An exoskeleton device for upper limb load-bearing assistance

Abstract

The present invention discloses an exoskeleton device for upper limb load-bearing assistance, comprising an exoskeleton binding module sleeved on the back of a human body, an upper limb module sleeved on the left and right arms of a human body and providing a power drive function, and an automatic young fruit bagging machine body for a human body to carry, wherein the exoskeleton binding module comprises a binding sleeve at the upper end and a power module installed at the lower end on the back of the binding sleeve for providing power supply and whole device control functions, wherein the binding sleeve is a Y-shaped structure on the back of a human body, an H-shaped structure on the chest of a human body, and the bottom end is a flexible human-like structure that fits the human body configuration, and the power module is fixed on a circular ring-shaped structure at the center of the back. The exoskeleton device for upper limb load-bearing assistance provides assistance to the upper limbs of a human body through electric control, so that it can be more conveniently applied to a young fruit bagging machine.

Description

Technical Field

[0001] The present invention belongs to the technical field of power-assisting equipment, and in particular relates to an exoskeleton device for upper limb load-bearing power-assisting equipment. Background Art

[0002] With the development of agriculture and the improvement of people's living standards, more and more people are planting fruit trees. Planting fruit trees is a good way to help farmers get rich. In the management of fruit tree planting, the young fruits on the fruit trees need to be bagged to protect their growth. In the process of bagging fruit trees, due to the large number of young fruits, most of which are on the head, the arms need to be raised and lowered constantly, which can easily cause excessive fatigue of the upper limbs, affect the efficiency of bagging, and even cause damage to the upper limbs in severe cases.

[0003] The existing fruit tree bagging generally adopts young fruit bagging machines for bagging, and in the process of using the young fruit bagging machines, most of them adopt power-assisting devices to help the upper limbs to relieve fatigue and reduce effort. The existing upper limb power-assisting devices are mostly output by pneumatic or hydraulic power, and their power-assisting effect is poor, the power-assisting is not obvious, and the installation is inconvenient to use. Summary of the invention

[0004] The purpose of the present invention is to provide an exoskeleton device for upper limb load-bearing assistance to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an exoskeleton device for upper limb load-bearing assistance, comprising an exoskeleton binding module mounted on the back of a human body, an upper limb module mounted on the left and right arms of a human body and providing a power drive function, and an automatic young fruit bagging machine body for human hand-carrying, wherein the exoskeleton binding module comprises a binding sleeve at the upper end and a power module at the lower end installed on the back of the binding sleeve for providing power supply and control functions of the entire device, wherein the binding sleeve is a Y-shaped structure on the back of a human body and an H-shaped structure on the chest of a human body, and the bottom end is a flexible human-like structure that fits the human body configuration, and the power module is fixed at the On the circular ring structure at the center of the back, the two ends of the exoskeleton binding module are respectively connected to two groups of upper limb modules through a right connecting rod arm and a left connecting rod arm, and the two groups of upper limb modules are respectively installed with an upper limb exoskeleton right power-assisting module and an upper limb exoskeleton left power-assisting module for providing power assistance, the upper limb exoskeleton right power-assisting module and the upper limb exoskeleton left power-assisting module have the same structure and size, and both include a DC reduction motor and a force sensor arranged in the upper limb module, and the right connecting rod arm and the left connecting rod arm have the same structure and size, and both include a connecting rod arm block, a connecting rod arm big arm rod, a connecting rod arm big arm small arm movable block, a connecting rod arm small arm rod, a connecting rod arm small arm block and a connecting rod arm fixed link;

[0006] The upper limb module includes a pair of connecting rods, a power arm upper arm, a power arm forearm, a forearm strap and an upper arm strap. One end of the power arm upper arm is fixedly connected to the power arm forearm, and the other end is fixedly connected to the pair of connecting rods through a universal joint block. One side of the top of the pair of connecting rods is movably connected to the connecting rod arm and the power arm connecting block through a pin shaft, and the other side is symmetrically connected to the connecting rod arm block through a pin shaft. Two groups of upper arm straps of different sizes are clamped under the power arm upper arm, and three groups of forearm straps of different sizes are bonded under the power arm forearm.

[0007] Preferably, the power module includes a power block outer shell, a power block inner shell, a power block fixing plate and a power block, a power slot for placing the power block is opened on one side of the power block outer shell, and a control module is installed on the power block outer shell below the power slot, the power block is stuck in the power slot, a power block fixing plate is provided on the side of the power block facing away from the power block outer shell, and the power block fixing plate is arranged between the power block outer shell and the power block inner shell, a screw hole is provided on the side of the power block inner shell facing away from the power block, and the inner thread of the screw hole is adapted to install a fixing screw that passes through the power block inner shell, the power block fixing plate and is fixedly connected to the power block outer shell.

[0008] Preferably, a connecting right block and a connecting left block are fixedly welded on both sides of the upper end surface of the power block shell, the connecting right block and the connecting left block have the same size and structure, and a connecting arm fixed rod movably connected to the connecting arm small arm block is inserted into the through holes of the connecting right block and the connecting left block.

[0009] Preferably, the outside of the power block is also provided with a power shell, the bottom end of the power shell is fixedly connected to the power bottom plate, and the upper end of the power shell is provided with a power handle.

[0010] Preferably, the vertical sections of the connecting arm block and the connecting arm forearm block are both triangular structures, and the vertical section of the connecting arm boom forearm movable block is a quadrilateral structure. The top ends of the two groups of connecting arm boom rods are movably connected to the two ends of the connecting arm boom forearm movable block, and the bottom ends are respectively movably connected to the two groups of triangular corners of the connecting arm block and the connecting arm and power-boosting arm connecting block, one end of the two groups of connecting arm forearm rods are movably connected to the other two ends of the connecting arm boom forearm movable block, and the other end corner is movably connected to the two side corners of the two groups of connecting arm forearm blocks, and the other side corner of the connecting arm forearm block is movably connected to the connecting arm fixed rod.

[0011] Preferably, the booster arm comprises an upper arm shell, a lower arm shell and an arm fixing plate, the upper arm shell and the lower arm shell are sealed and fixed by screws, the arm fixing plate is clamped between the upper arm shell and the lower arm shell, and both ends of the arm fixing plate are provided with sockets that are clamped with the arm straps, a DC reduction motor is installed between the upper end of the arm fixing plate and the upper arm shell, and one end of the arm-forearm connecting rod is fixed to the end of the bottom of the arm fixing plate facing the booster arm by screws.

[0012] Preferably, the forearm of the power-assisting arm includes an upper forearm shell, a lower forearm shell and a forearm fixing plate. The upper forearm shell and the lower forearm shell are fixed and sealed by screws, and a force sensor is installed above the lower forearm shell. A force sensor fixing block with an L-shaped plate structure for clamping the force sensor is arranged at two staggered corners on the outside of the force sensor. The end of the lower forearm shell facing the upper arm of the power-assisting arm is also fixedly connected to the other end of the upper arm forearm connecting rod by screws.

[0013] Preferably, the forearm fixing plate is clamped on the bottom end of the forearm lower shell by screws, and both side edges of the forearm fixing plate are provided with sockets for clamping and fixing with the forearm straps.

[0014] The technical effects and advantages of the present invention are as follows: the exoskeleton device applied to upper limb load-bearing power-assisting device is provided with an exoskeleton binding module and an upper limb module, which are connected by a right connecting rod arm and a left connecting wall, and a power module for providing power supply and whole device control function is provided under the exoskeleton binding module, and an upper limb exoskeleton right power-assisting module and an upper limb exoskeleton left power-assisting module for providing power driving function are provided in the upper limb module, and both are provided with reduction motors and force sensors inside, so that the operation of each power module can be controlled by the sensor induction through the control module, thereby realizing electric control and achieving the power-assisting effect, which is better and more practical, and the cooperation of the sensor makes the power-assisting more convenient and the power-assisting angle is faster and more accurate; in addition, the overall socket use makes installation more convenient, and a handle is provided on the power block in the power module, which can be conveniently taken out by the handle, so as to replace the power, and there is no need to stop working for charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the overall structure of the back of the present invention;

[0017] Figure 3 A back view of the device of the present invention;

[0018] Figure 4 It is a schematic diagram of the structure of the upper limb module of the present invention;

[0019] Figure 5 It is a schematic diagram of the structure of the booster arm and the booster arm of the present invention;

[0020] Figure 6 It is an exploded view of the upper arm and the lower arm of the booster arm of the present invention;

[0021] Figure 7 It is a schematic diagram of the structure of the left connecting rod arm of the present invention;

[0022] Figure 8 It is a schematic diagram of the structure of the power module of the present invention;

[0023] Fig. 9 It is a schematic diagram of the structure of the power block of the present invention;

[0024] Fig.10 For the present invention Figure 1 A magnified view of the structure in the middle.

[0025] In the figure: 1 automatic young fruit bagging machine body, 2 upper limb exoskeleton right power module, 3 exoskeleton tightening module, 4 upper limb exoskeleton left power module, 5 upper limb module, 6 power module, 7 right connecting rod arm, 8 left connecting rod arm, 9 connecting rod arm and power arm connection block, 10 pair of connecting rods, 11 power arm big arm, 12 power arm small arm, 13 small arm strap, 14 big arm strap, 15 universal joint block, 16 big arm upper shell, 17 big arm lower shell, 18 big arm fixing plate, 19 small arm upper shell, 20 small arm lower shell, 21 small arm fixing plate, 22 force sensor, 23 force sensor fixing block, 24 arm and forearm connecting rod, 25 reduction motor, 26 connecting rod arm block, 27 connecting rod arm arm arm, 28 connecting rod arm arm arm and forearm movable block, 29 connecting rod arm arm arm, 30 connecting rod arm arm block, 31 connecting rod, 32 power block housing, 33 connecting right block, 34 connecting left block, 35 power channel, 36 power block, 37 power block fixing plate, 38 power block inner shell, 39 fixing screws, 40 control module, 41 power handle, 42 power shell, 43 power bottom plate. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The present invention provides Figure 1-3The exoskeleton device shown is applied to upper limb load-bearing assistance, comprising an exoskeleton binding module 3 put on the back of a human body, an upper limb module 5 put on the left and right arms of a human body and providing a power drive function, and an automatic young fruit bagging machine body 1 for human hand-carrying, wherein the exoskeleton binding module 3 comprises a binding sleeve at the upper end and a power module 6 installed at the lower end on the back of the binding sleeve for providing power supply and whole device control functions, wherein the binding sleeve is a Y-shaped structure on the back of a human body, an H-shaped structure on the chest of a human body, and a flexible human-like structure that fits the human body configuration at the bottom, and the power module 6 is fixed on a circular ring structure at the center of the back (actually a binding belt module tied to the waist, used to be tied to the waist of a human body) The two ends of the exoskeleton binding module 3 are connected to the two groups of upper limb modules 5 through the right connecting rod arm 7 and the left connecting rod arm 8 respectively. The two groups of upper limb modules 5 are respectively installed with the upper limb exoskeleton right assisting module 2 and the upper limb exoskeleton left assisting module 4 for providing assistance. The upper limb exoskeleton right assisting module 2 and the upper limb exoskeleton left assisting module 4 have the same structure and size, and both include a DC reduction motor 25 and a force sensor 22 arranged in the upper limb module 5. The right connecting rod arm 7 and the left connecting rod 8 have the same structure and size, and both include a connecting rod arm block 26, a connecting rod arm big arm rod 27, a connecting rod arm big arm small arm movable block 28, a connecting rod arm small arm rod 29, a connecting rod arm small arm block 30 and a connecting rod arm fixed link 31;

[0028] The upper limb module 5 includes a connecting rod 10, a booster arm 11, a booster arm forearm 12, a forearm strap 13 and an upper arm strap 14. One end of the booster arm 11 is fixedly connected to the booster arm forearm 12, and the other end is fixedly connected to the connecting rod 10 through a universal joint block 15. One side of the top of the connecting rod 10 is movably connected to the connecting rod arm and the booster arm connecting block 9 through a pin, and the other side is symmetrically connected to the connecting rod arm block 26 through a pin. Two groups of upper arm straps 14 of different sizes are clamped at the bottom of the booster arm 11, and three groups of forearm straps 13 of different sizes are bonded at the bottom of the booster arm forearm 12.

[0029] Specifically, the power module 6 includes a power block outer shell 32, a power block inner shell 38, a power block fixing plate 37 and a power block 36. A power slot 35 for placing the power block 36 is opened on one side of the power block outer shell 32, and a control module 40 is installed on the power block outer shell 32 below the power slot 35. The control module 40 is preferably an STM32 single-chip microcomputer, and is electrically connected to the power block 36 through a built-in wire. The power block 36 is stuck in the power slot 35, and a power block fixing plate 37 is provided on the side of the power block 36 facing away from the power block outer shell 32, and the power block fixing plate 37 is arranged between the power block outer shell 32 and the power block inner shell 38. A screw hole is provided on the side of the power block inner shell 38 facing away from the power block 36, and the inner thread of the screw hole is adapted to install a fixing screw 39 that passes through the power block inner shell 38, the power block fixing plate 37 and is fixedly connected to the power block outer shell 32, thereby completing the overall fixation and installation of the power block 36.

[0030] Specifically, a right connecting block 33 and a left connecting block 34 are fixedly welded on both sides of the upper end surface of the power block housing 32. The right connecting block 33 and the left connecting block 34 have the same size and structure, and a connecting arm fixed link 31 movably connected to the connecting arm small arm block 30 is inserted into the through holes of the connecting right block 33 and the connecting left block 34, thereby providing support function for the two groups of upper limb modules 5, preventing the upper limb modules 5 from slipping and reducing the exertion of the human body.

[0031] Specifically, the outside of the power block 36 is also provided with a power shell 42, the bottom end of the power shell 42 is fixedly connected to the power bottom plate 43, and the upper end of the power shell 42 is provided with a power handle 41, which is convenient for taking out and placing the power block 36, so that the standby power supply can be easily replaced when picking.

[0032] Specifically, the vertical sections of the connecting arm block 26 and the connecting arm small arm block 30 are both triangular structures, and the vertical section of the connecting arm upper arm small arm movable block 28 is a quadrilateral structure. The top ends of the two groups of connecting arm upper arm rods 27 are movably connected to the two ends of the connecting arm upper arm small arm movable block 28, and the bottom ends are respectively movably connected to the two groups of triangular corners of the connecting arm block 26 and the connecting arm and power-assisting arm connecting block 9. One end of the two groups of connecting arm small arm rods 29 are movably connected to the other two ends of the connecting arm upper arm small arm movable block 28, and the other end corner is movably connected to the two side corners of the two groups of connecting arm small arm blocks 30, and the other side corner of the connecting arm small arm block 30 is movably connected to the connecting arm fixed link 31, so that the overall support capacity is provided while facilitating the movement of the upper limb module 5 connected thereto.

[0033] Specifically, the power-assisting arm 11 includes an upper arm shell 16, a lower arm shell 17 and an arm fixing plate 18. The upper arm shell 16 and the lower arm shell 17 are sealed and fixed by screws. The arm fixing plate 18 is clamped between the upper arm shell 16 and the lower arm shell 17, and both ends of the arm fixing plate 18 are provided with sockets that are clamped with the arm strap 14. A DC reduction motor 25 is installed between the upper end of the arm fixing plate 18 and the upper arm shell 16. The reduction motor 25 is electrically connected to the power block 36, and one end of the arm-forearm connecting rod 24 is fixed to the bottom of the arm fixing plate 18 facing the power-assisting arm 12 by screws.

[0034] Specifically, the booster arm forearm 12 includes an upper forearm shell 19, a lower forearm shell 20 and a forearm fixing plate 21. The upper forearm shell 19 and the lower forearm shell 20 are fixed and sealed by screws, and a force sensor 22 is installed above the lower forearm shell 20. The two staggered corners on the outer side of the force sensor 22 are provided with a force sensor fixing block 23 with an L-shaped plate structure for clamping the force sensor 22. The end of the lower forearm shell 20 facing the booster arm 11 is also fixedly connected to the other end of the arm forearm connecting rod 24 by screws. The force sensor 22 can be an R-20 type RVDT aerospace military angular displacement sensor.

[0035] Specifically, the forearm fixing plate 21 is clamped on the bottom end of the forearm lower shell 20 by screws, and both side edges of the forearm fixing plate 21 are provided with sockets for clamping and fixing with the forearm strap 13. The upper arm strap 14 and the forearm strap 13 can be fixed to the two ends of the corresponding fixing plates by bonding with Velcro or sewing with needle and thread.

[0036] Specifically, the exoskeleton device applied to upper limb load-bearing power-assisting device firstly puts the exoskeleton binding module 3 on the back of the human body, and then puts the upper limb module 5 on the upper arm and the forearm in turn, so that the arm passes through the upper arm strap 14 and the forearm strap 13, and the exoskeleton binding module 3 and the upper limb module 5 are fixed by the right connecting arm 7 and the left connecting arm 8, and the automatic young fruit bagging machine body 1 is held. When the young fruits on the fruit trees start to be bagged, the force sensors 22 in the upper limb exoskeleton right power-assisting module 2 and the upper limb exoskeleton left power-assisting module 4 in the upper limb module 5 detect the upper arm movement joint angle signal and the forearm movement joint angle signal, and send them to the control module 40. After receiving the signal, the control module 40 controls the operation of the internal reduction motor 25 to provide power to the upper arm and the forearm of the human body.

[0037] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An exoskeleton device for upper limb load-bearing assistance, comprising an exoskeleton tightening module (3) mounted on the back of a human body, an upper limb module (5) mounted on the left and right arms of a human body and providing a power drive function, and an automatic young fruit bagging machine body (1) for carrying by a human body, characterized in that: The exoskeleton binding module (3) comprises a binding sleeve at the upper end and a power supply module (6) at the lower end installed on the back of the binding sleeve for providing power supply and whole device control functions, wherein the binding sleeve is a Y-shaped structure on the back of the human body and an H-shaped structure on the chest of the human body, and the bottom end is a flexible human-like structure that fits the human body configuration, and the power supply module (6) is fixed on the circular ring structure at the center of the back, and the two ends of the exoskeleton binding module (3) are respectively connected to the two groups of upper limb modules (5) through a right connecting rod arm (7) and a left connecting rod arm (8), and the two groups of upper limb modules (5) are respectively installed with a power supply module (6) for controlling the upper limb module (5). An upper limb exoskeleton right power-assisting module (2) and an upper limb exoskeleton left power-assisting module (4) for providing power assistance, wherein the upper limb exoskeleton right power-assisting module (2) and the upper limb exoskeleton left power-assisting module (4) are of the same size and structure, and both include a DC reduction motor (25) and a force sensor (22) arranged in the upper limb module (5); the right connecting rod arm (7) and the left connecting rod arm (8) are of the same size and structure, and both include a connecting rod arm block (26), a connecting rod arm upper arm rod (27), a connecting rod arm upper arm lower arm movable block (28), a connecting rod arm lower arm rod (29), a connecting rod arm lower arm block (30) and a connecting rod arm fixed link (31); The upper limb module (5) comprises a pair of connecting rods (10), a booster arm (11), a booster arm forearm (12), a forearm strap (13) and an upper arm strap (14); one end of the booster arm (11) is fixedly connected to the booster arm forearm (12), and the other end is fixedly connected to the pair of connecting rods (10) via a universal joint block (15); one side of the top of the pair of connecting rods (10) is movably connected to the connecting rod arm and the booster arm connecting block (9) via a pin shaft, and the other side is symmetrically connected to the connecting rod arm block (26) via a pin shaft; two groups of upper arm straps (14) of different sizes are clamped below the booster arm (11), and three groups of forearm straps (13) of different sizes are bonded below the booster arm forearm (12); The power module (6) comprises a power block outer shell (32), a power block inner shell (38), a power block fixing plate (37) and a power block (36); a power slot (35) for placing the power block (36) is provided on one side of the power block outer shell (32); a control module (40) is installed on the power block outer shell (32) below the power slot (35); the power block (36) is stuck in the power slot (35); a power block fixing plate (37) is provided on the side of the power block (36) facing away from the power block outer shell (32); the power block fixing plate (37) is arranged between the power block outer shell (32) and the power block inner shell (38); a screw hole is provided on the side of the power block inner shell (38) facing away from the power block (36); and a fixing screw (39) passing through the power block inner shell (38) and the power block fixing plate (37) and fixedly connected to the power block outer shell (32) is installed in the screw hole inner thread; A right connecting block (33) and a left connecting block (34) are respectively fixedly welded on both sides of the upper end surface of the power block housing (32); the right connecting block (33) and the left connecting block (34) have the same size and structure, and a connecting arm fixed link (31) movably connected to the connecting arm small arm block (30) is inserted into the through holes of the connecting right block (33) and the connecting left block (34); A power supply shell (42) is disposed outside the power supply block (36), the bottom end of the power supply shell (42) is fixedly connected to a power supply bottom plate (43), and a power supply handle (41) is disposed at the upper end of the power supply shell (42); The vertical sections of the connecting arm block (26) and the connecting arm small arm block (30) are both triangular structures, and the vertical section of the connecting arm large arm small arm movable block (28) is a quadrilateral structure. The top ends of the two groups of connecting arm large arm rods (27) are movably connected to the two ends of the connecting arm large arm small arm movable block (28), and the bottom ends are movably connected to the two groups of triangular corners of the connecting arm block (26) and the connecting arm and booster arm connecting block (9), respectively. One end of the two groups of connecting arm small arm rods (29) is movably connected to the other two ends of the connecting arm large arm small arm movable block (28), and the other end corner is movably connected to the two side corners of the two groups of connecting arm small arm blocks (30), and the other side corner of the connecting arm small arm block (30) is movably connected to the connecting arm fixed link (31); The booster arm (11) comprises an upper arm shell (16), a lower arm shell (17) and an upper arm fixing plate (18), wherein the upper arm shell (16) and the lower arm shell (17) are sealed and fixed by screws, and the upper arm fixing plate (18) is clamped between the upper arm shell (16) and the lower arm shell (17), and both ends of the upper arm fixing plate (18) are provided with jacks clamped with the upper arm strap (14), a DC reduction motor (25) is installed between the upper end of the upper arm fixing plate (18) and the upper arm shell (16), and one end of the upper arm connecting rod (24) is fixed to the bottom of the upper arm fixing plate (18) facing the booster arm (12) by screws; The booster arm forearm (12) comprises a forearm upper shell (19), a forearm lower shell (20) and a forearm fixing plate (21), the forearm upper shell (19) and the forearm lower shell (20) are fixed and sealed by screws, and a force sensor (22) is installed above the forearm lower shell (20), and two staggered corners outside the force sensor (22) are provided with a force sensor fixing block (23) in an L-shaped plate structure for clamping the force sensor (22), and one end of the forearm lower shell (20) facing the booster arm (11) is also fixedly connected to the other end of the arm forearm connecting rod (24) by screws; The forearm fixing plate (21) is clamped on the bottom end of the forearm lower shell (20) by means of screws, and both sides of the forearm fixing plate (21) are provided with insertion holes for clamping and fixing with the forearm binding strap (13).

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