WO2020063297A1 - 可穿戴肩部助力外骨骼 - Google Patents

可穿戴肩部助力外骨骼 Download PDF

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Publication number
WO2020063297A1
WO2020063297A1 PCT/CN2019/104688 CN2019104688W WO2020063297A1 WO 2020063297 A1 WO2020063297 A1 WO 2020063297A1 CN 2019104688 W CN2019104688 W CN 2019104688W WO 2020063297 A1 WO2020063297 A1 WO 2020063297A1
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WO
WIPO (PCT)
Prior art keywords
coil spring
arm
shaft
shell
support
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PCT/CN2019/104688
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English (en)
French (fr)
Inventor
尚可
许香照
宁保锋
赵富鼎
崔铁瀚
Original Assignee
赤源动力大连科技有限责任公司
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Publication of WO2020063297A1 publication Critical patent/WO2020063297A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Definitions

  • the invention relates to a wearable shoulder-assisted exoskeleton, and is a device for providing a supporting force for a human arm by using an elastic element.
  • the shoulder-assisted passive exoskeleton is a device that uses elastic elements to provide support for the human arm. Its characteristics are that it does not require any energy input, and only through the application of elastic elements and mechanical structure design, it provides a full range of support for the human arm. Because this type of exoskeleton needs to cooperate with the movement of the human arm and shoulder, it needs the same degree of freedom and flexibility as the human shoulder. Otherwise, the movement of the wearer will be hindered, thereby causing discomfort and even affecting functionality.
  • the overall equipment should also be close to the human body to prevent scratches between the mechanical structure that protrudes from the human body and other objects in the working environment.
  • the overall design of the exoskeleton also needs to consider ergonomic issues to prevent the device from colliding with various parts of the wearer's body.
  • the device needs to be worn for a long time during the production process, so the device should be structurally optimized to reduce weight and prevent wearing fatigue.
  • the drive device contains the mechanical structure required for driving and elastic drive elements such as tension springs, compression springs, coil springs or gas springs.
  • the weight of the overall driving equipment is concentrated on the parts that need to be continuously moved during use, which increases the movement resistance and reduces the stability during movement due to inertia.
  • the volume of the driving device makes the shoulder device have the possibility of being stingy, which is not only an injury to the exoskeleton equipment itself, but also a potential safety hazard to other equipment in the production environment.
  • the shoulder frame of a traditional passive shoulder assisted exoskeleton is often designed by using one or more vertical rotation axes. This method of vertical rotation makes the shoulder frame structure must be placed on the human shoulder or requires a complex multi-axis system for the back.
  • the shoulder frame structure above the shoulder has the possibility of collision with the head movement of the human body, and there is a hidden safety hazard. Such shoulder frames themselves add extra weight.
  • the multi-axis system is highly complex. Although there is no mechanical structure above the shoulders, it increases the number of parts at the back of the body and the volume of the exoskeleton. Because the back is too large, there are also safety risks of crickets and collisions.
  • the purpose of the present invention is to provide a simple structure, which drives the part away from moving parts such as shoulders and arms, increases stability, reduces parts of shoulders and arms, has a light weight overall, and does not interfere with other related equipment during application. Does not have any impact on the operator himself, using flexible and reliable wearable shoulders to help exoskeleton.
  • the wearable shoulder-assisted exoskeleton of the present invention includes a wearable part, a symmetrically arranged support part connected to the wearable part, a symmetrically arranged arm mechanism connected to the upper end of each support part, and a coil spring type connected to the arm mechanism.
  • a driving mechanism; the coil spring driving mechanism is arranged at the rear of the belt in the wearing part, and the pulling wire generating the boost in the coil spring driving mechanism is located in the wire tube, and the end of the wire is connected with the arm mechanism.
  • the arm mechanism includes a support arm. One end of the support arm is connected with a supporting frame for supporting the arm. The other end of the support arm is rotatably connected to one end of the swing arm through the support arm shaft, and the other end of the swing arm is connected to the swing arm shaft. One end of the arm is rotatably connected, and the other end of the connecting arm is rotatably connected to a sprocket wheel. A sprocket wheel hood on the outside of the sprocket wheel is connected to the connecting arm.
  • a connecting frame is fixedly connected to the side of the connecting arm, and the connecting frame is provided with a connecting hole;
  • a bracket is connected to the end of the connecting arm;
  • the sleeve is mounted on the bracket through a pair of shoulder bearings; and the upper end of the sleeve is screwed with An axially locked upper nut, the lower end of the sleeve is threadedly connected to the lower nut of the fixed end of the cable;
  • the pull wire connected to the arm mechanism passes through the center hole of the lower nut, the sleeve, and the upper nut, and bypasses
  • the rear end of the pulley is connected to the hanging shaft through a connecting piece, and the hanging shaft is connected to the end of the swing arm;
  • the cable tube is located between the sleeve and the coil spring drive mechanism;
  • the arm mechanism is connected through the connection frame and the connection hole and pin
  • the shaft is rotatably connected to the mounting frame, and the mounting frame is fixed. Connect
  • the coil spring driving mechanism includes a coil spring shell, the coil spring shell is provided with an opening, the coil spring is located in the coil spring shell, the outer end of the coil spring is hooked on the opening, and one side of the coil spring shell is provided with a left shell cover. On the other side, there is a right shell cover, a left bearing is provided at the center hole of the left shell cover, and a right bearing is provided at the center hole of the right shell cover; a gland is fixed on the coil spring shell by screws, and a pull wire is wound around the coil spring. The outer circumference of the shell and the end are fixed and pressed on the coil spring shell by a gland;
  • the coil spring shell is located in the shell composed of the shell and the shell cover, and the connection seat is fixedly clamped between the shell and the upper side of the shell cover.
  • the connection seat is screwed with a connection pipe, and the upper end of the connection pipe is screwed with a wire nut.
  • the mounting ear is connected to the shell, and the mounting ear is connected with the lower end of the bracket in the support part through the pole seat;
  • the mounting plate is fixed on the shell, and the shell cover A connection plate is fixed, and the coil spring driving mechanism is connected with the belt through the installation plate and the connection plate;
  • a rotatable coil spring shaft is inserted in the center hole of the shell and the shell cover, the middle part of the coil spring shaft is inserted into the inner hole of the left bearing and the right bearing, and the inner end of the coil spring is inserted into the longitudinal groove on the coil spring shaft;
  • One end of the spring shaft extends to the outside of the housing, and a ratchet is mounted on the outer end of the coil spring shaft.
  • a pawl matching the ratchet is connected to the outer surface of the housing through a pawl shaft, and a toggle handle is connected to one end of the pawl. .
  • the wearable shoulder assisted exoskeleton of the present invention simplifies the overall structure, has fewer parts of the shoulder and arm parts, and is light in weight. At the same time, it guarantees the user's movements in the directions of freedom and flexibility.
  • the related equipment around the operator and the operator do not have any interference phenomenon, which overcomes the potential safety hazards mentioned in the prior art.
  • FIG. 1 is a schematic rear view of a three-dimensional structure according to an embodiment of the present invention.
  • FIG. 2 is a schematic front view of a three-dimensional structure according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a horizontal extension arm when the present invention is used.
  • FIG. 4 is a schematic structural diagram of a forward raising arm when the present invention is used.
  • FIG. 5 is a schematic perspective view of a three-dimensional structure of an arm mechanism and a coil spring driving mechanism connected to the arm mechanism in a specific embodiment of the present invention.
  • FIG. 6 is a schematic diagram of part A shown in FIG. 5.
  • FIG. 7 is a schematic diagram of part B shown in FIG. 5.
  • FIG. 8 is a schematic cross-sectional view of a portion C shown in FIG. 7.
  • FIG. 9 is an exploded perspective view of a coil spring and a coil spring shell in a coil spring drive mechanism part according to a specific embodiment of the present invention.
  • FIG. 10 is an exploded perspective view of a coil spring drive mechanism according to a specific embodiment of the present invention.
  • the wearable shoulder-assisted exoskeleton of the present invention includes a wearable part, a symmetrically arranged support part connected to the wearable part, a symmetrically arranged arm mechanism connected to the upper end of each support part, and Coil spring drive mechanism with arm mechanism connected.
  • the wearing part includes a waist belt 50.
  • the inside of the back of the waist belt 50 is connected to the lower end of the strap 53.
  • the upper part of the strap 53 has a back plate 54.
  • the upper side of the back plate 54 is connected to two symmetrical shoulder straps 56 and the other end of the shoulder strap 56 It is connected to the middle of the back side of the waistband 50, and the shoulder strap 56 is provided with an adjusting buckle for adjusting the length.
  • two sets of coil spring drive mechanisms are provided at the rear of the waist belt 50 in the wearing portion, a mounting seat 51 is fixed to the outside of the rear portion of the waist belt 50, and a support plate 60 is provided in the mounting seat 51
  • the mounting plate 41 connected to the coil spring drive mechanism housing 33 is fixedly connected to the support plate 60 through the pressure plate 52 and screws.
  • the connecting plate 40 connected to the casing in the coil spring driving mechanism is relatively fixedly connected to the waist belt 50.
  • the support portion includes two support rods 57 arranged symmetrically, and a telescopic adjusting member 44 is provided in the middle portion of the support rod 57 for adjusting the length of the support rod 57.
  • the lower end of the supporting rod 57 is rotatably connected with the mounting ear 32 through the supporting rod seat 59 and the pin shaft.
  • the mounting ear 32 is connected to the casing 33 in the coil spring driving mechanism.
  • the bent rear end of the upper end of the support rod 57 is rotationally connected to the connecting frame 6 through the connecting hole 7 through the mounting frame 58 and the pin shaft.
  • the connecting frame 6 is fixed on the connecting arm 10 in the arm mechanism, and the connecting frame 6 is a connecting member between the arm mechanism and the support rod 57.
  • An assisted pulling wire 27 in the coil spring driving mechanism is located in the pulling pipe 34, and the end of the pulling wire 27 is connected to the arm mechanism.
  • the arm mechanism includes a support arm 2, and one end of the support arm 2 is connected with a support frame 1 that supports the arm.
  • the other end of the arm 2 is rotatably connected to one end of the swing arm 4 through the arm shaft 3.
  • the other end of the swing arm 4 is rotatably connected to one end of the connecting arm 10 through the swing arm shaft 5.
  • the other end of the connecting arm 10 is rotatably connected with a pulley 8 around which a pull wire 27 is connected, and a pulley cover 42 covering the outside of the pulley 8 is connected to the connecting arm 10.
  • the rotation axis of the mounting wheel 8 is parallel to the rotation axis 5, and the rotation axis 5 is perpendicular to the support axis 3.
  • connection frame 6 is fixedly connected to the side of the connection arm 10.
  • the connection frame 6 is provided with a connection hole 7 for connection with the mounting frame 58 at the end of the support rod 57.
  • a right-angled bracket 9 is connected to the end of the connecting arm 10, and the sleeve 12 is mounted on the bracket 9 through a pair of shoulder bearings 13. The upper end of the sleeve 12 is screw-connected with an axially locked upper nut 14.
  • the sleeve 12 The lower end is threadedly connected with the lower nut 11 for fixing the end of the cable 34; the pull wire 27 connected to the arm mechanism passes through the center hole of the lower nut 11, the sleeve 12, and the upper nut 14, and bypasses the wheel 8 The end is connected to the hanging shaft 43 through a connecting member, and the hanging shaft 43 is connected to the end of the rotary arm 4.
  • the wire drawing tube 34 is located between the sleeve 12 and the coil spring driving mechanism.
  • the arm mechanism is rotatably connected to the mounting frame 58 through the connection frame 6 and the connection hole 7 and the pin.
  • the mounting frame 58 is fixedly connected to the upper end of the support rod 57 in the support portion.
  • the coil spring drive mechanism includes a coil spring housing 20, which is provided with an opening 45, the coil spring 22 is located inside the coil spring housing 20, and the outer spring end 25 of the coil spring is hooked on the opening 45
  • a left bearing 24 is provided at the center hole of the left case cover 23, and a right bearing is provided at the center hole of the right case cover 28. 29.
  • a gland 26 is fixed on the coil spring shell 20 by screws, a pull wire 27 is wound around the outer circumference of the coil spring shell 20 and the end is fixed and compressed on the coil spring shell 20 through the gland 26.
  • the coil spring housing 20 is located in a housing composed of the housing 33 and the housing cover 38.
  • the connection base 37 is fixedly clamped between the housing 33 and the upper side of the housing cover 38.
  • a connection pipe 36 is connected to the connection base 37 by screwing.
  • the upper end is threadedly connected with a female screw 35, and the pulling wire 27 passes through the central hole of the connecting seat 37, the connecting pipe 36, and the female screw 35.
  • Mounting ears 32 are connected to the housing 33, and the mounting ears 32 are in contact with the lower end of the bracket 57 in the supporting portion through a support rod seat 59.
  • a mounting plate 41 is fixed to the casing 33, and a connection plate 40 is fixed to the casing cover 38.
  • the coil spring driving mechanism is connected to the waist belt 50 through the mounting plate 41 and the connection plate 40.
  • a rotatable coil spring shaft 31 is inserted in the center hole of the housing 33 and the housing cover 38.
  • the middle of the coil spring shaft 31 is inserted into the inner hole of the left bearing 24 and the right bearing 29, and the inner end 21 of the coil spring is inserted into the coil spring shaft 31.
  • One end of the coil spring shaft 31 extends to the outside of the housing 33, and the outer end of the coil spring shaft 31 is equipped with a ratchet.
  • a pawl matching the ratchet is connected to the outer surface of the housing 33 through a pawl shaft 46.
  • One end is connected with a dial handle 47.
  • the shoulder-assisted exoskeleton is installed on the operator's upper body and shoulder arm through the wearing part, and the pretension of the pull wire 27 can be adjusted by hand to move the handle 47 to disengage the pawl from the ratchet, and then turn the ratchet and ratchet Rotation can drive the coil spring shaft 31 to rotate, so that the coil spring 22 is tightened or loosened, so as to adjust the tension of the pull wire 27.
  • Figures 3 and 4 After wearing, the swivel arm 4 can be pulled through the pull wire 27 so that the swivel arm 4 has an upward force to form an assist force.
  • the operator can switch between the lateral outrigger and the forward outrigger at will. It has a simple structure, the driving part is away from the shoulder, arm and other moving parts, which increases stability and reduces the parts of the shoulder and arm.
  • the overall weight is light, and it does not interfere with other related equipment during the application process, and does not affect the operator himself. , The advantages of flexible and reliable use.

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Abstract

一种可穿戴肩部助力外骨骼，包括穿戴部分、与穿戴部分相接的对称设置的支撑部分、连接在每个支撑部分上端的对称设置的手臂机构、与手臂机构相接的卷簧式驱动机构；卷簧式驱动机构设置在穿戴部分中的腰带（50）的后部，卷簧式驱动机构中产生助力的拉线（27）位于拉线管（34）内，拉线（27）的端头与手臂机构相接。具有结构简单，驱动部分离开肩、臂等活动部位，增加稳定性，减少肩、臂部位的部件，整体质量轻，应用过程中不与其他相关设备发生干涉现象，也不对操作者自身产生任何影响，使用灵活可靠的优点。

Description

可穿戴肩部助力外骨骼 技术领域
本发明涉及一种可穿戴肩部助力外骨骼，是一种利用弹性元件为人体手臂提供支撑力的设备。
背景技术
目前，肩部助力无源外骨骼是一种利用弹性元件为人体手臂提供支撑力的设备。其特点在于不需要任何能源输入，仅通过弹性元件的应用以及机械结构设计实现了对人体手臂提供向上的全范围支撑力。因为该类外骨骼需要配合人体手臂以及肩部的运动，所以需要与人体肩部相同的自由度以及灵活性。否则将会对穿戴者的运动产生阻碍以此导致了不适感甚至影响功能性。整体设备还应该紧贴于人体，防止突出人体的机械结构与工作环境中其他物体发生刮碰。外骨骼整体设计上还需考虑人体工学问题，防止设备与穿戴者身体各部位发生碰撞。生产过程中该设备需要长时间穿戴，因此该设备应进行结构优化来降低重量，防止穿戴疲劳。
传统无源肩部助力外骨骼设备的弹性驱动装置大多置于肩膀处，其驱动装置内包含了驱动所需的机械结构以及拉簧，压簧，卷簧或气弹簧等弹性驱动元件。整体驱动设备的重量都集中于需要在使用过程中不断移动的部位，由于惯性原因增加的了移动阻力以及降低了移动过程中的稳定性。驱动装置的体积使得肩部装置具有剐蹭的可能性，既是对外骨骼设备本身的损伤，也会对生产环境中其他设备造成安全隐患。
传统无源肩部助力外骨骼的肩部框架往往采用通过一个或多个竖直方向的转轴方式进行设计。竖直转轴这种方式使得肩部框架结构必须置于人体肩膀之上或者需要复杂的多轴系统至于背部。肩部上方的肩部框架结构存在着与人体头部运动产生碰撞的可能性，存在着安全隐患。此类肩部框架本身也增加了额外的重量。多轴式系统复杂程度高，虽然肩部上方不存在机械结构，但是却增加了身体后部的零件数量以及外骨骼的空间体积。由于背部延伸过大同样存在着剐蹭以及碰撞的安全隐患。
发明内容
本发明的目的是提供一种结构简单，驱动部分离开肩、臂等活动部位，增加稳定性，减少肩、臂部位的部件，整体质量轻，应用过程中不与其他相关设备发生干涉现象，也不对操作者自身产生任何影响，使用灵活可靠的可穿戴肩部助力外骨骼。
本发明的可穿戴肩部助力外骨骼，包括穿戴部分、与穿戴部分相接的对称设置的支 撑部分、连接在每个支撑部分上端的对称设置的手臂机构、与手臂机构相接的卷簧式驱动机构；所述的卷簧式驱动机构设置在穿戴部分中的腰带的后部，卷簧式驱动机构中产生助力的拉线位于拉线管内，拉线的端头与手臂机构相接。
所述的手臂机构包括支臂，支臂的一端连接有托起手臂的支撑框架，支臂的另一端通过支臂轴与转臂的一端转动连接，转臂的另一端通过转臂轴与连接臂的一端转动连接，在连接臂的另一端转动连接有过轮，罩在过轮外侧的过轮罩连接在连接臂上，过轮的转轴与转臂轴平行，转臂轴与支臂轴垂直；在连接臂的侧面固定连接有连接架，连接架上设有连接孔；在连接臂的端头连接有支架，套管通过一对带肩轴承安装在支架上，套管上端螺纹连接有轴向锁紧的上螺帽，套管下端螺纹连接有固定拉线管端头的下螺帽；与手臂机构相接拉线穿过下螺帽、套管、上螺帽的中心孔，并且绕过过轮后端头通过连接件挂接在挂轴上，挂轴连接在转臂的端头上；拉线管位于套管和卷簧式驱动机构之间；手臂机构通过连接架和连接孔及销轴转动连接在安装架上，安装架固定连接在支撑部分中的支杆上端。
所述的卷簧式驱动机构包括卷簧壳，卷簧壳上设有开口，卷簧位于卷簧壳内，卷簧外端头钩挂在开口上，卷簧壳的一侧有左壳盖，另一侧有右壳盖，在左壳盖中心孔处设有左轴承，在右壳盖中心孔处设有右轴承；在卷簧壳上通过螺钉固定有压盖，拉线绕在卷簧壳外圆周上并且端头通过压盖固定压紧在卷簧壳上；
卷簧壳位于外壳和外壳盖组成的壳体内，连接座固定夹持在外壳和外壳盖的上边之间，在连接座上螺纹连接有连接管，连接管的上端螺纹连接有丝母，拉线穿过连接座、连接管、丝母的中心孔；在外壳上连接有安装耳，安装耳与支撑部分中的支架的下端通过支杆座相接；在外壳上固定有安装板，在外壳盖上固定有连接板，卷簧式驱动机构通过安装板和连接板与腰带相接；
在外壳和外壳盖中心孔处插装有可转动的卷簧轴，卷簧轴的中部插入左轴承和右轴承的内孔，卷簧内端头插入卷簧轴上的纵向沟槽内；卷簧轴的一端伸到外壳的外侧，并且卷簧轴的外端头上装有棘轮，与棘轮相配的棘爪通过棘爪轴转动连接在外壳的外侧面上，棘爪的一端接有拨动手柄。
所述的支撑部分上部与穿戴部分中的臂带之间有捆绑带。
本发明的可穿戴肩部助力外骨骼，与现有技术相比简化了整体结构，肩、臂部分的部件少，质量轻，同时保证了使用者在各自由度方向上的动作，灵活可靠，与操作者周边的相关设备和操作者自身不发生任何干涉现象，克服了现有技术中所提及的安全隐患。
附图说明
图1是本发明具体实施方式的立体结构后侧视示意图。
图2是本发明具体实施方式的立体结构前侧视示意图。
图3是本发明使用时横向展臂的结构示意图。
图4是本发明使用时向前抬臂的结构示意图。
图5是本发明具体实施方式中手臂机构、与手臂机构相接的卷簧式驱动机构立体结构示意图。
图6是图5所示的A部示意图。
图7是图5所示的B部示意图。
图8是图7所示的C部剖视示意图。
图9是本发明具体实施方式的卷簧式驱动机构部分中的卷簧及卷簧壳的立体分解示意图。
图10是本发明具体实施方式的卷簧式驱动机构部分的立体分解示意图。
具体实施方式
如图1～4所示：本发明的可穿戴肩部助力外骨骼，包括穿戴部分、与穿戴部分相接的对称设置的支撑部分、连接在每个支撑部分上端的对称设置的手臂机构、与手臂机构相接的卷簧式驱动机构。
其中穿戴部分包括腰带50，腰带50的后部内侧与背带53的下端相接，背带53的上部有背板54，背板54上边与连接两个对称的肩带56，肩带56的另一端连接在腰带50的后侧中部，肩带56上设有调节长短的调节卡扣。
如图1、3、4所示：两组卷簧式驱动机构设置在穿戴部分中的腰带50的后部，在腰带50的后部外侧固定有安装座51，安装座51内有支板60，卷簧式驱动机构外壳33上连接的安装板41通过压板52和螺钉与支板60固定连接。卷簧式驱动机构中外壳上连接的连接板40与腰带50相对固定连接。
支撑部分包括两根对称设置的支杆57，支杆57的中间部分设有伸缩调整件44，用于调节支杆57的长度。支杆57的下端通过支杆座59和销轴与安装耳32转动连接，安装耳32连接在卷簧式驱动机构中外壳33上。
支杆57上端折弯后端头通过安装架58和销轴，利用连接孔7与连接架6转动连接。连接架6固定在手臂机构中的连接臂10上，连接架6是手臂机构与支杆57的连接件。
卷簧式驱动机构中产生助力的拉线27位于拉线管34内，拉线27的端头与手臂机构相接。
如图5、6、7、8所示：手臂机构包括支臂2，支臂2的一端连接有托起手臂的支撑框架1。支臂2的另一端通过支臂轴3与转臂4的一端转动连接。转臂4的另一端通过转臂轴5与连接臂10的一端转动连接。在连接臂10的另一端转动连接有绕拉线27的过轮8，罩在过轮8外侧的过轮罩42连接在连接臂10上。安装过轮8的转轴与转臂轴5平行，转臂轴5与支臂轴3垂直。
在连接臂10的侧面固定连接有连接架6，连接架6上设有连接孔7，用于与支杆57端头的安装架58的连接。在连接臂10的端头连接有直角状的支架9，套管12通过一对带肩轴承13安装在支架9上，套管12上端螺纹连接有轴向锁紧的上螺帽14，套管12下端螺纹连接有固定拉线管34端头的下螺帽11；与手臂机构相接拉线27穿过下螺帽11、套管12、上螺帽14的中心孔，并且绕过过轮8后端头通过连接件挂接在挂轴43上，挂轴43连接在转臂4的端头上。拉线管34位于套管12和卷簧式驱动机构之间。手臂机构通过连接架6和连接孔7及销轴转动连接在安装架58上，安装架58固定连接在支撑部分中的支杆57上端。
如图9、10所示：卷簧式驱动机构包括卷簧壳20，卷簧壳20上设有开口45，卷簧22位于卷簧壳20内，卷簧外端头25钩挂在开口45上，卷簧壳20的一侧有左壳盖23，另一侧有右壳盖28，在左壳盖23中心孔处设有左轴承24，在右壳盖28中心孔处设有右轴承29。在卷簧壳20上通过螺钉固定有压盖26，拉线27绕在卷簧壳20外圆周上并且端头通过压盖26固定压紧在卷簧壳20上。
卷簧壳20位于外壳33和外壳盖38组成的壳体内，连接座37固定夹持在外壳33和外壳盖38的上边之间，在连接座37上螺纹连接有连接管36，连接管36的上端螺纹连接有丝母35，拉线27穿过连接座37、连接管36、丝母35的中心孔。在外壳33上连接有安装耳32，安装耳32与支撑部分中的支架57的下端通过支杆座59相接。在外壳33上固定有安装板41，在外壳盖38上固定有连接板40，卷簧式驱动机构通过安装板41和连接板40与腰带50相接。
在外壳33和外壳盖38中心孔处插装有可转动的卷簧轴31，卷簧轴31的中部插入左轴承24和右轴承29的内孔，卷簧内端头21插入卷簧轴31上的纵向沟槽30内。卷簧轴31的一端伸到外壳33的外侧，并且卷簧轴31的外端头上装有棘轮，与棘轮相配的棘爪通过棘爪轴46转动连接在外壳33的外侧面上，棘爪的一端接有拨动手柄47。
支撑部分中的支杆57上部与穿戴部分中的臂带56之间有捆绑带55，防止支杆57倾斜。
使用时，通过穿戴部分将肩部助力外骨骼安装于操作者上身及肩臂部，调整拉线27的预紧力可手搬拨动手柄47，使棘爪与棘轮解除啮合，然后转动棘轮，棘轮转动可带动卷簧轴31转动，使卷簧22卷紧或变松，达到调整拉线27的拉力的目的。如图3、4所示：穿戴后可通过拉线27提拉转臂4，使转臂4有一个向上的力，形成助力。由于有安装架58和连接架6的转动连接，操作者可在横向伸臂和前向伸臂之间随意转换。具有结构简单，驱动部分离开肩、臂等活动部位，增加稳定性，减少肩、臂部位的部件，整体质量轻，应用过程中不与其他相关设备发生干涉现象，也不对操作者自身产生任何影响，使用灵活可靠的优点。

Claims (4)

  1. 一种可穿戴肩部助力外骨骼，包括穿戴部分、与穿戴部分相接的对称设置的支撑部分、连接在每个支撑部分上端的对称设置的手臂机构、与手臂机构相接的卷簧式驱动机构；其特征在于:所述的卷簧式驱动机构设置在穿戴部分中的腰带(50)的后部，卷簧式驱动机构中产生助力的拉线(27)位于拉线管(34)内，拉线(27)的端头与手臂机构相接。
  2. 根据权利要求1所述的可穿戴肩部助力外骨骼，其特征在于：所述的手臂机构包括支臂(2)，支臂(2)的一端连接有托起手臂的支撑框架(1)，支臂(2)的另一端通过支臂轴(3)与转臂(4)的一端转动连接，转臂(4)的另一端通过转臂轴(5)与连接臂(10)的一端转动连接，在连接臂(10)的另一端转动连接有过轮(8)，罩在过轮(8)外侧的过轮罩(42)连接在连接臂(10)上，过轮(8)的转轴与转臂轴(5)平行，转臂轴(5)与支臂轴(3)垂直；在连接臂(10)的侧面固定连接有连接架(6)，连接架(6)上设有连接孔(7)；在连接臂(10)的端头连接有支架(9)，套管(12)通过一对带肩轴承(13)安装在支架(9)上，套管(12)上端螺纹连接有轴向锁紧的上螺帽(14)，套管(12)下端螺纹连接有固定拉线管(34)端头的下螺帽(11)；与手臂机构相接拉线(27)穿过下螺帽(11)、套管(12)、上螺帽(14)的中心孔，并且绕过过轮(8)后端头通过连接件挂接在挂轴(43)上，挂轴(43)连接在转臂(4)的端头上；拉线管(34)位于套管(12)和卷簧式驱动机构之间；手臂机构通过连接架(6)和连接孔(7)及销轴转动连接在安装架(58)上，安装架(58)固定连接在支撑部分中的支杆(57)上端。
  3. 根据权利要求2所述的可穿戴肩部助力外骨骼，其特征在于：所述的卷簧式驱动机构包括卷簧壳(20)，卷簧壳(20)上设有开口(45)，卷簧(22)位于卷簧壳(20)内，卷簧外端头(25)钩挂在开口(45)上，卷簧壳(20)的一侧有左壳盖(23)，另一侧有右壳盖(28)，在左壳盖(23)中心孔处设有左轴承(24)，在右壳盖(28)中心孔处设有右轴承(29)；在卷簧壳(20)上通过螺钉固定有压盖(26)，拉线(27)绕在卷簧壳(20)外圆周上并且端头通过压盖(26)固定压紧在卷簧壳(20)上；
    卷簧壳(20)位于外壳(33)和外壳盖(38)组成的壳体内，连接座(37)固定夹持在外壳(33)和外壳盖(38)的上边之间，在连接座(37)上螺纹连接有连接管(36)，连接管(36)的上端螺纹连接有丝母(35)，拉线(27)穿过连接座(37)、连接管(36)、丝母(35)的中心孔；在外壳(33)上连接有安装耳(32)，安装耳(32)与支撑部分中的支架(57)的下端通过支杆座(59)相接；在外壳(33)上固定有安装板(41)，在外壳盖(38)上固定有连接板(40)，卷簧式驱动机构通过安装板(41)和连接板(40)与腰带(50)相接；
    在外壳(33)和外壳盖(38)中心孔处插装有可转动的卷簧轴(31)，卷簧轴(31)的中部插入左轴承(24)和右轴承(29)的内孔，卷簧内端头(21)插入卷簧轴(31)上的纵向沟槽(30)内；卷簧轴(31)的一端伸到外壳(33)的外侧，并且卷簧轴(31)的外端头上装有棘轮，与棘轮相配的棘爪通过棘爪轴(46)转动连接在外壳(33)的外侧面上，棘爪的一端接有拨动手柄(47)。
  4. 根据权利要求3所述的可穿戴肩部助力外骨骼，其特征在于：所述的支撑部分上部与穿戴部分中的臂带(56)之间有捆绑带(55)。
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