Multi-functional auxiliary arm self-balancing mechanical exoskeleton

Abstract

A multi-functional auxiliary arm self-balancing mechanical exoskeleton comprises a left exoskeleton arm and a right exoskeleton arm, wherein the left exoskeleton arm and the right exoskeleton arm areconnected with an exoskeleton trunk; and an exoskeleton hip joint is connected with a left exoskeleton lower limb and a right exoskeleton lower limb. The multi-functional auxiliary arm self-balancingmechanical exoskeleton is characterized by further comprising a left balancing auxiliary mechanism arm, a right balancing auxiliary mechanism arm and an electric self-control system, wherein the leftbalancing auxiliary mechanism arm and the right balancing auxiliary mechanism arm are connected with the exoskeleton hip joint; and the electric self-control system is electrically connected with theleft exoskeleton arm, the right exoskeleton arm, the exoskeleton trunk, the exoskeleton hip joint, the exoskeleton lower limb, the right exoskeleton lower limb, the left balancing auxiliary mechanismarm and the right balancing auxiliary mechanism arm. The multi-functional auxiliary arm self-balancing mechanical exoskeleton provided by the invention is simple in structure, high in applicability and high in safety; the multi-functional auxiliary arm self-balancing mechanical exoskeleton is applicable to not only tilting prevention, falling prevention and balance keeping for the medical rehabilitation of old people or patients but also the auxiliary handling of heavy objects; and accordingly, the heavy object handling weight can be improved.

Description

technical field [0001] The invention relates to the technical field of mechanical exoskeleton, in particular to a multifunctional auxiliary arm self-balancing mechanical exoskeleton. Background technique [0002] At present, the rapid development of mechanical exoskeleton technology has been widely used in the military field, medical care field, engineering construction, disaster relief and excavation, outdoor activities, highly repetitive automobile production work and handling industry, and with the development of the times, mechanical The role of exoskeletons will become more extensive, and the needs will become more urgent. [0003] As China accelerates into an aging society, medical resources for geriatric diseases are seriously insufficient, especially rehabilitation physiotherapy talents. Therefore, the development and design of mechanical exoskeletons has great market value. However, when developing and designing such mechanical exoskeletons, the first thing to pay ...

AI Technical Summary

Problems solved by technology

However, when developing and designing such mechanical exoskeletons, the first thing to pay attention to is the safety of the human body. Although countries such as Japan, South Korea, and Switzerland have developed exoskeleton-assisted robots used in the field of medical rehabilitation to help the frail and the elderly with walking difficulties to walk , has achieved certain results, but there are not many measures in terms of human safety and protection against dumping injuries

[0004] CN201610684165.4 discloses a human body wearable decompression booster mechanical exoskeleton device, including a shoulder joint exoskeleton multi-rod mechanism connected sequentially from top to bottom, a spine joint exoskeleton double six-axis platform mechanism, and a hip joint exoskeleton multi-rod mechanism mechanism and two calf-foot supporting exoskeleton mechanisms, the top and bottom of the spine joint exoskeleton double six-axis platform mechanism are respectively fixedly connected with the bottom middle of the shoulder joint exoskeleton multi-rod mechanism and the top middle of the hip joint exoskeleton multi-rod mechanism, The upper end of each calf foot supporting exoskeleton mechanism is respectively connected to the left and right sides of the lower end of the hip joint exoskeleton multi-rod mechanism. Although this invention provides a multi-degree-of-freedom, large-scale activity-assisted walking for the elderly, It is also an exoskeleton solution that can reduce the weight of the human body, but there are still some problems: (1) the structure is complex, the volume is large, and the fit with the human body becomes poor, and there will be a problem of body imbalance when wearing it; (2) imbalance The design of the center of gravity keeps the driver in working condition all the time, especially when carrying heavy objects, which consumes a lot of energy and has a great impact on the mileage of the whole machine; (3) There is a risk of falling backwards when carrying heavy objects, and there is no Effective anti-dumping measures are likely to cause irreversible casualties to the wearer, especially the elderly

For example: CN 201611165525.6 discloses a load-bearing exoskeleton detachment device and a detachment method, including a detection module, an alarm module, a human body control module, a main control module, and a detachment module. The working principle of the detachment device is that the detection module detects the balance parameters of the exoskeleton robot, And the balance parameters are sent to the main control module. When an unbalanced state occurs, the control alarm module sends out a dangerous signal, and detects the signal of the human body control module, and then controls the electromagnet of the detachment module to detach from the iron sheet tied to the person; this technical solution There are still the following deficiencies: (1) When the signal of the unbalanced module is detected, the exoskeleton is already in an unbalanced state. Even if it is detached from the exoskeleton, it will cause personal injury. Theoretically, there is a greater risk of using a detachment device to detach, and it may cause a greater threat to the human body when it is detached; (3) There are no protective measures for the exoskeleton body, which may damage the exoskeleton when an imbalance occurs, causing the owner to suffer losses

[0006] CN 201611165525.6 discloses an exoskeleton handling power-assisted robot, including a back bracket, a central controller, an exoskeleton upper limb part and an exoskeleton lower limb part, and the central controller is fixedly installed on the back side of the back bracket; two lower limb parts with the same structure are respectively Installed on both sides of the back support, the hip joint power device is installed at the connection between the back support of the waist assisting machine and the lower limbs of the exoskeleton, the shoulder joint power device is installed on the shoulder of the exoskeleton, and the hip joint power device and the shoulder joint power device are composed of a transmission device, It is composed of harmonic reducer, disc motor and angle sensor. The angle sensor is used to measure the angle value, and the central controller controls the movement of the corresponding joints. The exoskeleton lower limbs include exoskeleton thighs, exoskeleton shoes and telescopic devices. Exoskeleton upper arm, lower arm and elbow joint self-locking mechanism; this solution has the following disadvantages: (1) The exoskeleton upper limb parts need to be carried by manual control to achieve lifting or hugging, and heavy goods cannot be carried Or it is impossible to achieve balanced handling, and there is a hidden danger of unsteady and unstable handling for slightly larger goods; (2) Only relying on angle sensors to control the handling robot to carry goods, the robot's range of motion and movements are greatly limited; (3) Balance Safety is difficult to achieve, there is a risk of dumping and breaking the items being carried, and it cannot form a strong protection for personnel

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