Air spring energy storage passive type upper limb power assisting exoskeleton

Abstract

The invention discloses an air spring energy storage passive type upper limb power assisting exoskeleton, and relates to an exoskeleton. The air spring energy storage passive type upper limb power assisting exoskeleton comprises a back bearing device, two shoulder motion mechanisms and two big arm power assisting mechanisms. Each of the two sides of the back bearing device is provided with one shoulder mechanism and one big arm power assisting mechanism. Each big arm power assisting mechanism comprises a big arm bundling frame, an elastic telescopic piece and a shoulder connecting piece, wherein one end of the elastic telescopic piece is rotationally arranged on the big arm bundling frame, the other end is rotationally arranged on the shoulder connecting piece, the shoulder connecting piece is fixedly connected with the corresponding shoulder motion mechanism, the big arm bundling frame is rotationally arranged on the shoulder connecting piece, and the rotation axis of the big arm bundling frame is parallel to the rotation axes of the two ends of the elastic telescopic piece. The shoulder motion mechanisms are connected with the back bearing device and used for passively moving along with the shoulders of the human body. The air spring energy storage passive type upper limb power assisting exoskeleton is compact in structure, the shoulder and neck pressure load during long-termwork of work personnel can be better relieved, and fatigue damage of wearers is reduced.

Description

technical field [0001] The invention relates to an exoskeleton, in particular to a gas spring energy storage passive upper limb assisted exoskeleton. Background technique [0002] The exoskeleton robot is a special human-machine collaborative robot. Its special feature is that it needs to be worn by the operator to perform operations, so as to realize the cooperative work of the robot's driving ability and human body functions. As an important branch of exoskeleton robot research, the research on power-assisted upper limb exoskeleton devices is aimed at ordinary people with healthy bodies. When performing work such as assembly and disassembly of automobile chassis, the upper limbs need to maintain a lifting posture for a long time, and As the movement position of the upper limbs changes, the load moment of the weight on the shoulder joint will also change continuously, which will cause greater fatigue damage to the shoulder and neck, and the situation will become more seriou...

AI Technical Summary

Problems solved by technology

As an important branch of exoskeleton robot research, the research on power-assisted upper limb exoskeleton devices is aimed at ordinary people with healthy bodies. When performing work such as assembly and disassembly of automobile chassis, the upper limbs need to maintain a lifting posture for a long time, and As the movement position of the upper limbs changes, the load moment of the weight on the shoulder joint will also change continuously, which will cause greater fatigue damage to the shoulder and neck, and the situation will become more serious with the increase of the moment arm, prone to tool damage. Safety issues such as falling out of hands and injuries, thus affecting normal tasks and work efficiency

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