Upper limb assisting exoskeleton device

Abstract

The invention provides an upper limb assisting exoskeleton device which comprises a large mechanical arm, a small mechanical arm, a rotary connecting module and a lubricating module, the rotary connecting module comprises a fixing rod and a rotating block, the fixing rod is fixed to the end, close to the small mechanical arm, of the large mechanical arm, the fixing rod is sleeved with the rotating block, and the rotating block can rotate around the fixing rod; the small mechanical arm is connected with the rotating block; the lubricating module comprises an oil tank and a baffle, the oil tank sleeves the fixed rod, an oil storage space is defined by the oil tank and the outer wall of the fixed rod, the oil tank is connected with the rotating block and can rotate around the fixed rod along with the rotating block, the oil tank comprises a first side wall facing the rotating block, and the plane where the first side wall is located is perpendicular to the axial direction of the fixed rod; an oil outlet penetrating through the first side wall is formed in the first side wall of the oil tank; the baffle is located in the oil storage space and makes contact with the first side wall to be used for sealing the oil outlet, and the baffle can move relative to the oil tank in the rotating process of the oil tank so that the oil outlet can be opened.

Description

Technical Field

[0001] The present disclosure relates to the technical field of exoskeletons, and particularly to an upper limb assist exoskeleton device. Background Art

[0002] A modular upper limb assist exoskeleton device applicable to the maintenance of ultra-high voltage transmission lines is a wearable device specifically designed for the maintenance operations of ultra-high voltage transmission lines. It is usually made of lightweight and high-strength materials and uses a modular design concept, which can be flexibly combined and disassembled according to different operation scenarios and ergonomic requirements. This device can help maintenance personnel more easily complete complex and high-intensity actions during the high-altitude operation of ultra-high voltage transmission line maintenance, effectively reducing the labor intensity, significantly reducing the risk of muscle fatigue and injury, and remarkably improving the operation efficiency and safety, providing strong technical support for the maintenance work of ultra-high voltage transmission lines.

[0003] The upper limb exoskeleton assist device can exert an auxiliary force on the user to facilitate the maintenance of the transmission line. In the prior art, since the user needs to continuously move the human forearm during maintenance, the mechanical forearm in the exoskeleton assist device will rotate synchronously. After long-term use, it will cause wear on the connection parts of the exoskeleton, affecting the service life. And the existing device does not have a self-lubricating function inside, and the user needs to remove and disassemble the exoskeleton assist device to perform lubrication and maintenance operations, which is rather troublesome. Therefore, in view of the above problems, a modular upper limb assist exoskeleton device with a self-lubricating function is proposed. Summary of the Invention

[0004] The present disclosure aims to at least solve one of the technical problems existing in the prior art, and proposes an upper limb assist exoskeleton device with a self-lubricating function.

[0005] An embodiment of the present disclosure provides an upper limb assist exoskeleton device, including: a mechanical upper arm, a mechanical forearm, a rotary connection module, and a lubrication module. The rotary connection module includes: a fixed rod and a rotating block. The fixed rod is fixed to one end of the mechanical upper arm close to the mechanical forearm. The rotating block is sleeved on the fixed rod and can rotate around the fixed rod. The mechanical forearm is connected to the rotating block.

[0006] The lubrication module includes: an oil tank and a baffle. The oil tank is sleeved on the fixed rod and defines an oil storage space with the outer wall of the fixed rod. The oil tank is connected to the rotating block and can rotate around the fixed rod following the rotating block. The oil tank includes: a first side wall facing the rotating block. The plane where the first side wall is located is perpendicular to the axial direction of the fixed rod. An oil outlet penetrating the first side wall is provided on the first side wall of the oil tank.

[0007] The baffle is located in the oil storage space and contacts the first side wall to cover the oil outlet, and the baffle can move relative to the fuel tank during the rotation of the fuel tank so as to open the oil outlet.

[0008] In some embodiments, the fuel tank further includes: a second side wall facing away from the rotating block, and an arc-shaped convex strip is fixed on a surface of the second side wall facing away from the first side wall, and the convex strip is arranged around the fixed rod;

[0009] The baffle includes: a first inner wall facing the fixed rod, and a clamping groove is arranged on the first inner wall;

[0010] A first accommodation groove is arranged at a position on the fixed rod facing the first inner wall, a second accommodation groove is arranged at a position on the fixed rod facing the convex strip, and a connection channel communicating the bottom of the first accommodation groove and the bottom of the second accommodation groove is further arranged in the fixed rod;

[0011] A first moving rod capable of moving along the depth direction of the first accommodation groove is arranged in the first accommodation groove, a second moving rod capable of moving along the depth direction of the second accommodation groove is arranged in the second accommodation groove, and a first connecting rod with two ends respectively connected to the second end of the first moving rod and the first end of the second moving rod is arranged in the connection channel, and the first connecting rod, the first moving rod and the second moving rod move synchronously;

[0012] The first end of the first moving rod is located outside the first accommodation groove, and the convex strip can rotate to contact and press the first end of the first moving rod to push the first moving rod to move towards the bottom of the first accommodation groove;

[0013] A clamping block is connected to the second end of the second moving rod, a first elastic mechanism in a stretched state is arranged between the clamping block and the bottom of the second accommodation groove, two ends of the first elastic mechanism are respectively connected to the bottom of the second accommodation groove and the clamping block, and the clamping block can extend out of the second accommodation groove and enter the clamping groove under the push of the second moving rod, and completely retract into the second accommodation groove under the action of the first elastic mechanism.

[0014] In some embodiments, the first elastic mechanism includes a spring, and the spring is sleeved on the second moving rod.

[0015] In some embodiments, the fuel tank further includes: a second side wall facing away from the rotating block, and an elastic connection mechanism in a compressed state is arranged between the second side wall and the baffle, and two ends of the elastic connection mechanism are respectively connected to the second side wall and the baffle.

[0016] In some embodiments, the rotary connection module further comprises: a connection mechanism, through which the robotic arm is connected to the rotating block;

[0017] The connecting mechanism includes: a connecting block and a mounting block, the connecting block is fixed to the outer surface of the rotating block, the mounting block is fixed to one end of the mechanical small arm close to the mechanical large arm, and the connecting block and the mounting block are detachably connected.

[0018] In some embodiments, two slots arranged opposite to each other in a first direction are formed on the side wall of the connecting block;

[0019] The mounting block is provided with a pressing block, the pressing block having a pressing surface and two inclined sliding surfaces arranged opposite to each other in the first direction, wherein the distance between the two inclined sliding surfaces in the first direction gradually increases in a direction from the inclined sliding surface to the pressing surface along the second direction;

[0020] The mounting block includes: a first surface and a second surface, the first surface being a side surface of the mounting block facing away from the robotic arm, the second surface being a side surface of the mounting block adjacent to the first surface and parallel to the first direction, a connecting groove for accommodating the connecting block being provided on the first surface, and a movable groove for accommodating the pressing block being provided on the second surface, wherein the pressing block can move along the second direction in the movable groove;

[0021] Third receiving grooves connected to the connecting groove and corresponding to the two card grooves are respectively provided in the mounting block on both sides of the connecting groove; fourth receiving grooves connected to the moving groove are respectively provided in the mounting block on both sides of the moving groove in the first direction; a second connecting channel connecting the third receiving groove and the fourth receiving groove is provided between the third receiving groove and the fourth receiving groove on the same side;

[0022] A third moving rod is disposed in the third accommodating groove, a fourth moving rod is disposed in the fourth accommodating groove, and a second connecting rod having two ends connected to the second end of the third moving rod and the second end of the fourth moving rod respectively is disposed in the second connecting channel, and the second connecting rod, the third moving rod, and the fourth moving rod move synchronously;

[0023] The first ends of the two third moving rods are respectively connected with corresponding insertion blocks. A second elastic mechanism in a compressed state is arranged between the insertion blocks and the bottom of the third accommodation groove. Two ends of the second elastic mechanism are respectively connected with the bottom of the third accommodation groove and the insertion blocks. The insertion blocks can extend out of the third accommodation groove under the action of the second elastic mechanism and be inserted into the corresponding slots, and can completely retract from the slots into the third accommodation groove under the pulling of the third moving rods;

[0024] The second ends of the two fourth moving rods are respectively in contact with the corresponding two inclined sliding surfaces and press the pressing block.

[0025] In some embodiments, sliding guide grooves are arranged on the inclined sliding surfaces, and the second ends of the fourth moving rods extend into the bottoms of the corresponding sliding guide grooves.

[0026] In some embodiments, arm fixing modules are arranged on both the mechanical boom and the mechanical forearm;

[0027] The arm fixing module includes:

[0028] An arm placement part, fixed on the corresponding mechanical boom or mechanical forearm, includes: a first side surface and a second side surface arranged oppositely;

[0029] A winding drum, fixed on the first side surface of the arm placement part;

[0030] A rotating shaft, including: a first part located in the winding drum and a second part extending out from one side of the winding drum. The first part is connected with the second part, and a plurality of engaging limit grooves arranged along the circumferential direction are formed on the second part;

[0031] A volute spring, sleeved on the first part of the rotating shaft, and generating a pre-tightening force to apply a torque to the rotating shaft;

[0032] A binding strap, one end of which is connected with the first part of the rotating shaft, and the other end of which is connected with the second side surface of the arm placement part, and can be wound around the rotating shaft for storage;

[0033] A telescopic limiting part, arranged between the second part of the rotating shaft and the first side surface of the arm placement part, can extend into the engaging limit grooves to limit the rotating shaft and retract from the engaging limit grooves to release the limit on the rotating shaft.

[0034] In some embodiments, the telescopic limiting part includes:

[0035] The fixed block is fixed on the first side surface, and a fifth receiving groove is formed on one side facing the second part of the rotating shaft. A sliding limiting hole is formed on one side wall surrounding the fifth receiving groove.

[0036] The limiting block includes: a first limiting part and a second limiting part. The first limiting part is located in the fifth receiving groove and can move along the depth direction of the fifth receiving groove, and the first limiting part can extend into the engaging limiting groove. The second limiting part is fixed to the surface of the first limiting part facing the sliding limiting hole and extends out of the sliding limiting hole.

[0037] The third elastic mechanism in a compressed state is located between the bottom of the fifth receiving groove and the first limiting part.

[0038] In some embodiments, the number of the lubrication modules is two, and the two lubrication modules are respectively located on opposite sides of the rotating block.

[0039] In the present disclosure, when the mechanical forearm and the mechanical upper arm are on the same straight line (i.e., the mechanical forearm does not rotate relative to the mechanical upper arm), the baffle plate located in the fuel tank will cover the oil outlet of the fuel tank, and at this time, the lubricating oil located in the oil storage space will not flow out; when the mechanical forearm rotates and the rotating block rotates synchronously around the fixed rod, the fuel tank connected to the rotating block will also rotate around the fixed rod following the rotating block. The baffle plate located inside the fuel tank can move relative to the fuel tank during the rotation of the fuel tank to open the oil outlet. At this time, the lubricating oil located in the oil storage space will flow out through the oil outlet to lubricate the rotating block and the fixed rod; when the mechanical forearm returns to be on the same straight line with the mechanical upper arm through reverse rotation, the baffle plate located inside the fuel tank can move reversely relative to the fuel tank during the reverse rotation of the fuel tank and cover the oil outlet of the fuel tank again. Based on the above content, it can be seen that the provided upper limb assistive exoskeleton device can achieve the self-lubrication function when the mechanical forearm rotates, which is beneficial to increasing the service life of the upper limb assistive exoskeleton device. Description of the Drawings

[0040] Figure 1 It is a schematic structural diagram of an upper limb assistive exoskeleton device in an embodiment of the present disclosure;

[0041] Figure 2 It is a schematic structural diagram after the mechanical upper arm and the rotating block are disassembled in section in an embodiment of the present disclosure;

[0042] Figure 3 It is a schematic structural diagram after the rotating block and the fixed rod are disassembled in section in an embodiment of the present disclosure;

[0043] Figure 4 It is a schematic structural diagram after the rotating block and the fuel tank are disassembled in section in an embodiment of the present disclosure;

[0044] Figure 5 This is a schematic diagram of the decomposed structure of the rotating block, fixed rod, and fuel tank cross-section in the embodiments of the present disclosure;

[0045] Figure 6A This is a schematic cross-sectional view of a partial area on the fixed rod in the present disclosure;

[0046] Figure 6B For Figure 6A This is a schematic cross-sectional view when the corresponding rod structures are placed in the accommodation groove and connection channel on the fixed rod shown;

[0047] Figure 6C This is a schematic cross-sectional view of a fuel tank in the present disclosure;

[0048] Figure 7 This is a schematic diagram of the decomposed structure of the mounting block in the connection mechanism in the embodiments of the present disclosure;

[0049] Figure 8 This is a schematic diagram of the structure when the winding drum, binding strap, telescopic limiting part are separated from the arm placement part;

[0050] Figure 9 For Figure 8 This is an enlarged schematic view of area A in Detailed implementation manners

[0051] To enable those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0052] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should have the ordinary meanings understood by those of ordinary skill in the field to which the present disclosure pertains. The "first", "second" and similar terms used in the present disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a", "one" or "the" do not denote a quantity limitation, but mean that there is at least one. The terms such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" mean directly connected or indirectly connected physically or mechanically. The terms such as "upper", "lower", "left", "right" are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0053] In each of the accompanying drawings, the same elements are denoted by similar reference numerals. For clarity, not all parts in the drawings are drawn to scale. In addition, some well-known parts may not be shown in the figures.

[0054] Many specific details of the present disclosure are described below to better understand the present disclosure. However, as those skilled in the art can understand, the present disclosure can be implemented without these specific details.

[0055] Figure 1 It is a schematic structural diagram of an upper limb assist exoskeleton device in an embodiment of the present disclosure. Figure 2 It is a schematic structural diagram of a mechanical upper arm and a rotating block after cross-sectional decomposition in an embodiment of the present disclosure. Figure 3 It is a schematic structural diagram of a rotating block and a fixed rod after cross-sectional decomposition in an embodiment of the present disclosure. Figure 4 It is a schematic structural diagram of a rotating block and an oil tank after cross-sectional decomposition in an embodiment of the present disclosure. Figure 5 It is a schematic structural diagram of a rotating block, a fixed rod, and an oil tank after cross-sectional decomposition in an embodiment of the present disclosure. Figure 6A It is a schematic cross-sectional view of a partial area on the fixed rod in the present disclosure. Figure 6B is Figure 6A A schematic cross-sectional view when the corresponding rod structures are placed in the accommodation groove and the connection channel on the fixed rod shown. Figure 6C It is a schematic cross-sectional view of an oil tank in the present disclosure. As Figures 1 to 6C shown, an upper limb assist exoskeleton device provided by the present disclosure includes: a mechanical upper arm 1, a mechanical lower arm 2, a rotary connection module 3, and a lubrication module 4. Among them, the rotary connection module 3 includes: a fixed rod 301 and a rotating block 302. The fixed rod 301 is fixed to one end of the mechanical upper arm 1 close to the mechanical lower arm 2. The rotating block 302 is sleeved on the fixed rod 301 and can rotate around the fixed rod 301. The mechanical lower arm 2 is connected to the rotating block 302.

[0056] Generally, the mechanical upper arm 1 includes two support plates arranged at intervals. The fixed rod 301 is fixed (such as by welding, clamping, etc.) between the two support plates.

[0057] The lubrication module 4 includes: an oil tank 401 and a baffle 402. The oil tank 401 is sleeved on the fixed rod 301 and defines an oil storage space 4010 with the outer wall of the fixed rod 301. The oil tank 401 is connected to the rotating block 302 and can rotate around the fixed rod 301 following the rotating block 302. The oil tank 401 includes: a first side wall 4011 facing the rotating block 302. The plane where the first side wall 4011 is located is perpendicular to the axial direction of the fixed rod 301. An oil outlet 4012 penetrating the first side wall 4011 is provided on the first side wall 4011 of the oil tank 401; an oil filling port 4015 communicating with the oil storage space 4010 is also provided on the oil tank 401.

[0058] It should be noted that the fixed rod 301 not only allows the fuel tank 401 to rotate, but also forms an oil storage space 4010 with the side wall of the fuel tank 401. In order to prevent lubricating oil from leaking out through the gap between the side wall of the fuel tank 401 and the fixed rod 301, the gap between the side wall of the fuel tank 401 and the fixed rod 301 should be designed as small as possible without affecting the rotation of the fuel tank 401.

[0059] In the present disclosure, the fuel tank 401 and the rotating block 302 can be connected by a clamping method (a clamping receiving groove is provided on the side of the rotating block 302, and the fuel tank 401 is clamped and fixed in the clamping receiving groove), or can be connected by an external connecting member (such as screw fixing, clamping member fixing, glue fixing, etc.). The present disclosure does not limit this. In some embodiments, the baffle 402 is in a semi-circular ring shape (an optional solution), and such a design facilitates the rotation of the baffle 402 around the fixed rod 301.

[0060] Among them, the number and position distribution of the oil outlets 4012 can be pre-designed and adjusted according to actual situations, and the present disclosure does not limit this.

[0061] The baffle 402 is located in the oil storage space 4010 and is in contact with the first side wall 4011 to cover the oil outlet 4012, and the baffle 402 can move relative to the fuel tank 401 during the rotation of the fuel tank 401 to open the oil outlet 4012.

[0062] In some embodiments, the upper limb assistive exoskeleton device is further configured with an assistive driving module 6. The assistive driving module 6 is connected to the rotating block 302 (the connection structure here belongs to conventional technical means and is not shown in the drawings), and can work when detecting the rotation of the rotating block 302 to assist the rotation of the rotating block 302. The specific structure and working principle of the assistive driving module 6 belong to the conventional technology in the field of the present disclosure, and this part does not belong to the invention improvement of the present disclosure, so it will not be described in detail here.

[0063] In the present disclosure, when the robotic forearm 2 and the robotic upper arm 1 are on the same straight line (i.e., the robotic forearm 2 does not rotate relative to the robotic upper arm 1), the baffle 402 located in the fuel tank 401 will cover the oil outlet 4012 of the fuel tank 401, and at this time, the lubricating oil located in the oil storage space 4010 will not flow out. When the robotic forearm 2 rotates, the rotating block 302 will rotate synchronously around the fixed rod 301, and the fuel tank 401 connected to the rotating block 302 will also rotate around the fixed rod 301 following the rotating block 302. The baffle 402 inside the fuel tank 401 can move relative to the fuel tank 401 during the rotation of the fuel tank 401 to open the oil outlet 4012. At this time, the lubricating oil located in the oil storage space 4010 will flow out through the oil outlet 4012 to lubricate the rotating block 302 and the fixed rod 301. When the robotic forearm 2 returns to the same straight line as the robotic upper arm 1 through reverse rotation, the baffle 402 inside the fuel tank 401 can move in the reverse direction relative to the fuel tank 401 during the reverse rotation of the fuel tank 401 and cover the oil outlet 4012 of the fuel tank 401 again.

[0064] It can be seen that the upper limb assist exoskeleton device provided by the present disclosure can achieve the self-lubrication function when the robotic forearm 2 rotates, which is beneficial to increasing the service life of the upper limb assist exoskeleton device.

[0065] In some embodiments, the number of the lubrication modules 4 is two, and the two lubrication modules 4 are respectively located on opposite sides of the rotating block 302.

[0066] In some embodiments, the fuel tank 401 further includes: a second side wall 4013 facing away from the rotating block 302, and an arc-shaped convex strip 4014 is fixed on the surface of the second side wall 4013 and facing away from the first side wall 4011. The convex strip 4014 is arranged around the fixed rod 301. The baffle 402 includes: a first inner wall 4021 facing the fixed rod 301, and a card slot 4022 is arranged on the first inner wall 4021.

[0067] A first receiving groove 3011 is provided at a position on the fixing rod 301 facing the first inner wall 4021, a second receiving groove 3012 is provided at a position on the fixing rod 301 facing the convex strip 4014, and a first connecting channel 3013 communicating with the bottom of the first receiving groove 3011 and the bottom of the second receiving groove 3012 is further provided inside the fixing rod 301. A first moving rod 3011a capable of moving along the depth direction of the first receiving groove 3011 is provided in the first receiving groove 3011, a second moving rod 3012a capable of moving along the depth direction of the second receiving groove 3012 is provided in the second receiving groove 3012, and a first connecting rod 3013a with two ends respectively connected to the second end of the first moving rod 3011a and the first end of the second moving rod 3012a is provided in the first connecting channel 3013. The first connecting rod 3013a, the first moving rod 3011a, and the second moving rod 3012a move synchronously; the first end of the first moving rod 3011a is located outside the first receiving groove 3011, and the convex strip 4014 can rotate to contact and press against the first end of the first moving rod 3011a to push the first moving rod 3011a towards the bottom of the first receiving groove 3011; a clamping block 3012b is connected to the second end of the second moving rod 3012a, and a first elastic mechanism 3012c in a stretched state is provided between the clamping block 3012b and the bottom of the second receiving groove 3012. Two ends of the first elastic mechanism 3012c are respectively connected to the bottom of the second receiving groove 3012 and the clamping block 3012b. The clamping block 3012b can extend out of the second receiving groove 3012 and enter the clamping groove 4022 under the push of the second moving rod 3012a, and can completely retract into the second receiving groove 3012 under the action of the first elastic mechanism 3012c.

[0068] In some embodiments, the depth direction of the first receiving groove 3011 and the depth direction of the second receiving groove 3012 are both perpendicular to the axial direction of the fixing rod 301, and the extending direction of the first connecting channel 3013 is parallel to the axial direction of the fixing rod 301.

[0069] See Figure 4 and Figure 5 As shown, in the present disclosure, when the mechanical forearm 2 and the mechanical upper arm 1 are on the same straight line, the baffle 402 covers all the oil outlets 4012, and the convex strip 4014 is separated from the first end of the first moving rod 3011a; under the tensile force of the first elastic mechanism 3012c, the clamping block 3012b completely retracts into the second receiving groove 3012.

[0070] When the mechanical small arm 2 rotates to drive the rotating block 302 and the fuel tank 401 to rotate by a certain angle α (the angle α can be preset according to actual needs, generally 0° ≤ α ≤ 20°), the convex strip 4014 fixed on the outer surface of the second side wall 4013 also rotates by the angle α synchronously and contacts the first end of the first moving rod 3011a. At this time, if the convex strip 4014 continues to rotate, it will squeeze the first end of the first moving rod 3011a to push the first moving rod 3011a to move towards the bottom of the first receiving groove 3011. Correspondingly, the same movement will also occur in the first connecting rod 3013a and the second connecting rod 3037a, that is, the second connecting rod 3037a moves in a direction away from the bottom of the second receiving groove 3012, and pushes the clamping block 3012b to extend out of the second receiving groove 3012 and enter the card slot 4022 of the baffle 402. At this time, the baffle 402 and the fixing rod 301 are clamped and fixed; during the subsequent continuous rotation of the rotating block 302, the arc-shaped convex strip 4014 will continuously squeeze the first end of the first connecting rod 3013a, the baffle 402 and the fixing rod 301 maintain the clamping, and the fixed fuel tank 401 will rotate synchronously with the rotating block 302, but the baffle 402 and the fixing rod 301 maintain the clamping and fixing and stop rotating. At this time, relative movement occurs between the baffle 402 and the fuel tank 401 to open the oil outlet 4012.

[0071] As can be seen from the above content, within the initial rotation angle α, the baffle 402 will rotate synchronously with the fuel tank 401, but when the rotation angle continues to increase, relative movement will occur between the baffle 402 and the fuel tank 401 to open the oil outlet 4012.

[0072] It should be noted that in the present disclosure, the position of the card slot 4022 on the first inner wall 4021 of the baffle 402 needs to be designed accordingly in advance to ensure that the clamping block 3012b is facing the card slot 4022 just when the convex strip 4014 contacts the first end of the first moving rod 3011a.

[0073] During the reverse rotation of the mechanical small arm 2 to return to the same straight line as the mechanical large arm 1, when the rotating block 302 and the fuel tank 401 rotate reversely, since the baffle 402 and the fixing rod 301 maintain the clamping, relative reverse movement occurs between the baffle 402 and the fuel tank 401 (the opened oil outlet 4012 gradually decreases); when the fuel tank 401 rotates to the point where the convex strip 4014 just separates from the first end of the first connecting rod 3013a, under the tensile force of the first elastic mechanism 3012c, the clamping block 3012b leaves the card slot 4022 and completely retracts into the second receiving groove 3012. At this time, the baffle 402 covers all the oil outlets 4012; when the rotating block 302 continues to rotate reversely, the baffle 402 will rotate reversely synchronously with the fuel tank 401 and maintain covering all the oil outlets 4012.

[0074] In some embodiments, the first elastic mechanism 3012c includes a spring sleeved on the second moving rod 3012a. Such a design facilitates assembly and helps reduce the space of the second receiving groove 3012.

[0075] In some embodiments, an elastic connection mechanism 4017 in a compressed state is provided between the second side wall 4013 and the baffle 402. The two ends of the elastic connection mechanism 4017 are respectively connected to the second side wall 4013 and the baffle 402. In the present disclosure, the elastic connection mechanism 4017 has two functions. One is to connect the baffle 402 to the fuel tank 401 so that the fuel tank 401 can drive the baffle 402 to rotate synchronously during the rotation process when the baffle 402 is not engaged and fixed with the fixed shaft. The other is to apply a thrust force to the baffle 402 to ensure that the baffle 402 can effectively cover the oil outlet 4012. In addition, by applying the thrust force, a certain frictional force can be generated between the baffle 402 and the first side wall 4011, which is also beneficial for the fuel tank 401 to drive the baffle 402 to rotate synchronously during the rotation process.

[0076] It should be noted that in practical applications, a third side wall 4016 can also be provided on the side of the second side wall 4013 facing away from the first side wall 4011 to seal the rib 4014.

[0077] Figure 7 This is a schematic diagram of the sectional decomposition of the mounting block in the connection mechanism in the embodiment of the present disclosure. As Figure 1 and Figure 7 shown, in some embodiments, the rotary connection module 3 further includes: a connection mechanism 303, and the mechanical forearm 2 is connected to the rotating block 302 through the connection mechanism 303; the connection mechanism 303 includes: a connection block 3031 and a mounting block 3032. The connection block 3031 is fixed to the outer surface of the rotating block 302, and the mounting block 3032 is fixed to one end of the mechanical forearm 2 close to the mechanical upper arm 1. The connection block 3031 and the mounting block 3032 are detachably connected.

[0078] In practical applications, when the upper limb assist exoskeleton device needs to be used, the connection block 3031 and the mounting block 3032 can be assembled and connected to realize the connection between the mechanical forearm 2 and the mechanical upper arm 1; when the upper limb assist exoskeleton device does not need to be used, the connection block 3031 and the mounting block 3032 can be disassembled to realize the separation between the mechanical forearm 2 and the mechanical upper arm 1, which is convenient for storage.

[0079] In some embodiments, two slots 3033 are formed on the side wall of the connecting block 3031 and are oppositely arranged in the first direction X; a pressing block 3034 is configured on the mounting block 3032. The pressing block 3034 has a pressing surface 3034a and two inclined sliding surfaces 3034b that are oppositely arranged in the first direction X. In the direction along the second direction Y and pointing from the inclined sliding surface 3034b to the pressing surface 3034a, the distance between the two inclined sliding surfaces 3034b in the first direction X gradually increases.

[0080] The mounting block 3032 includes: a first surface and a second surface. The first surface is the surface of the mounting block 3032 on the side facing away from the robotic forearm 2, and the second surface is the surface of the mounting block 3032 adjacent to the first surface and parallel to the first direction X. A connecting groove 3032a for accommodating the connecting block 3031 is provided on the first surface, and a moving groove (not shown) for accommodating the pressing block 3034 is provided on the second surface. The pressing block 3034 can move along the second direction Y in the moving groove.

[0081] On both sides of the connecting groove 3032a in the mounting block 3032, third accommodation grooves communicating with the connecting groove 3032a and respectively corresponding to the two clamping grooves 4022 are provided. On both sides of the moving groove in the first direction X in the mounting block 3032, fourth accommodation grooves communicating with the moving groove are provided. A second connecting channel communicating the third accommodation groove and the fourth accommodation groove is provided between the third accommodation groove and the fourth accommodation groove on the same side.

[0082] A third moving rod 3035a is provided in the third accommodation groove, a fourth moving rod 3036a is provided in the fourth accommodation groove, and a second connecting rod 3037a with two ends respectively connected to the second end of the third moving rod 3035a and the second end of the fourth moving rod 3036a is provided in the second connecting channel. The second connecting rod 3037a, the third moving rod 3035a, and the fourth moving rod 3036a move synchronously.

[0083] The first ends of the two third moving rods 3035a are respectively connected with corresponding insertion blocks 3035b. A second elastic mechanism 3035c in a compressed state is provided between the insertion block 3035b and the bottom of the third accommodation groove. The two ends of the second elastic mechanism 3035c are respectively connected to the bottom of the third accommodation groove and the insertion block 3035b. The insertion block 3035b can protrude from the third accommodation groove under the action of the second elastic mechanism 3035c and insert into the corresponding slot 3033, and can be completely retracted from the slot 3033 into the third accommodation groove under the pulling of the third moving rod 3035a.

[0084] Optionally, the second elastic mechanism 3035c is a spring and is sleeved on the third moving rod 3035a.

[0085] The second ends of two fourth moving rods 3036a are respectively in contact with and press against corresponding two inclined sliding surfaces 3034b to press the pressing block 3034.

[0086] In the embodiment of the present disclosure, when no pressing force is applied to the pressing block 3034, since two second elastic mechanisms 3035c are in a compressed state, they will push two insertion blocks 3035b to extend out of the third receiving groove. At this time, the second ends of the corresponding two fourth moving rods 3036a will press against two inclined sliding surfaces 3034b of the pressing block 3034, and the pressing block 3034 is in a state of being jacked up; when a downward pressure is applied to the pressing block 3034 (pressing downward along the second direction Y to the bottom of the moving groove), the pressing block 3034 will move towards the bottom of the moving groove. At this time, the pressing block 3034 will push the second ends of two fourth moving rods 3036a to move towards both sides respectively (the distance between the second ends of two fourth moving rods 3036a in the first direction X becomes larger), and drive two third moving rods 3035a to move towards both sides respectively through a second connecting rod 3037a (the distance between the second ends of two third moving rods 3035a in the first direction X becomes larger). Correspondingly, two third moving rods 3035a respectively pull two insertion blocks 3035b to completely retract into the third receiving groove.

[0087] In practical applications, when it is necessary to install the connecting block 3031 and the mounting block 3032, the pressing block 3034 can be first pressed so that two insertion blocks 3035b completely retract into the third receiving groove, then the connecting block 3031 is inserted into the connecting groove 3032a, and finally the pressing force on the pressing block 3034 is released. Under the action of the second elastic mechanism 3035c, two insertion blocks 3035b are respectively inserted into corresponding slots 3033, and the pressing block 3034 is also jacked up by the squeezing force of two fourth moving rods.

[0088] When it is necessary to disassemble the connecting block 3031 and the mounting block 3032, the pressing block 3034 can be first pressed so that two insertion blocks 3035b completely retract into the third receiving groove, then the connecting block 3031 is separated from the connecting groove 3032a, and finally the pressing force on the pressing block 3034 is released. Under the action of the second elastic mechanism 3035c, two insertion blocks 3035b are respectively inserted into corresponding slots 3033, and the pressing block 3034 is also jacked up by the squeezing force of two fourth moving rods.

[0089] In some embodiments, a sliding guiding groove 3034c is provided on the inclined sliding surface 3034b, and the second end of the fourth moving rod 3036a extends into the bottom of the corresponding sliding guiding groove 3034c. In the embodiment of the present disclosure, by providing the sliding guiding groove 3034c on the inclined sliding surface 3034b, the sliding paths of two fourth moving rods on the inclined sliding surface can be effectively guided and limited.

[0090] Figure 8 Schematic structural diagram when the winding drum, the binding strap, the telescopic limiting part and the arm placing part are separated. Figure 9 For Figure 8 the enlarged structural diagram of area A in Figure 1 . As Figure 3 , Figure 8 and Figure 9 shown, in some embodiments, arm fixing modules 5 are provided on both the main arm 1 and the sub-arm 2 of the machine;

[0091] The arm fixing module 5 includes: an arm placing part 501, a winding drum 502, a rotating shaft 503, a scroll spring 504, a binding strap 505 and a telescopic limiting part 506. Among them, the arm placing part 501 is fixed on the corresponding main arm 1 or sub-arm 2 of the machine and includes: a first side surface and a second side surface arranged oppositely; the winding drum 502 is fixed on the first side surface of the arm placing part 501; the rotating shaft 503 includes: a first part located inside the winding drum 502 and a second part extending from one side of the winding drum 502, the first part is connected to the second part, and a plurality of engaging limiting grooves 503a are formed on the second part along the circumferential direction; the scroll spring 504 is sleeved on the first part of the rotating shaft 503 and generates a pre-tightening force to apply a torque to the rotating shaft 503; one end of the binding strap 505 is connected to the first part of the rotating shaft 503, and the other end of the binding strap 505 is connected to the second side surface of the arm placing part 501 and can be wound around the rotating shaft 503; the telescopic limiting part 506 is arranged between the second part of the rotating shaft 503 and the first side surface of the arm placing part 501 and can extend into the engaging limiting groove 503a to limit the rotating shaft 503 and retract from the engaging limiting groove 503a to release the limit on the rotating shaft 503.

[0092] In the present disclosure, when the scroll spring 504 is sleeved on the rotating shaft 503, the scroll spring 504 will generate a certain pre-tightening force, and this pre-tightening force will cause the scroll spring 504 to apply a torque to the rotating shaft 503, attempting to keep the rotating shaft 503 at a certain specific position or angle; when an external force attempts to rotate the rotating shaft 503, the scroll spring 504 will be further deformed due to the action of the external force and generate a corresponding elastic force to resist the external force. As long as the external force does not exceed the limit that the scroll spring 504 can bear, the elastic force of the scroll spring 504 can keep the rotating shaft 503 fixed to a certain extent, or make the rotating shaft 503 return to the original fixed position determined by the scroll spring 504 after the external force is removed.

[0093] In some embodiments, a partition 507 is further provided on the periphery of the spiral spring 504. The partition 507 can prevent the strap 505 from contacting the spiral spring 504 and limit its position to a certain extent. When the strap 505 is pulled outward, the rotating shaft 503 will be driven to rotate and the spiral spring 504 will be contracted. When the strap 505 is loosened, the rotating shaft 503 will rotate in the opposite direction under the action of the elastic force of the spiral spring 504, so that the strap 505 is wrapped around the rotating shaft 503 and tied tightly to the user's arm.

[0094] In the present disclosure, when the telescopic limiting portion 506 extends into a certain engaging limiting groove 503a, it can effectively engage with the rotating shaft 503 to limit the rotating shaft 503 and prevent the rotating shaft 503 from further rotation.

[0095] In some embodiments, the telescopic limiting portion 506 includes a fixed block 5061, a limiting block 5062, and a third elastic mechanism 5063. The fixed block 5061 is fixed to the first side surface and has a fifth receiving groove formed on a side facing the second portion of the rotating shaft 503, with a sliding limiting hole formed on one sidewall of the fifth receiving groove. The limiting block 5062 includes a first limiting portion and a second limiting portion. The first limiting portion is located within the fifth receiving groove and is movable along the depth direction of the fifth receiving groove. The first limiting portion is capable of extending into the engaging limiting groove 503a, and the second limiting portion is fixed to a side surface of the first limiting portion facing the sliding limiting hole and extends from the sliding limiting hole. The third elastic mechanism 5063 is located between the bottom of the fifth receiving groove and the first limiting portion and is in a compressed state.

[0096] In the present disclosure, the third elastic mechanism 5063 can drive the limit block 5062 to always remain in the pop-up state due to its own elastic force, and can be engaged with a set of sliding limit holes to limit the rotating shaft 503; the outer wall of the limit block 5062 is provided with a shift block, which passes through the outer wall of one side of the fixed block 5061. By shifting the second limit part of the limit block 5062, the limit block 5062 can be driven to move downward and release the limit from the rotating shaft 503, so that the strap 505 can be pulled out; after the user pulls the strap 505 and passes the arm under it, when the strap 505 is loosened, it will automatically be tied to the user's arm and The strap 505 is kept in a fixed state by fixing the rotating shaft 503, and then the second limiting part of the limiting block 5062 is loosened. Under the elastic force of the third elastic mechanism 5063, the first limiting part of the limiting block 5062 extends out and inserts into the corresponding engaging limiting groove 503a, and the wearing is completed. The operation is relatively convenient, and there is no need to adjust the length of the strap 505 through complicated operations, and the strap 505 will not hang down due to being too long and inconvenient to organize and store. At the same time, the action of the limiting block 5062 can also prevent the user from accidentally pulling out the strap 505 with his arm during use, causing the strap to become loose.

[0097] It is understandable that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present disclosure. However, the present disclosure is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present disclosure, and these modifications and improvements are also regarded as the protection scope of the present disclosure.

Claims

1. An upper limb assistive exoskeleton device, characterized in that, Comprising: A mechanical boom, a mechanical forearm, a rotary connection module, and a lubrication module. The rotary connection module includes a fixed rod and a rotating block. The fixed rod is fixed to one end of the mechanical boom close to the mechanical forearm. The rotating block is sleeved on the fixed rod and can rotate around the fixed rod. The mechanical forearm is connected to the rotating block. The lubrication module includes a fuel tank and a baffle. The fuel tank is sleeved on the fixed rod and defines an oil storage space with the outer wall of the fixed rod. The fuel tank is connected to the rotating block and can rotate around the fixed rod following the rotating block. The fuel tank includes a first side wall facing the rotating block. The plane where the first side wall is located is perpendicular to the axial direction of the fixed rod. An oil outlet penetrating the first side wall is provided on the first side wall of the fuel tank. The baffle is located in the oil storage space and contacts the first side wall to cover the oil outlet. And during the rotation of the fuel tank, the baffle can move relative to the fuel tank to open the oil outlet.

2. The upper limb assistive exoskeleton device according to claim 1, wherein The fuel tank further includes a second side wall facing away from the rotating block. An arc-shaped convex strip is fixed on the surface of the second side wall facing away from the first side wall. The convex strip is arranged around the fixed rod. The baffle includes a first inner wall facing the fixed rod. A clamping groove is provided on the first inner wall. A first receiving groove is provided at a position on the fixed rod opposite to the first inner wall. A second receiving groove is provided at a position on the fixed rod opposite to the convex strip. A first connection channel communicating the bottom of the first receiving groove and the bottom of the second receiving groove is further provided in the fixed rod. A first moving rod capable of moving along the depth direction of the first receiving groove is provided in the first receiving groove. A second moving rod capable of moving along the depth direction of the second receiving groove is provided in the second receiving groove. A first connecting rod with two ends respectively connected to the second end of the first moving rod and the first end of the second moving rod is provided in the first connection channel. The first connecting rod, the first moving rod, and the second moving rod move synchronously. The first end of the first moving rod is located outside the first receiving groove. The convex strip can rotate to contact and press the first end of the first moving rod to push the first moving rod towards the bottom of the first receiving groove. A clamping block is connected to the second end of the second moving rod. A first elastic mechanism in a stretched state is provided between the clamping block and the bottom of the second receiving groove. Two ends of the first elastic mechanism are respectively connected to the bottom of the second receiving groove and the clamping block. The clamping block can extend out of the second receiving groove and enter the clamping groove under the push of the second moving rod, and completely retract into the second receiving groove under the action of the first elastic mechanism.

3. The upper limb assistive exoskeleton device according to claim 2, characterized in that, The first elastic mechanism includes a spring. The spring is sleeved on the second moving rod.

4. The upper limb assisting exoskeleton device according to claim 1, characterized in that, The fuel tank further includes: a second side wall facing away from the rotating block, an elastic connection mechanism in a compressed state is provided between the second side wall and the baffle, and two ends of the elastic connection mechanism are respectively connected to the second side wall and the baffle.

5. The upper limb assistive exoskeleton device according to claim 1, characterized in that, The rotary connection module further includes: a connection mechanism, and the robotic forearm is connected to the rotating block through the connection mechanism; The connection mechanism includes: a connection block and a mounting block, the connection block is fixed to the outer surface of the rotating block, the mounting block is fixed to one end of the robotic forearm close to the robotic upper arm, and the connection block and the mounting block are detachably connected.

6. The upper limb assistive exoskeleton device according to claim 5, characterized in that, Two slots oppositely arranged in a first direction are formed on the side wall of the connection block; The mounting block is provided with a pressing block, the pressing block has a pressing surface and two inclined sliding surfaces oppositely arranged in the first direction, and in a direction along a second direction and pointing from the inclined sliding surface to the pressing surface, the distance between the two inclined sliding surfaces in the first direction gradually increases; The mounting block includes: a first surface and a second surface, the first surface is a surface of the mounting block facing away from the robotic forearm, the second surface is a surface of the mounting block adjacent to the first surface and parallel to the first direction, a connection groove for accommodating the connection block is provided on the first surface, a moving groove for accommodating the pressing block is provided on the second surface, and the pressing block can move along the second direction in the moving groove; Third accommodating grooves communicating with the connection groove and respectively corresponding to the two card slots are respectively arranged on two sides of the connection groove in the mounting block, fourth accommodating grooves communicating with the moving groove are respectively arranged on two sides of the moving groove in the first direction in the mounting block, and a second connection channel communicating the third accommodating groove and the fourth accommodating groove is provided between the third accommodating groove and the fourth accommodating groove on the same side; A third moving rod is arranged in the third accommodating groove, a fourth moving rod is arranged in the fourth accommodating groove, and a second connecting rod with two ends respectively connected to the second end of the third moving rod and the second end of the fourth moving rod is arranged in the second connection channel, and the second connecting rod, the third moving rod and the fourth moving rod move synchronously; Corresponding inserts are respectively connected to the first ends of the two third moving rods, a second elastic mechanism in a compressed state is provided between the insert and the bottom of the third accommodating groove, and two ends of the second elastic mechanism are respectively connected to the bottom of the third accommodating groove and the insert, and the insert can extend out of the third accommodating groove under the action of the second elastic mechanism and be inserted into the corresponding slot, and can be completely retracted into the third accommodating groove from the slot under the pulling of the third moving rod; The second ends of the two fourth moving rods are respectively in contact with and press the corresponding two inclined sliding surfaces of the pressing block.

7. The upper limb assistive exoskeleton device according to claim 6, characterized in that, Sliding guide grooves are arranged on the inclined sliding surfaces, and the second ends of the fourth moving rods extend into the bottoms of the corresponding sliding guide grooves.

8. The upper limb assisting exoskeleton device according to claim 1, characterized in that, An arm fixing module is provided on both the mechanical boom and the mechanical forearm; The arm fixing module includes: An arm placement part, fixed on the corresponding mechanical boom or mechanical forearm, including: a first side surface and a second side surface arranged oppositely; A winding drum, fixed on the first side surface of the arm placement part; A rotating shaft, including: a first part located inside the winding drum and a second part extending from one side of the winding drum, the first part is connected to the second part, and a plurality of engaging limit grooves are formed on the second part along the circumferential direction; A volute spring, sleeved on the first part of the rotating shaft, and generating a pre-tightening force to apply torque to the rotating shaft; A strap, one end of which is connected to the first part of the rotating shaft, and the other end is connected to the second side surface of the arm placement part, and can be wound around the rotating shaft for storage; A telescopic limiting part, arranged between the second part of the rotating shaft and the first side surface of the arm placement part, and can extend into the engaging limit groove to limit the rotating shaft and retract from the engaging limit groove to release the limit on the rotating shaft.

9. The upper limb assistive exoskeleton device according to claim 8, characterized in that, The telescopic limiting part includes: A fixed block, fixed on the first side surface, and a fifth accommodating groove is formed on one side facing the second part of the rotating shaft, and a sliding limiting hole is formed on one side wall enclosing the fifth accommodating groove; A limiting block, including: a first limiting part and a second limiting part, the first limiting part is located inside the fifth accommodating groove and can move along the depth direction of the fifth accommodating groove, and the first limiting part can extend into the engaging limit groove, and the second limiting part is fixed to the surface of the first limiting part facing the sliding limiting hole and extends out from the sliding limiting hole; A third elastic mechanism in a compressed state, located between the bottom of the fifth accommodating groove and the first limiting part.

10. The upper limb assistive exoskeleton device according to any one of claims 1 to 9, characterized in that, The number of the lubrication modules is two, and the two lubrication modules are respectively located on opposite sides of the rotating block.

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