of the first arm part 2 shown in FIG. 7 . As shown in Figures 7, 8 and 9, in this embodiment, the attachment member 20 is elastically bendable to fit the user's body due to its material properties. The attachment member 20 may include a plurality of slots 20a, so that the belt 40 shown in FIG. In this way, the body shape of the user 9 can be matched, and the first arm part 2 is further attached to the waist belt 40 through the slot 20a.

As shown in FIGS. 8 and 9 , on the front side of the engaging member 21 , the engaging member 21 may be fixed to the attaching member 20 . On the upper side of the joint part 21 , the joint part 21 is connected to one end of the telescopic part 22 , and the telescopic part 22 is configured so that this end of the telescopic part 22 is rotatably disposed in the joint part 21 . In this embodiment, the telescoping member 22 includes a first rod 27 . One end of the first rod 27 includes a ball 27 a received in a hollow space of the joint part 21 . In other words, the ball 27a and the joint member 21 jointly form a ball joint. The first rod 27 can impart movement in three planes (three axes) relative to the engaging member 21 .

Please refer to FIG. 9 , the telescopic member 22 may further include a second rod 28 . The second rod 28 is hollow, so that the first rod 27 is configured to be vertically and movably accommodated in the second rod 28 along the direction A1 of its longitudinal axis. That is to say, the longitudinal length of the telescopic member 22 can be adjusted according to the body length of a user to conform to the body shape of the user. After the position of the first rod 27 relative to the second rod 28 is adjusted, a fixing member or a lock (not shown) can be used to fix the first rod 27 to the second rod 28 . The securing member or lock may be, but is not limited to, a clamp, such as a clamshell clamp. Furthermore, the second rod 28 is configured to rotate relative to the first rod 27 along a radial direction R1 in a clockwise or counterclockwise manner, so that the telescoping member 22 can be rotated or rotated based on the arm movement of the user 9 Turn (swivel). Due to the vertical movement adjustment mechanism of the first rod 27 and the rotational movement mechanism of the second rod 28 , the mechanism of the telescoping part 22 can improve the ergonomics of the robot arm assembly 1 .

FIG. 10 is a partially cutaway view of the lower part of the first arm part 2 shown in FIG. 7 . As shown in FIG. 10 , the linear motion driver 50 may include a hollow cylinder 29 , an elastic member 30 , a bottom 31 and a top 32 . The cylinder 29 has two opposite openings 29a, 29b. The bottom 31 is disposed closer to the opening 29 a of the cylinder 29 of the second rod 28 . One end of the second rod 28 is connected to the bottom 31 . In this embodiment, the bottom 31 has a through hole 31a, and the second rod 28 can be inserted into the through hole 31a. The elastic member 30 is accommodated in the cylinder 29 , and the bottom 31 and the top 32 are at least partially disposed in the cylinder 29 through the openings 29 a and 29 b respectively. One end (lower end) of the elastic member 30 abuts against the upper end of the bottom 31 . The top 32 is provided at the opening 29 b of the cylinder 29 and is located at the other end (upper end) of the elastic member 30 . The top 32 is in contact with a surface of the force conversion member 23 along its axial length (along the direction of the drawing through the page) for a segment length. In this embodiment, the shape of the top 32 may be a tube.

In this embodiment, the elastic member 30 is configured to apply a force to the top 32 over a period of time. For example, the elastic member 30 is a compression spring designed to absorb and store energy to generate a resisting force against the pushing force from the force conversion member 23 . That is to say, after compression, the compression spring is configured to continuously provide a force to the top 32 in contact with the force conversion component 23 , so the top 32 can continuously transmit the force generated by the elastic component 30 to the force conversion component 23 .

In other embodiments, the elastic member 30 inside the cylinder 29 can be a pneumatic or hydraulic cylinder, which can generate a force in a reciprocating linear motion.

The force conversion member 23 is configured to transmit force from the cylinder 29 and/or the elastic member 30 to the adjustment member 24 and the lever 25 . In detail, in this embodiment, the force conversion component 23 is configured to convert a linear force generated by the cylinder 29 and/or the elastic component 30 into a rotational force to the adjustment component 24 and the lever 25 .

FIG. 11 is an enlarged view of the top 32 of the linear motion driving part and the force conversion part 23 of the exoskeleton robotic arm assembly 1 in a first state according to an embodiment of the present application. In detail, as shown in FIG. 11 , the force conversion component 23 of this embodiment includes a cam 23 a and a cam shaft 23 b extending along the direction of the drawing through the paper. The cam 23a has a contact surface 23c and a shaft hole 23h penetrated by the cam shaft 23b. The force conversion member 23 is connected to the upper end of the cylinder 29 and is configured to pivot relative to the cylinder 29 through the cam shaft 23b. In this embodiment, the cam 23a has a snail-shaped profile, so the cam 23a can make the follower (ie, the top 32 and the elastic member 30) rise and fall reciprocally. As shown in FIG. 11, a contact portion 32e of the top portion 32 extends for a certain length along the direction of the drawing through the paper. When the user's arm is down, the contact portion 32e of the top 32 can contact the contact portion 23d of the cam 23a, and the contact portion 23d includes at least a part of the length of the cam 23a along its axial direction. It should be noted that, as can be seen from FIG. 11 , one end edge of the top 32 (that is, the contact portion 32 e ) contacts the contact portion 23 d of the cam 23 a. At this time, since the force F generated by the elastic member (spring) 30 passes through the center of the camshaft 23b, there is no angle between the vector of the force F and the vector of the lever arm, and the radius is zero. Therefore, the force conversion member 23 does not generate any moment.

FIG. 12A is an enlarged view of the top 32 and the force conversion member 23 shown in FIG. 11 in a second state. Please refer to FIG. 12A , when the arm of the user 9 is raised, the lever 25 and the adjustment member 24 are lifted, and the force conversion member 23 rotates counterclockwise at a predetermined angle of an arc of 0 to 180 degrees. For example, the rotation angle may be approximately 70, 80, 90, 100, 110 degrees. FIG. 12B is a perspective enlarged view of the top 32 and the force conversion member 23 shown in FIG. 11 in the second state. As shown in FIG. 12B , the top 32 includes a main body 32a and a follower 32b. The follower 32b has the aforementioned contact portion 32e and includes at least two pins 32c. Pin 32c extends transversely from its planar end and is seated in at least two corresponding holes 32d formed in body 32a. The follower 32b exposes the curved upper contact surface. The cam 23a of the force transforming member 23 contacts the follower 32b along a line contact area 23e extending across at least part of the full axial length between the follower 32b and the force transforming member 23 . The line contact area 23e changes constantly through the rotation of the force conversion member 23, so that the surface of the line contact area 23e of the force conversion member 23 contacts the surface of the follower 32b during a rotation process of the force conversion member 23. In this and other embodiments, the follower 32b is rotatable. Therefore, when the cam 23a rotates, the follower (roller) 32b rotates accordingly. However, in other partial embodiments, the follower 32b is fixed (stationary) relative to the main body 32a. Therefore, when the cam 23a rotates, the follower 32b correspondingly rises and falls purely in a reciprocating motion. As in the present embodiment shown in FIG. 12A, at this moment, the force F generated by the elastic member 30 does not pass through the center of the camshaft 23b. In fact, the vector of the force F is tangent to the camshaft 23b, so there is a radius r between the center of the camshaft 23b and the direction of the force F vector. Therefore, a moment (τ equal to = r multiplied by F) is generated on the force conversion member 23 . The angular momentum generated by this moment can lift the adjustment member 24 and the lever 25 to assist the user to raise the arm, thereby assisting in lifting an object. When the arm is put down, the force conversion part 23 returns to its original position in a clockwise manner. And the torque gradually decreases to zero, as shown in Figure 11.

In this embodiment, as shown in FIG. 11, when the torque is zero, the contact surface 23c of the cam 23a has a perfect circular profile. And as shown in Figure 12A, when continuing to rotate to generate moment, the contact surface 23c of cam 23a is semi-ellipse, and it is designed so that a force can slowly increase to the apex, and vice versa, can move slowly from the apex to the other end. In addition, the profile of the cam 23a can be changed according to actual needs and/or needs.

In other embodiments, the top 32 has an apex (ie, a point) that contacts the force transforming member 23 . In still other embodiments, the force transforming member 23 has a ridge with a ridge segment (edge), and the top 32 may contact at least one point on the ridge of the force transforming member 23 .

FIG. 13 is an enlarged view of the telescopic part 22 and the force conversion part 23 of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application. FIG. 14 is an enlarged view of the telescopic member 22 and the force conversion member 23 shown in FIG. 13 in a third state. As shown in FIG. 13 and FIG. 14 , the user can adjust the force generated by the elastic member 30 in advance. For example, according to Hooke's law, by changing the length of the elastic member (ie, spring) 30, the force provided by it can be adjusted. As shown in FIG. 13, the length of the elastic member 30 is d1. As shown in FIG. 14 , the bottom 31 can be moved closer to the inside of the cylinder 29 , so the length of the elastic member 30 can be reduced to d2 accordingly (compared with the length d1 in FIG. 13 ). Furthermore, the base 31 can be rotated (or rotated) relative to the cylinder 29 , so the user can operate the exoskeleton robot arm assembly 1 more freely. After adjusting the length of the elastic member 30 and the position of the bottom 31 , a fixing member (not shown) can be used to fix the bottom 31 to the column 29 without moving and/or rotating relative to each other.

Fig. 15A is an enlarged view of the force conversion part 23, the adjustment part 24 and the lever 25 of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application. FIG. 15B is an enlarged view of the force conversion component 23 , the adjustment component 24 and the lever 25 shown in FIG. 15A in a fourth state. In this embodiment, the relative positions of the force converting member 23 and the adjusting member 24 can be adjusted during operation. As shown in FIG. 15A, the force conversion part 23 has a rod 23f at one head of its snail-shell profile, and the adjustment part 24 has an elongated groove 24a with two ends. The rod 23f is seated at one bottom end of the groove 24a. As shown in FIG. 15B, the rod 23f can be moved to a top end of the groove 24a, so the lever 25 shown in FIG. 15B is lower than the lever 25 shown in FIG. 15A. When the rod 23f is adjusted to a desired position in the groove 24a, the rod 23f can be fixed relative to the groove 24a, so that the force conversion member 23, the adjustment member 24 and the lever 25 are relatively stationary relative to each other during an operation. In other embodiments, the force conversion member 23 and the adjustment member 24 may be directly fixed together without being able to move relative to each other (ie without the rod 23f and the groove 24a).

As shown in FIG. 15B , a plurality of fixing parts 25 a may also be provided for fixing the lever 25 to the adjusting part 24 . For example, the fixing part 25a can be three or more screws or nuts that pass through the adjusting part 24 and the lever 25 at intervals.

15A and 15B show that the rod 23f can be selectively fixed to different positions of the groove 24a, so that the relative positions of the force conversion member 23 and the adjustment member 24 can be adjusted based on the user's actual needs or needs. However, the above structural forms do not limit the present application. Fig. 16 is an enlarged view of the force conversion part 23', the adjustment part 24' and the lever 25 of the exoskeleton robotic arm assembly according to another embodiment of the present application. In the embodiment shown in FIG. 16, a plurality of holes 23g are formed in series on the force conversion member 23' (for example, along the radial direction of the cam shaft 23b'). A detachable pin 24b may be provided for selectively inserting into one of the holes 23g of the force conversion part 23', so that the force conversion part 23' and the adjustment part 24' are temporarily fixed to each other in different positions. Thereby, a user can selectively insert the pin 24b into a specific hole 23g to achieve a desired angle between the adjustment member 24 (and/or the lever 25 ) and the post 29 .

FIG. 17 is an enlarged view of the lever 25 and the arm support 26 of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application. As shown in FIG. 17 , the arm support 26 can be ergonomically U-shaped, so an upper arm or a forearm (not shown) can be stably received in the arm support 26 . Furthermore, the arm support 26 has a plurality of grooves 26a. An elastic member 30 (eg, an elastic band, as shown in FIG. 1 ) can pass through the plurality of slots 26 a and cover at least a portion of an arm received on the arm support 26 . Therefore, the position of the arm can be tightly fixed to the arm supporting member 26 by the elastic member 30 . In this embodiment, the elastic component 30 may include hook-and-loop fasteners (not shown) to detachably attach the two parts of the elastic component 30 .

As shown in FIG. 17 , the arm support 26 is located at one free end of the lever 25 . In some embodiments, the user can adjust the position of arm support 26 relative to lever 25 . FIG. 18 is an enlarged view of the lever 25 and the arm support 26 shown in FIG. 17 in a fifth state. As shown in FIG. 18 , a fixing part (not shown) may be provided to lock the arm support 26 to the lever 25 or to unlock the arm support 26 from the lever 25 . When the fixing part is released, the arm supporting member 26 can linearly move along the longitudinal axis direction L1 of the lever 25 . Once the position of the arm support 26 on the lever 25 is adjusted, a fixing member can be used to fix the position of the arm support 26.

In addition, a pivot 26b may also be provided on the lever 25 and the arm supporting member 26 . The arm supporting member 26 can pivot on the pivot shaft 26b along the radial direction R2. In one embodiment, the arm support 26 is free to pivot on the pivot 26b during an operation. In other embodiments, before fixing, the pivot 26b can be adjusted to a specific position, so that the arm support 26 will not rotate or rotate on the pivot 26b during the subsequent operation.

Many parts of the robotic arm assembly 1 may consist of lightweight metals, such as aluminum. Such metals can greatly reduce the total weight of the exoskeleton mechanical arm assembly 1 .

To sum up the above, an exoskeleton robotic arm assembly provided according to an aspect of the present application includes a force conversion component and an elastic component located on a column. The force conversion member is configured to convert a linear force (motion) from the elastic member and post into a rotational force (motion) when a user activates the force conversion member (such as when raising an arm), so A lever can be raised thereupon. The rotational force helps the user lift an object in an effortless manner. In one embodiment, the force transforming member is a cam, and the elastic member is a compression spring, which acts as a cam follower.

In addition, according to a first aspect of the present application, there is provided an exoskeleton robotic arm assembly, which includes a linear motion driver for providing a linear motion; and a force conversion component, which is connected to the linear motion driver , for converting a linear motion into a rotary motion.

In a second aspect of the present application, as in the first aspect of the exoskeleton mechanical arm assembly, wherein the force conversion component includes a cam and a camshaft, at least one point or a line segment of one surface of the cam contacts the linear motion driving member .

In a third aspect of the present application, as in the second aspect of the exoskeleton robotic arm assembly, wherein the cam has a semi-elliptical profile.

In a fourth aspect of the present application, as in the second aspect of the exoskeleton mechanical arm assembly, wherein the linear motion driving part includes a cylinder and an elastic component, the elastic component is arranged in the cylinder and can move on the cylinder One of the vertical axis directions.

In a fifth aspect of the present application, as in the fourth aspect of the exoskeleton robotic arm assembly, wherein the linear motion drive member further includes a top, which is arranged between the force conversion component and the elastic component, wherein the top is configured At least one point or a line segment of the surface that contacts the cam in its axial direction.

In a sixth aspect of the present application, as in the fourth aspect, the exoskeleton robotic arm assembly further includes a telescopic component, wherein one end of the telescopic component is connected to the linear motion driver.

In a seventh aspect of the present application, as in the sixth aspect, the exoskeleton robotic arm assembly further includes an attachment part and an engagement part, wherein the attachment part is configured to be attached to a user, to engage The other end of the member is connected to the telescoping member to form a ball joint.

In an eighth aspect of the present application, the exoskeleton robotic arm assembly of the fourth aspect further includes an adjustment component and a lever, wherein the adjustment component is connected to the force conversion component and the lever.

In a ninth aspect of the present application, the exoskeleton robotic arm assembly of the eighth aspect further includes an arm support for receiving an arm of a user.

In a tenth aspect of the present application, as in the fifth aspect of the exoskeleton robotic arm assembly, wherein the top includes a main body and a follower, the follower is pivotally connected to the main body, and the A point or a length of segment is in contact with the cam.

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any feature or of what may be claimed, but rather as descriptions of features specific to particular embodiments. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Furthermore, although features may have been described above as acting in particular combinations and even initially claimed as such, one or more features from a claimed combination may in some cases be deleted from the combination and claimed combinations may relate to A subgroup or a variation of a subgroup.

The invention has been described with reference to the exemplary embodiments and to understand specific applications of the features of the invention can be practiced individually and/or in various combinations and/or on various types of devices. Moreover, those skilled in the art will recognize that various modifications may be made to the embodiments in any of their applications without departing from the scope of the invention. Furthermore, alternative embodiments may be made with different constituent materials, structures, and/or spatial relationships and still fall within the scope of the present invention. In view of the foregoing, the present invention should be limited only to the extent claimed by this application or any related application.

The term "a" or "an" herein is used to describe elements and components of the present invention. This term is only for convenience of description and to give the basic concept of the present invention. This statement should be read to include one or at least one, and the singular also includes the plural unless it is clearly stated otherwise. When used in conjunction with the word "comprising" in the claims, the word "a" may mean one or more than one. In addition, the term "or" herein means "and/or".

Words such as "above", "below", "up", "left", "right", "down", "top", "bottom", "vertical", "horizontal", "side" unless otherwise specified , "higher", "lower", "upper", "above", "below" and other spatial descriptions refer to the directions shown in the drawings. It should be understood that the spatial descriptions used herein are for illustration purposes only, and that actual implementations of the structures described herein may be spatially arranged in any relative orientation, such constraints not altering the advantages of the various embodiments of the present invention. For example, in the description of some embodiments, providing that an element is "on" another element may encompass situations where the former element is directly on (eg, in physical contact with) the latter element as well as a or a condition in which multiple intervening elements are located between a preceding element and a succeeding element.

As used herein, the terms "approximately", "substantially", "substantial" and "about" are used to describe and allow for minor variations. When used in conjunction with an event or circumstance, these terms can mean both circumstances in which the event or circumstance expressly occurred as well as circumstances in which the event or circumstance closely approximated to occur.

The above-described embodiments are only to illustrate the technical ideas and characteristics of the present invention, and its purpose is to enable those skilled in this art to understand the content of the present invention and implement it accordingly, and should not limit the patent scope of the present invention. Equivalent changes or modifications made according to the spirit disclosed in the present invention should still be covered within the patent scope of the present invention.

1: Mechanical arm assembly 2: First arm 3: Second arm 4: fixed part 9: User 20: Attachment parts 20a: Slot 21: Joining parts 22: telescopic parts 23, 23': force conversion parts 23a: Cam 23b, 23b': camshaft 23c: contact surface 23d: contact part 23e: Line contact area 23f: Rod 23g: hole 23h: shaft hole 24, 24': Adjustment parts 24a: Groove 24b: Latch 25: leverage 25a: Fixed parts 26: Arm support 26a: Groove 26b: Pivot 27: First shot 27a: Sphere 28: Second shot 29: hollow cylinder 29a: opening 29b: opening 30: Elastic parts 31: bottom 31a: Perforation 32: top 32a: Subject 32b: follower 32c: pin 32d: hole 32e: contact part 40: belt 41-46: strip 47: Connector 48: Fasteners 50: Linear motion drive 90: torso 91: upper arm 92: upper arm 93: Shoulder d1: length d2: length F: force L1: longitudinal axis direction R1: Radial R2: Radial

In order to understand more clearly the effects achieved by the present invention and its advantages, the present invention is hereby combined with the accompanying drawings and described in detail as follows in the form of an embodiment.

FIG. 1 is a schematic diagram of a user wearing an exoskeleton robotic arm assembly according to an embodiment of the present application.

Fig. 2 is a front view of the exoskeleton mechanical arm assembly shown in Fig. 1 .

Fig. 3 is a rear view of the exoskeleton mechanical arm assembly shown in Fig. 1 .

Fig. 4 is a top view of the exoskeleton robot arm assembly shown in Fig. 1 .

Fig. 5 is a left side view of the exoskeleton robot arm assembly shown in Fig. 1 .

FIG. 6 is a schematic diagram of a user wearing the exoskeleton robotic arm assembly shown in FIG. 1 , where the user's upper arm has been raised.

FIG. 7 is a schematic perspective view of the first arm part of the exoskeleton robotic arm assembly according to an embodiment of the present application.

Fig. 8 is an enlarged view of the lower part of the first arm portion shown in Fig. 7 .

Fig. 9 is a cut-away enlarged view of the lower part of the first arm portion shown in Fig. 7 .

Fig. 10 is a partial cutaway view of the first arm portion shown in Fig. 7 .

Fig. 11 is an enlarged view of the top of the linear motion driving element and the force conversion component of the exoskeleton robotic arm assembly in a first state according to an embodiment of the present application.

Fig. 12A is an enlarged view of the top and the force transducing member shown in Fig. 11 in a second state.

Fig. 12B is a perspective enlarged view of the top and the force conversion member shown in Fig. 11 in a second state.

Fig. 13 is an enlarged view of the telescopic part and the force conversion part of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application.

Fig. 14 is an enlarged view of the telescopic part and the force conversion part shown in Fig. 13 in a third state.

15A is an enlarged view of the force conversion component, the adjustment component and the lever of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application.

Fig. 15B is an enlarged view of the force conversion component, the adjustment component and the lever shown in Fig. 15A in a fourth state.

Fig. 16 is an enlarged view of the force conversion component, adjustment component and lever of the exoskeleton robotic arm assembly according to another embodiment of the present application.

Fig. 17 is an enlarged view of the lever and the arm support of the exoskeleton robotic arm assembly in the second state according to an embodiment of the present application.

Figure 18 is an enlarged view of the lever and arm support shown in Figure 17 in a fifth state.

2: First arm

20: Attachment parts

20a: Slot

21: Joining parts

22: telescopic parts

23: Force conversion parts

24: Adjustment parts

25: leverage

26: Arm support

50: Linear motion drive

Claims (9)

An exoskeleton mechanical arm assembly, which includes: a linear motion driver, which is used to provide a linear motion, including: an elastic component; and a bottom, wherein one end of the elastic component is against the bottom, and the bottom Used to adjust the force generated by the elastic member; a telescopic member, wherein one end of the telescopic member is connected to the linear motion drive member, including: a first rod; and a second rod, wherein the second rod is configured to rotate relative to the first rod; and a force conversion component connected to the linear motion driver to convert the linear motion into a rotational motion. According to claim 1, the exoskeleton robot arm assembly, wherein the force conversion component includes a cam and a cam shaft, and at least one point or a line segment of a surface of the cam contacts the linear motion driving member. In addition to claim 2, the skeletal robotic arm assembly, wherein the cam has a semi-elliptical profile. According to claim 2, the skeletal robotic arm assembly, wherein the linear motion driving part further includes a cylinder, and the elastic member is arranged in the cylinder and can move in the direction of a longitudinal axis of the cylinder. The exoskeleton mechanical arm assembly as claimed in item 4, wherein the linear motion driving member further includes a top, which is arranged between the force conversion component and the elastic component, wherein the top is configured to contact the At least one point or a segment of the surface of the cam. According to claim 1, the exoskeleton robotic arm assembly further includes an attachment part and a joint part, wherein the attachment part is configured to be attached to a user, and the other end of the joint part is connected to the telescopic part , to form a ball joint. In addition to claim 4, the skeletal robotic arm assembly further includes an adjustment component and a lever, wherein the adjustment component connects the force conversion component and the lever. According to claim 7, the skeletal robotic arm assembly further includes an arm support for receiving an arm of a user. As the exoskeleton mechanical arm assembly of claim 5, wherein the top includes a main body and a follower, the follower is pivotally connected to the main body, and a point or a line length on one surface of the follower is in contact with the cam.

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