Upper limb exoskeleton storing energy by virtue of linear spring with adjustable load

Abstract

The invention discloses an upper limb exoskeleton storing energy by virtue of a linear spring with an adjustable load, aiming at solving the problem that an existing gravity-balance exoskeleton cannot be automatically adjusted with regard to different loads. A big arm and a small arm of the upper limb exoskeleton disclosed by the invention are the same; the big arm comprises a front joint, an upper connection rod of the big arm, a gravity-balance spring, a first steel wire rope, a second steel wire rope, an opposite-force spring, a lower connection rod of the big arm, a motor, a speed reducer, a slide rail, a lead screw nut, a rear joint, a lead screw, a gravity-balance spring fixed seat, an opposite-force spring fixed seat, a first cam, a second cam, two upper rotary shafts, two lower rotary shafts, two lead screw bearing seats and four bearings; and the big arm and the small arm are sequentially arranged, the rear joint on the big arm is hinged with a front joint on the small arm through an elbow rotary shaft, and a rear joint on the small arm is hinged with a front joint of a hand through a hand rotary shaft. The upper limb exoskeleton disclosed by the invention is used for assisting to carry heavy cargoes or helping to carry around some articles, and is capable of balancing the gravity generated due to the weights of the cargoes, and reducing a load on the upper limb of a human body.

Description

technical field [0001] The invention relates to an upper limb power-assisted exoskeleton, in particular to an adjustable load linear spring energy storage upper limb exoskeleton. Background technique [0002] At present, upper limb exoskeleton robots can be divided into active control and passive control in terms of control methods. Most of the existing upper extremity exoskeletons that use springs to balance gravity need manual adjustment when facing different loads. This kind of design is subject to the application of cumbersome adjustment work when the load needs to change frequently. Extremely restrictive. [0003] The present invention belongs to the passive control among them, and the method utilizes the energy stored in the spring to balance the gravitational potential energy of the load, so as to realize the boosting effect. Contents of the invention [0004] In order to solve the problem that the existing gravity balance exoskeleton cannot be automatically adjus...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing gravity balance exoskeleton cannot be automatically adjusted for different loads, the present invention proposes an adjustable load linear spring energy storage upper limb exoskeleton

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