WO2023213044A1 - 一种无源手臂助力外骨骼 - Google Patents

一种无源手臂助力外骨骼 Download PDF

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Publication number
WO2023213044A1
WO2023213044A1 PCT/CN2022/124065 CN2022124065W WO2023213044A1 WO 2023213044 A1 WO2023213044 A1 WO 2023213044A1 CN 2022124065 W CN2022124065 W CN 2022124065W WO 2023213044 A1 WO2023213044 A1 WO 2023213044A1
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WIPO (PCT)
Prior art keywords
arm
support rod
power
sleeve
assistance
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PCT/CN2022/124065
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English (en)
French (fr)
Inventor
曾贤根
刘紫敬
王锋利
黎领
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湖南固工机器人有限公司
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Application filed by 湖南固工机器人有限公司 filed Critical 湖南固工机器人有限公司
Publication of WO2023213044A1 publication Critical patent/WO2023213044A1/zh

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    • 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

Definitions

  • the present invention relates to the technical field of exoskeletons, specifically a passive arm-assisted exoskeleton.
  • a mechanical exoskeleton is a device that assists the human body outside the body.
  • exoskeletons are gradually developing from the medical rehabilitation field to the industrial field.
  • exoskeletons can be divided into shoulder-assisted exoskeletons, waist-assisted exoskeletons, and weight-bearing exoskeletons.
  • power source it can be divided into powered exoskeleton and passive exoskeleton.
  • Powered exoskeleton can achieve greater power assistance by designing motors or cylinders, but it is larger and less comfortable, so it is not suitable for the above scenarios; passive exoskeleton
  • the exoskeleton uses energy storage components such as springs, elastic bands and other components to achieve power assistance.
  • the present invention provides a passive arm-assisted exoskeleton that does not require external power drive, has a simple structure, is easy to disassemble and assemble, is easy to maintain, and can be industrialized.
  • a passive arm assist exoskeleton which includes a wearing component, a support rod and an arm assist component.
  • the bottom of the support rod is provided with a rotationally connected positioning device.
  • the positioning device Detachably installed on the wearing component, the top of the support rod is hinged with the arm assist component, and the arm assist component transmits assist force to the user's arm through the connected arm cuff.
  • the arm power-assist assembly includes a power-assist generator, a power-assist regulator and a telescopic sleeve hinged to the top of the support rod through a hinge seat.
  • the power-assist regulator includes an adjustment block located at one end of the telescopic sleeve.
  • the sheave on the telescopic sleeve and the adjusting knob drive the adjusting block to slide in the telescopic sleeve.
  • the power generator includes a steel wire rope and an elastic element located at the other end of the telescopic sleeve.
  • the head of the wire rope and the elastic element are at the end far away from the adjusting block.
  • the pressure block is fixedly connected, the end of the wire rope passes through the sheave and is fixedly connected to the support rod, and the power generator, hinge seat and power regulator are arranged along the same center line.
  • the telescopic sleeve includes an adjusting sleeve, a spring sleeve and a sliding sleeve connected in sequence.
  • the connecting ends of the adjusting sleeve and the spring sleeve are both sleeved in the hinge seat.
  • the spring sleeve The other end is set in the sliding sleeve, and the sliding sleeve is adjusted and fixed with the spring sleeve through the locking piece.
  • the sliding sleeve is provided with a waist-shaped hole, and the locking piece passes through the waist-shaped hole.
  • the hole is connected to an end cap set at the other end of the spring sleeve.
  • An arm cuff that wraps the user's arm is connected to the outside of the sliding sleeve, and the arm cuff and the sliding sleeve have relative rotational freedom.
  • the elastic element is installed inside the spring sleeve, and the adjusting block is installed inside the adjusting sleeve and slides in the adjusting sleeve.
  • the support rod includes support rod one, support rod two and support rod three that are connected in sequence.
  • the bottom of the support rod is rotatably connected to the positioning device through a joint bearing or a spring coupling, and the upper edge of the support rod is The axis is provided with a plurality of fixing holes.
  • the support rod 2 expands and contracts through the cooperation of the elastic pins provided with the fixing holes at different positions on the support rod 1.
  • the bottom of the support rod 3 is connected to the end of the support rod 2 away from the support rod 1. , the three tops of the support rod are hinged with the arm assist component.
  • the wearing component includes a belt, and a mounting belt with a wide middle and narrow ends is provided on the outside of the belt.
  • the positioning device includes a base that is rotationally connected to the bottom of the support rod, a spring plunger, and C-shaped straps located on both sides of the base.
  • the mounting belt is provided with several positioning holes for adjusting the position of the base. The base is limited by the C-shaped buckles on both sides of the mounting belt and is pressed into the positioning holes by a spring plunger to fix it.
  • the elastic element is a compression spring or a gas spring.
  • the support rods and arm assist components are arranged in two groups, and are symmetrically located on both sides with the spine as the midline.
  • the arm cuff is a plastic product, and a sponge pad is provided inside the arm cuff.
  • the outer periphery of the arm cuff wraps the user's arm with a magnetic buckle.
  • the arm cuff is provided with a quick disassembly interface connected to the sliding sleeve.
  • the belt is connected and fixed by adjusting buckles.
  • the present invention has the following beneficial effects:
  • the present invention uses elastic elements as energy storage elements to provide constant support force for human arms, uses fixed-length steel wire ropes to connect the elastic elements and support rods, and the steel wire ropes roll on the sheaves, so it can be used without any power source. It can provide constant upward support force to the human arm through a simple mechanical structure, reducing the labor intensity of workers. At the same time, the structure conforms to ergonomics, making the exoskeleton flexible, comfortable and practical;
  • the support rod of the present invention is provided with a joint bearing or spring coupling at the bottom and a hinge seat at the top, which can satisfy the freedom of the arm at any angle without affecting the user's flexibility.
  • the arm assist assembly The built-in elastic element structure provides assistance in the same direction as the arm is lifted, transferring part of the gravity on the hand from the user's arm to the arm cuff, then to the support rod, and finally from the base to the user's waist, thereby reducing the user's weight. load on the arms;
  • the shape of the installation belt is designed to be wide in the middle and narrow at both ends, so that the C-shaped buckles on both sides of the base can be inserted from both ends of the installation belt respectively during installation. Move relative to each other until the two sides of the base become one, and the two ends of the C-shaped buckle engage the installation belt to limit the position. After adjusting to the appropriate position, press the spring plunger into the corresponding positioning hole to connect the base and the installation belt. No external tools are required for fixation and disassembly. Just pull up the elastic plunger and move the base to both ends of the installation belt to quickly disassemble the base and the installation belt, thereby quickly detaching other structures connected to the base. belt;
  • the adjusting block of the present invention slides in the adjusting sleeve by adjusting the knob, and provides different amounts of assistance by adjusting the arm distance of the elastic element end at different positions of the adjusting block, thereby generating an upward supporting force for the arm that overcomes the gravity of the arm. , to avoid muscle soreness caused when the arm is raised and kept fixed for a long time;
  • the belt of the present invention is connected and fixed by adjusting the buckle, and the length can be adjusted according to the body shape. After being fixed, the device is close to the waist, thereby providing strong fixed support to the device, and the expansion and contraction of the support rod and telescopic sleeve can meet the requirements
  • the size requirements of different body types can be adapted to a wide range;
  • the present invention realizes equipment modularization by designing a quick disassembly and assembly interface, which has strong storage properties and facilitates users to complete their own wearing;
  • the invention has a simple overall structure, small size and light weight, is easy to carry, can be quickly disassembled and assembled, is easy to maintain, and is suitable for industrialization.
  • Figure 1 is a schematic diagram of wearing the present invention
  • Figure 2 is a schematic diagram of the structural connection of the present invention.
  • Figure 3 is an enlarged schematic diagram of point A in Figure 2;
  • Figure 4 is a schematic diagram of the installation of the arm assist component of the present invention.
  • Figure 5 is a cross-sectional view of the internal structure of the arm assist component of the present invention.
  • Figure 6 is a schematic diagram of the elastic element providing power assistance.
  • a passive arm assist exoskeleton which includes a wearing component, a support rod 3 and an arm assist component.
  • the bottom of the support rod is provided with a rotationally connected positioning device.
  • the positioning device can be detachably installed on the wearable component.
  • the top of the support rod is connected to the arm assist component. Hinged through the hinge base, the arm assist component transmits assistance to the user's arm through the connected arm cuff 7.
  • the support rod and the arm assist component are set into two groups, and are symmetrically located on both sides with the spine as the midline.
  • the wearing component It includes a belt.
  • the belt is made of fabric material. It is connected and fixed by adjusting buckles. The length can be adjusted according to the user's body shape, so that the exoskeleton device can fit closely to the waist.
  • the installation belt 5 has a certain degree of rigidity.
  • the positioning device includes a base 6 that is rotationally connected to the bottom of the support rod, a spring plunger 11 and C-shaped buckles 12 located on both sides of the base.
  • the installation belt is provided with several positioning points for adjusting the position of the base. hole, used to adjust different positions of the base and limit the position.
  • the C-type buckle is used with the spring plunger to eliminate the torque generated by the base during use and ensure the stability of the base.
  • the two C-type buckles are installed from Insert the two ends of the strap and move relative to it on the installation strap until the two sides of the base fit together and adjust to the required position of the base.
  • the installation strap is clamped at both ends of the C-shaped buckle to limit the base. After the position is determined, The pin on the spring plunger is pressed into the corresponding positioning hole for fixation; no external assistance is required during disassembly. Simply pull up the spring plunger first, and then move the base to any end of the installation belt to achieve quick disassembly and assembly. .
  • the support rod includes support rod one 301, support rod two 302 and support rod three 303 that are connected in sequence. Support rod one and support rod two are both hollow cylindrical support rods. The bottom of support rod one rotates with the positioning device through the joint bearing 10. connected, because the spherical bearing can perform conical motion around the axis within a certain range.
  • the spring also has the same characteristics, that is to say, the spherical bearing can be replaced with a spring coupling, and the support rod is provided with multiple
  • the fixing holes 14 and the support rod 2 can be combined into support rods of different lengths through the cooperation of the elastic pins 15 provided with the fixing holes at different positions on the support rod 1 to meet the needs of different users with different heights.
  • the bottom of the support rod 3 is in contact with the support One end of rod two is connected away from support rod one and maintains relative rotation.
  • the top of support rod three is hinged with the arm assist component.
  • the bottom of specific support rod one is connected to one end of the joint bearing through a pin, and the other end of the joint bearing is connected to the base.
  • the support rod The three top parts are hinged with the arm assist component through a hinge seat.
  • a joint bearing or spring coupling is set at the bottom of the support rod and a hinge seat is set at the top, which can satisfy the freedom of the arm at any angle without affecting the user's flexibility.
  • the arm power-assist assembly includes a power-assist generator, a power-assist regulator and a telescopic sleeve 2 hinged to the top of the support rod through a hinge seat.
  • the power-assist regulator includes an adjustment block 25 located at one end of the telescopic sleeve, and a sheave located on the adjustment block. 8 and the adjustment knob 19 that drives the adjustment block to slide in the telescopic sleeve.
  • the power generator includes a steel wire rope 9 and an elastic element 20 located at the other end of the telescopic sleeve.
  • the elastic element used in this solution is a compression spring, which can also be replaced by a pneumatic spring.
  • the head of the spring and the wire rope are fixedly connected to the pressure block 21 at the end of the elastic element away from the adjustment block.
  • the end of the wire rope passes through the sheave and is fixedly connected to the support rod three, and the power generator, hinge seat and power regulator are along the same center line.
  • the telescopic sleeve includes an adjusting sleeve 201, a spring sleeve 202 and a sliding sleeve 203 that are connected in sequence.
  • One end of the adjusting sleeve and the spring sleeve are both sleeved in the hinge seat, and the other end of the spring sleeve is sleeved in the sliding sleeve.
  • a specific compression spring is installed inside the spring sleeve.
  • the adjusting block is installed inside the adjusting sleeve and slides in the adjusting sleeve. The sliding sleeve is adjusted and fixed with the spring sleeve through the locking piece 23.
  • the sliding The shaft sleeve is provided with a waist-shaped hole 24, and the locking piece passes through the waist-shaped hole and is connected to the end cover 22 set at the other end of the spring sleeve, so that the locking piece fixedly connected to the spring sleeve is positioned in the waist-shaped Different positions of the holes adapt to the arm lengths of users with different body types.
  • the sliding sleeve is connected to an arm cuff that wraps the user's arm.
  • the arm cuff is made of plastic. There is a sponge pad inside the arm cuff to enhance the user's comfort.
  • the arm cuff wraps the user's arm with a magnetic buckle. The magnetic buckle can be adjusted to fit the arms of users of different sizes, thereby better fixing it.
  • the arm cuff is also equipped with a sliding shaft sleeve connected to the arm cuff.
  • Quick disassembly and assembly interface, the quick disassembly and assembly interface can realize the modularization of the equipment, has strong storage capacity and facilitates the user to complete the wearing independently, and the arm cuff and the sliding shaft sleeve have relative rotational freedom, making it ideal for wearing the exoskeleton
  • the state is when the rotation center of the hinge seat is just flush with the shoulder joint, so that the arm is most comfortable to wear, that is, the arm swing angle is the same as the exoskeleton swing angle.
  • the support rod and the telescopic sleeve can be replaced with each other, and the same power-assisting effect can be achieved after replacement.
  • the weight of the human arm is about 4Kg.
  • the weight of the arm will vary with different body types.
  • One end is installed on the arm, and the other end is connected to the compression spring through a wire rope.
  • the compression spring The elastic force generated by compression provides support to the arm. Since the arm moves to different positions, the corresponding force arm and assist arm change. When the arm naturally droops, the angle between the arm and the support rod is approximately 20°. At this time, the direction of the tension of the wire rope is basically in the same line as the axis of the support rod. Although the compression spring is compressed to the maximum, the moment arm is 0, which basically does not produce support force for the arm.
  • the effect is that when there is no need to work, the arm can naturally Put it down, but as the arm is gradually raised, the angle gradually increases, and as the angle increases, the assistance to the arm gradually increases.
  • the deformation of the compression spring is not enough to generate force to support the arm, so the arm feels The force is relatively small.
  • the angle reaches 40°, it can basically generate enough support force to support the arm, which means that the set support force can be achieved. It is equivalent to moving the arm between 20° and 40°, and the support force generated is not enough to support the arm. weight, so the support force is relatively weak, so there is basically no sense of restraint.
  • the included angle reaches 45°, the assisting effect gradually becomes obvious.
  • the installation belt is first fixed on the belt through rivets, then the belt is tied according to the user's body shape and the arm cuff is fixed on the user's arm.
  • the C-shaped buckle is inserted from both ends of the installation belt and moves relative to it.
  • the two sides of the base are integrated with the base, determine the position of the base and press it into the positioning hole through the spring plunger to fix it. Then connect the base, support rod and telescopic sleeve and install the compression spring and steel wire rope.
  • the user adjusts the support rod and telescopic sleeve and fixes the telescopic sleeve with the arm cuff, and then rotates the adjustment knob according to the length of the arm, thereby driving the adjustment block to slide within the adjustment sleeve to provide appropriate assistance.
  • the arm assist component provides assistance in the same direction as the arm is lifted through the built-in spring structure, transferring part of the gravity on the hand from the user's arm to the arm cuff, then to the telescopic support rod, and finally from the base to the user's waist , to reduce the load on the user's arm.
  • the compression spring serves as an energy storage element to provide a constant upward support force for the user's arm.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种无源手臂助力外骨骼，其包括穿戴组件、支撑杆和手臂助力组件，支撑杆底部设有转动相连的定位装置，定位装置可拆卸安装于穿戴组件上，支撑杆顶部与手臂助力组件铰接，手臂助力组件包括助力发生器、助力调节器和与支撑杆顶部铰接的伸缩套管，助力调节器包括调节块、槽轮和调节旋钮，助力发生器包括钢丝绳和弹性元件，钢丝绳头部与弹性元件端部的压块固定相连，钢丝绳端部穿过槽轮与支撑杆固定相连，手臂助力组件通过手臂箍套将助力传递给使用者手臂。本发明无需外接动力源，直接为人体手臂提供恒定向上的支撑力，结构简单且符合人体工程学，便于拆装，同时能够通过助力调节器改变助力大小，实现外骨骼灵活、舒适以及实用性。

Description

一种无源手臂助力外骨骼
本申请要求于2022年5月6日提交中国专利局、申请号为202210488196.8、发明名称为“一种无源手臂助力外骨骼”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及外骨骼技术领域，具体说是一种无源手臂助力外骨骼。
背景技术
随着社会发展，社会开始逐渐步入老龄化，在一些如建筑、装修等行业自动化程度不高，需要大量体力劳动参与的场景里，又或者需要长时间保持托举姿势作业的场景里，中老年劳动者比例仍然占较高水平。这些劳动者由于年龄较大，体力有限，参与的工作体力又消耗较大，容易出现体力透支等现象，长时间工作后影响身体健康，轻则降低工作效率，严重则威胁生命安全。
机械外骨骼是一种在体外的辅助人体助力的设备。目前，外骨骼逐渐从医疗康复领域往工业领域发展。外骨骼根据功能分类可分为肩部助力外骨骼、腰部助力外骨骼以及负重外骨骼等。根据动力源分类可分为动力外骨骼和无源外骨骼，动力外骨骼通过设计电机或气缸等可实现较大的助力，但体积较大，舒适性较差，在上述场景不适用；无源外骨骼使用储能元件如弹簧、弹力带等元件实现助力。由于人体身体构造的原因，在抬升手臂时，不管手臂处于任何位置都是费力的，当手臂抬起尤其在手臂上有工具或者重物时，长时间后肩部肌肉容易出现疲劳，且现有的外骨骼没办快速拆卸和维修，给实际操作过程带来一定的不便。
发明内容
针对上述问题，本发明提供一种无需外部动力驱动、结构简单、便于拆卸和组装、维护方便、可产业化的无源手臂助力外骨骼。
本发明解决上述技术问题所采用的技术方案为：一种无源手臂助力外骨骼，包括穿戴组件、支撑杆和手臂助力组件，所述支撑杆底部设有转动相连的定位装置，所述定位装置可拆卸安装于穿戴组件上，所述支撑杆顶 部与手臂助力组件铰接，所述手臂助力组件通过相连的手臂箍套将助力传递给使用者手臂。
作为优选，所述手臂助力组件包括助力发生器、助力调节器和与支撑杆顶部通过铰链座铰接的伸缩套管，所述助力调节器包括设于伸缩套管内一端的调节块、设于调节块上的槽轮和带动调节块在伸缩套管内滑动的调节旋钮，所述助力发生器包括钢丝绳和设于伸缩套管内另一端的弹性元件，所述钢丝绳头部与弹性元件远离调节块的端部的压块固定相连，钢丝绳端部穿过槽轮与支撑杆固定相连，且所述助力发生器、铰链座和助力调节器沿同一中心线布置。
作为优选，所述伸缩套管包括依次相连的调节套管、弹簧套管和滑动轴套，所述调节套管和弹簧套管相接的一端均套设于铰链座内，所述弹簧套管另一端套设于滑动轴套内，所述滑动轴套通过锁紧件使其与弹簧套管进行调节并固定，且所述滑动轴套上设有腰型孔，锁紧件穿过腰型孔与弹簧套管另一端端部套设的端盖相连，所述滑动轴套外部连接有包裹使用者手臂的手臂箍套，且手臂箍套与滑动轴套之间具有相对转动的自由度，所述弹性元件安装于弹簧套管内部，所述调节块安装于调节套管内部且滑动于调节套管内。
作为优选，所述支撑杆包括依次相接的支撑杆一、支撑杆二和支撑杆三，所述支撑杆一底部通过关节轴承或弹簧联轴器与定位装置转动相连，且支撑杆一上沿轴线设有多个固定孔，所述支撑杆二通过设有的弹性销钉与支撑杆一上不同位置固定孔的配合进行伸缩，所述支撑杆三底部与支撑杆二远离支撑杆一的一端相连，所述支撑杆三顶部与手臂助力组件铰接。
作为优选，所述穿戴组件包括腰带，所述腰带外侧设有中间宽两头窄的安装带，所述定位装置包括与支撑杆底部转动相连的底座、弹簧柱塞和设于底座两侧的C型卡扣，所述安装带上设有数个调节底座位置的定位孔，所述底座通过两侧的C型卡扣卡合安装带进行限位并通过弹簧柱塞压入定位孔内固定。
作为优选，所述弹性元件为压簧或气弹簧。
作为优选，所述支撑杆和手臂助力组件均设为两组，且均以脊椎为中 线对称设于两侧。
作为优选，所述手臂箍套为塑制品，且手臂箍套内设有海绵垫，手臂箍套外围通过磁性卡扣包裹使用者手臂。
作为优选，所述手臂箍套上设有与滑动轴套相连的快速拆装接口。
作为优选，所述腰带通过调节卡扣进行连接固定。
与现有技术相比，本发明具有以下有益效果：
1、本发明利用弹性元件作为储能元件为人体手臂提供恒定支撑力，采用定长的钢丝绳连接弹性元件和支撑杆，且钢丝绳在槽轮上滚动，因而在不需要任何动力源的情况下即可通过简单的机械结构实现对人体手臂提供恒定向上的支撑力，降低工人劳动强度，同时结构符合人体工程学，实现外骨骼灵活、舒适以及实用性；
2、本发明支撑杆底部设置关节轴承或弹簧联轴器以及顶部设置铰链座，可满足手臂任意角度的自由度，不影响使用者的灵活性，当使用者的手臂抬高时，手臂助力组件通过内置的弹性元件结构提供与手臂抬起方向相同的助力，将手上的部分重力由使用者的手臂至手臂箍套，再到支撑杆，最后由底座传递至使用者腰部，实现减轻使用者手臂的承受负荷；
3、本发明的腰带外侧设有安装带，具有一定的刚性，安装带的形状设计为中间宽两头窄，便于安装时底座两侧的C型卡扣分别从安装带两头穿入，在安装带上相对运动至底座两侧合为一体并通过C型卡扣两端卡合安装带进行限位，调整到合适位置后再通过弹簧柱塞压入对应的定位孔，即可将底座与安装带进行固定，拆卸时不需要外力工具辅助，只需将弹性柱塞拔起，再将底座移动至安装带两头，即可实现底座与安装带的快速拆卸，从而将与底座相连的其他结构快速脱离腰带；
4、本发明的调节块通过调节旋钮使其在调节套管内滑动，通过使调节块在不同位置调节弹性元件端力臂距离实现提供不同大小的助力，从而对手臂产生克服手臂重力的向上支撑力，避免手臂长时间抬起且保持固定时产生的肌肉酸痛；
5、本发明腰带通过调节卡扣进行连接固定，可根据体型进行长度调节，固定之后使设备紧贴腰部，从而对设备进行强有力的固定支撑，且通 过支撑杆和伸缩套管的伸缩可以满足不同体型的尺寸需求，适应范围广；
6、本发明通过设计快速拆装接口实现设备模块化，具有很强的收纳性同时方便使用者自主完成穿戴；
7、本发明整体结构简单、体积小重量轻，便于携带，可快速拆卸和组装，维护方便，适合产业化。
附图说明
图1为本发明的穿戴示意图；
图2为本发明的结构连接示意图；
图3为图2中A处放大示意图；
图4为本发明手臂助力组件安装示意图；
图5为本发明手臂助力组件内部结构剖视图；
图6为弹性元件提供助力示意图。
具体实施方式
下面将结合图1-6详细说明本发明，在此本发明的示意性实施例以及说明用来解释本发明，但并不作为对本发明的限定。
一种无源手臂助力外骨骼，其包括穿戴组件、支撑杆3和手臂助力组件，支撑杆底部设有转动相连的定位装置，定位装置可拆卸安装于穿戴组件上，支撑杆顶部与手臂助力组件通过铰链座铰接，手臂助力组件通过相连的手臂箍套7将助力传递给使用者1手臂，支撑杆和手臂助力组件均设为两组，且均以脊椎为中线对称设于两侧，穿戴组件包括腰带，腰带是一种织物材料制成，通过调节卡扣进行连接固定，可根据使用者体型进行长度调节，从而使外骨骼设备紧贴腰部，腰带外侧通过铆钉固定有一条中间宽两头窄的安装带5，具有一定的刚性，定位装置包括与支撑杆底部转动相连的底座6、弹簧柱塞11和设于底座两侧的C型卡扣12，安装带上设有数个调节底座位置的定位孔，用于调节底座不同位置并进行限位，C型卡扣配合弹簧柱塞使用可以消除底座在使用过程中产生的扭力，确保底座的稳定性，安装时两个C型卡扣分别从安装带两头穿入，并在安装带上相对运动至贴合底座两侧合为一体调节到底座所需位置，且通过C型卡扣两端 卡合安装带对底座限位，确定好位置后将弹簧柱塞上的销钉压入对应的定位孔内进行固定；拆卸时无需外力辅助，只需先将弹簧柱塞拔起，再将底座移动至安装带任意一头，即可实现快速拆装的功能。支撑杆包括依次相接的支撑杆一301、支撑杆二302和支撑杆三303，支撑杆一和支撑杆二均为空心的圆柱形支撑杆，支撑杆一底部通过关节轴承10与定位装置转动相连，因为关节轴承可绕轴线在一定范围内做圆锥运动，类似的，弹簧也具有相同特性，也就是说可将关节轴承替换成弹簧联轴器，且支撑杆一上沿轴线设有多个固定孔14，支撑杆二通过设有的弹性销钉15与支撑杆一上不同位置固定孔的配合可组合成不同长度的支撑杆，以满足不同使用者不同身高的需求，支撑杆三底部与支撑杆二远离支撑杆一的一端相连且保持相对旋转运动，支撑杆三顶部与手臂助力组件铰接，具体的支撑杆一底部通过销轴与关节轴承一端相连，关节轴承另一端与底座相连，支撑杆三顶部通过铰链座与手臂助力组件铰接，通过支撑杆底部设置关节轴承或弹簧联轴器以及顶部设置铰链座，可满足手臂任意角度的自由度，不影响使用者的灵活性。手臂助力组件包括助力发生器、助力调节器和与支撑杆三顶部通过铰链座铰接的伸缩套管2，助力调节器包括设于伸缩套管内一端的调节块25、设于调节块上的槽轮8和带动调节块在伸缩套管内滑动的调节旋钮19，助力发生器包括钢丝绳9和设于伸缩套管内另一端的弹性元件20，本方案中采用的弹性元件是压簧，同样可以替换成气弹簧，钢丝绳头部与弹性元件远离调节块的端部的压块21固定相连，钢丝绳端部穿过槽轮与支撑杆三固定相连，且助力发生器、铰链座和助力调节器沿同一中心线布置，通过调节旋钮带动调节块在调节套管内滑动可以调节调节块与压簧端部的距离，可以实现不同大小助力的提供，从而对手臂产生克服手臂重力的向上支撑力，使得手臂在抬起时可以长时间保持固定而不发生肌肉酸痛，降低劳动者工作过程中的劳动强度。伸缩套管包括依次相连的调节套管201、弹簧套管202和滑动轴套203，调节套管和弹簧套管相接的一端均套设于铰链座内，弹簧套管另一端套设于滑动轴套内，具体的压簧安装于弹簧套管内部，调节块安装于调节套管内部且滑动于调节套管内，滑动轴套通过锁紧件23使其与弹簧套管进行调节并固定，滑动轴套上设有腰型孔24， 锁紧件穿过腰型孔与弹簧套管另一端端部套设的端盖22相连，从而通过与弹簧套管固定相连的锁紧件定位在腰型孔不同的位置适应不同体型使用者的手臂长度，滑动轴套外部连接有包裹使用者手臂的手臂箍套，手臂箍套为塑制品，手臂箍套内设有海绵垫可以加强使用者的舒适度，手臂箍套外围通过磁性卡扣包裹使用者手臂，通过磁性卡扣的调节可以贴合不同体型使用者的手臂，从而更好的进行固定，手臂箍套上还设有与滑动轴套相连的快速拆装接口，快速拆装接口可以实现设备模块化，具有很强的收纳性同时方便使用者自主完成穿戴，且手臂箍套与滑动轴套之间具有相对转动的自由度，穿戴外骨骼理想状态是铰链座旋转中心和肩关节刚好平齐，这样手臂穿戴是最舒适的时候，也就是手臂摆动的角度和外骨骼摆动的角度是一样的，当出现铰链座旋转中心和肩关节不平齐的时候，由于手臂箍套是和手臂绑住的，通过手臂箍套和滑动轴套的相对旋转，可以消除掉这个不平齐的夹角误差，自动调节到外骨骼摆动的角度与手臂摆动的角度一致，确保使用者的灵活性和舒适性。
本发明中支撑杆和伸缩套管可相互替换，替换之后可以达到同样的助力效果。
人体手臂重量大概4Kg左右，不同体型手臂重量会有所变化，设备利用杠杆原理F1*L1＝F2*L2，以铰链座为支点，一端安装在手臂上，另一端通过钢丝绳连接压簧，压簧压缩所产生的弹力给手臂提供支撑力，由于手臂运动到不同位置所对应的施力力臂和助力的力臂都发生改变，当手臂自然下垂时，手臂与支撑杆夹角大概成20°夹角，此时钢丝绳拉力方向与支撑杆轴线基本在同一条线，虽然压簧压缩到最大，但力臂为0，对手臂基本不产生支撑力，产生的效果就是当不需要工作的时候，手臂可自然放下，但随着手臂逐渐抬起，夹角逐渐增大，随着夹角增大对手臂的助力也逐渐增大，但此时压簧的形变不足以产生支撑手臂的力，所以手臂感受到的力比较小。当夹角达到40°，基本可以产生足够支撑手臂的支撑力，也就是说可以达到设定的支撑力，相当于手臂在20°至40°之间活动，产生的支撑力不足以支撑手臂的重量，所以感觉支撑力比较弱，因而基本不会产生束缚感，当夹角达到45°时，助力效果逐渐明显，在夹角达到90°时， 助力最大，当手臂在40°至170°时，虽然压簧的压力逐渐减小，但由于力臂随着变化，本设备对手臂的支撑力基本恒定，整个过程中压簧提供助力的大小如图6所示，其中x轴代表手臂与伸缩支撑杆夹角，y轴代表手臂支撑力。
在实施过程中，先将安装带通过铆钉固定在腰带上，再根据使用者的体型绑好腰带并将手臂箍套固定于使用者手臂，将C型卡扣从安装带两头穿入相对运动移动到底座两侧与底座合为一体，确定好底座位置之后通过弹簧柱塞压入定位孔固定，接着将底座、支撑杆和伸缩套管进行连接并安装好压簧和钢丝绳，再根据不同体型的使用者调节支撑杆和伸缩套管并将伸缩套管与手臂箍套固定，之后根据手臂长度旋转调节旋钮，从而带动调节块在调节套管内滑动以便提供合适的助力，当使用者的手臂抬高时，手臂助力组件通过内置的弹簧结构提供与手臂抬起方向相同的助力，将手上的部分重力由使用者的手臂至手臂箍套，再到伸缩支撑杆，最后由底座传递至使用者腰部，实现减轻使用者手臂的承受载荷，当手臂从高处往下压时，由于钢丝绳是固定长度，钢丝绳端部距槽轮的距离逐渐增大，头部距槽轮的距离逐渐减小，导致压簧逐渐被压缩，从而对手臂产生向上的支撑力，也就是通过压簧作为储能元件能够为使用者手臂提供恒定向上的支撑力。
以上对本发明实施例所提供的技术方案进行了详细介绍，本文中应用了具体个例对本发明实施例的原理以及实施方式进行了阐述，以上实施例的说明只适用于帮助理解本发明实施例的原理；同时，对于本领域的一般技术人员，依据本发明实施例，在具体实施方式以及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种无源手臂助力外骨骼，其特征在于：包括穿戴组件、支撑杆(3)和手臂助力组件，所述支撑杆底部设有转动相连的定位装置，所述定位装置可拆卸安装于穿戴组件上，所述支撑杆顶部与手臂助力组件铰接，所述手臂助力组件通过相连的手臂箍套(7)将助力传递给使用者(1)手臂。
  2. 根据权利要求1所述无源手臂助力外骨骼，其特征在于：所述手臂助力组件包括助力发生器、助力调节器和与支撑杆顶部通过铰链座铰接的伸缩套管(2)，所述助力调节器包括设于伸缩套管内一端的调节块(25)、设于调节块上的槽轮(8)和带动调节块在伸缩套管内滑动的调节旋钮(19)，所述助力发生器包括钢丝绳(9)和设于伸缩套管内另一端的弹性元件(20)，所述钢丝绳头部与弹性元件远离调节块的端部的压块(21)固定相连，钢丝绳端部穿过槽轮与支撑杆固定相连，且所述助力发生器、铰链座和助力调节器沿同一中心线布置。
  3. 根据权利要求2所述无源手臂助力外骨骼，其特征在于：所述伸缩套管包括依次相连的调节套管(201)、弹簧套管(202)和滑动轴套(203)，所述调节套管和弹簧套管相接的一端均套设于铰链座内，所述弹簧套管另一端套设于滑动轴套内，所述滑动轴套通过锁紧件(23)使其与弹簧套管进行调节并固定，且所述滑动轴套上设有腰型孔(24)，锁紧件穿过腰型孔与弹簧套管另一端端部套设的端盖(22)相连，所述滑动轴套外部连接有包裹使用者手臂的手臂箍套，且手臂箍套与滑动轴套之间具有相对转动的自由度，所述弹性元件安装于弹簧套管内部，所述调节块安装于调节套管内部且滑动于调节套管内。
  4. 根据权利要求1所述无源手臂助力外骨骼，其特征在于：所述支撑杆包括依次相接的支撑杆一(301)、支撑杆二(302)和支撑杆三(303)，所述支撑杆一底部通过关节轴承(10)或弹簧联轴器与定位装置转动相连，且支撑杆一上沿轴线设有多个固定孔(14)，所述支撑杆二通过设有的弹性销钉(15)与支撑杆一上不同位置固定孔的配合进行伸缩，所述支撑杆三底部与支撑杆二远离支撑杆一的一端相连，所述支撑杆三顶部与手臂助力组件铰接。
  5. 根据权利要求1所述无源手臂助力外骨骼，其特征在于：所述穿戴组件包括腰带(4)，所述腰带外侧设有中间宽两头窄的安装带(5)，所述定位装置包括与支撑杆底部转动相连的底座(6)、弹簧柱塞和设于底座两侧的C型卡扣(12)，所述安装带上设有数个调节底座位置的定位孔，所述底座通过两侧的C型卡扣卡合安装带进行限位并通过弹簧柱塞(11)压入定位孔内固定。
  6. 根据权利要求2所述无源手臂助力外骨骼，其特征在于：所述弹性元件为压簧或气弹簧。
  7. 根据权利要求1所述无源手臂助力外骨骼，其特征在于：所述支撑杆和手臂助力组件均设为两组，且均以脊椎为中线对称设于两侧。
  8. 根据权利要求1所述无源手臂助力外骨骼，其特征在于：所述手臂箍套为塑制品，且手臂箍套内设有海绵垫，手臂箍套外围通过磁性卡扣包裹使用者手臂。
  9. 根据权利要求3所述无源手臂助力外骨骼，其特征在于：所述手臂箍套上设有与滑动轴套相连的快速拆装接口。
  10. 根据权利要求5所述无源手臂助力外骨骼，其特征在于：所述腰带通过调节卡扣进行连接固定。
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