A wearable bionic elbow joint mechanism

Abstract

The present invention relates to a bionic wearable structure. A wearable bionic elbow joint mechanism, characterized in that: it includes an elbow bracket and an arm bracket, the arm bracket includes a large arm bracket and a small arm bracket, and the elbow bracket and the arm bracket are connected by a connecting bracket; a boosting structure is provided on the connecting bracket, and the boosting structure includes a bending boosting component and a straightening boosting component; the included angle between the large arm bracket and the small arm bracket is changed through the boosting structure. The present invention provides a wearable bionic elbow joint mechanism with a small volume, light weight, good flexibility, and a simple control system; it solves the technical problems of large volume, heavy weight, and poor flexibility of the bionic elbow joint wearable mechanism in the prior art.

Description

Technical Field

[0001] The present invention relates to a bionic wearable structure, and particularly to a bionic elbow joint mechanism based on a tensegrity structure. Background Art

[0002] The bionic elbow joint wearable robot has the characteristics of high movement flexibility and strong adaptability, and can realize the flexion and extension of the elbow joint with adaptive semi-automatic reset during the wearing movement process. Compared with traditional industrial robots, rigid structure robots, etc., the bionic elbow joint wearable robot based on tensegrity can face different environmental conditions, such as encountering forces in non-designed movement directions, etc. It can evenly distribute the impact force on each component through the tension grid formed by the tensegrity structure, improve the ability to cope with the impact force, and enable the mechanism to withstand large impacts without failure or damage. However, the existing elbow joint wearable robots can only realize the movement function of the flexion and extension of the human elbow joint, lack a detailed exploration of the biological structure functions of some elbow joints, generally adopt a simple hinge connection design, and can only simply imitate the biological characteristics of the human elbow joint in terms of structure, and other biological characteristics still need to be further improved through control systems, etc. Although the bionic elbow joint mechanism has received great attention and made certain progress in assistance and rehabilitation, compared with the human elbow joint structure, it still has the disadvantages of large volume, heavy mass, poor flexibility, and complex control system. Summary of the Invention

[0003] The present invention provides a wearable bionic elbow joint mechanism with a small wearable mechanism volume, light mass, good flexibility, and simple control system; it solves the technical problems of the large volume, heavy mass, and poor flexibility of the existing bionic elbow joint wearable mechanism.

[0004] The above technical problems of the present invention are solved by the following technical solutions: A wearable bionic elbow joint mechanism, characterized in that: it includes an elbow bracket and an arm bracket, the arm bracket includes a large arm bracket and a small arm bracket, and the elbow bracket and the arm bracket are connected by a connecting bracket; a boosting structure is provided on the connecting bracket, and the boosting structure includes a bending boosting component and a straightening boosting component; the included angle between the large arm bracket and the small arm bracket is changed through the boosting structure. The elbow bracket is sleeved at the elbow position of the human body, and the large arm bracket and the small arm bracket of the arm bracket are respectively located on both sides of the elbow bracket and are connected to the elbow bracket through a connecting bracket. The arm bracket moves with the relative movement of the human large arm and small arm around the elbow joint as the center, forming a bionic wearing effect. The boosting structure installed on the connecting bracket provides a power for the arm bracket relative to the elbow bracket when the arm bracket moves with the extension and bending movements of the human arm, so that the overall structure has a good bionic effect based on the tensegrity structure. The boosting structure is divided into a bending boosting component and a straightening boosting component according to the movement of the arm, and provides boosting when the arm is in the bent and straight states, with good flexibility and strong stability.

[0005] Preferably, the elbow bracket includes an upper end bracket, a lower end bracket and two side brackets, and the two ends of the upper end bracket and the lower end bracket are respectively located at the upper and lower ends of the two side brackets. The two side brackets are located on both sides of the elbow, and the upper end bracket and the lower end bracket are respectively located at the upper and lower ends of the elbow, so as to form a surrounding state for the elbow, and can realize following movement and the construction of the overall framework.

[0006] Preferably, the straightening boosting component includes a slider, the slider is installed on a guide post, the guide post is installed on the side bracket, stop blocks are provided at both ends of the guide post, and a compression spring is installed between the slider and the lower stop block. The compression spring is always in a compressed state. When straightening, the compression spring provides an upward thrust to the slider, thereby boosting the upward extension of the two lower connecting brackets hinged on the stop blocks, and the included angle between the two lower connecting brackets becomes larger, realizing the boosting state of the straightening arm.

[0007] Preferably, the connecting bracket includes an upper connecting bracket group and two groups of mutually hinged lower connecting bracket groups, and the lower connecting bracket groups are respectively connected to the large arm bracket and the small arm bracket of the arm bracket; a first bending boosting component is connected to the upper connecting bracket group, and a straightening boosting component is connected to the lower connecting bracket group. There are two side brackets, and each side bracket is provided with an upper connecting bracket and a group of mutually hinged lower connecting brackets. The upper connecting bracket is located above the side bracket, and the lower connecting bracket is hinged on the stop block of the side bracket and changes its angle with the movement of the stop block. When the arm is in the bent state, the two mutually hinged lower connecting brackets are in a V shape, and when the arm changes from the bent state to the straight state, the two mutually hinged lower connecting brackets are in an A shape.

[0008] Preferably, the upper connection bracket group includes two symmetrically arranged upper connection brackets, which are respectively fixed to the upper sides of the two side brackets. The two ends of the upper connection bracket are connected to the lower connection bracket through a first bending assist component, and the first bending assist component is a tension spring. Symmetrical arrangement means that the two upper connection brackets are distributed on both sides of the arm and are respectively connected to the side brackets on both sides. The upper connection bracket is in an "eight" shape, and the two ends of the upper connection bracket are fixed to the ends of the two mutually hinged lower connection brackets through tension springs. After the straight state, the distance between the ends of the two lower connection brackets is the largest, so the tension of the tension spring is the largest, providing assistance for bending.

[0009] Preferably, the lower connection bracket group includes two symmetrically arranged lower connection brackets. One end of the lower connection bracket is fixed to the arm bracket, and the other end of the lower connection bracket is hinged to a slider on the side bracket. Symmetrical arrangement means arranging left and right centered on the arm.

[0010] Preferably, a power assist starting component is installed on the lower connection bracket group. The power assist starting component includes a first fixing member and a first rotating member installed on the lower connection bracket. The first fixing member and the first rotating member are located at both ends of the guide post. A slider is sleeved on the guide post, and the slider is hinged to the side bracket through a connecting rod. A compression spring is provided between the first rotating member and the slider, and the compression spring is sleeved on the guide post.

[0011] Preferably, a second bending assist component is further connected to the two lower connection brackets of the lower connection bracket group. The second bending assist component includes a second rotating member and a second fixing member. The second rotating member and the second fixing member are located at both ends of the guide post. A slider is sleeved on the guide post, and the slider is hinged to the lower connection bracket through a connecting rod. The second rotating member is hinged to the side bracket. A compression spring is provided between the second rotating member and the slider, and the compression spring is sleeved on the guide post.

[0012] Therefore, a wearable bionic elbow joint mechanism of the present invention: by setting bending assist components and straightening assist components, the bionic elbow joint wearable structure based on the tensegrity structure has obvious assist effects, is light, flexible and stable to wear; by setting a power assist starting component, the whole mechanism operates more smoothly and flexibly. Description of the Drawings

[0013] Figure 1 is the front view during bending of a wearable bionic elbow joint mechanism of the present invention.

[0014] Figure 2 is Figure 1 the three-dimensional view of

[0015] Figure 3 is Figure 2 the three-dimensional view from another perspective direction.

[0016] Figure 4 is Figure 1 the front view when extended. Detailed implementation manners

[0017] The technical solution of the invention will be further specifically described below through embodiments in combination with the accompanying drawings.

[0018] Embodiment 1:

[0019] As Figure 1 and 2 shown in FIGS. 3 and 4, a wearable bionic elbow joint mechanism includes an elbow bracket and an arm bracket. The arm bracket includes a large arm bracket 6 and a small arm bracket 1. The large arm bracket 6 is sleeved on the large arm, and the small arm bracket 1 is sleeved on the small arm. The large arm bracket 6 and the small arm bracket 1 are annular bodies. An elbow bracket is connected between the large arm bracket 6 and the small arm bracket 1 through a connecting frame. A boosting structure is provided on the connecting bracket, and the boosting structure includes a bending boosting component and an extending boosting component.

[0020] The elbow bracket includes an upper end bracket 5, a lower end bracket 2 and two side brackets 13. The two ends of the upper end bracket 5 and the lower end bracket 2 are respectively located at the upper and lower ends of the two side brackets 13. The upper end bracket 5, the lower end bracket 2 and the two side brackets 13 form a ring and surround the elbow.

[0021] An "eight"-shaped upper connecting bracket 4 is connected to the upper side of the side bracket 13. Two parallel guide columns 7 are installed on the outer side of the side bracket 13. Stopper blocks 14 are installed at both ends of the guide column 7. A slider 10 is sleeved on the guide column. A compression spring 18 is installed below the slider 10, and the compression spring 18 is also sleeved on the guide column 7. The compression spring 18 is used as the extending boosting component 12. Two "L"-shaped lower connecting brackets 8 are hinged to the slider 10. One end of the left lower connecting bracket 8 is hinged to the slider 10, and the other end is fixed to the small arm bracket 1. One end of the right lower connecting bracket 8 is hinged to the slider 10, and the other end is fixed to the large arm bracket 6. A tension spring 3 is installed at each end of the upper connecting bracket 4 as the first bending boosting component. One end of the tension spring 3 is fixed to the upper connecting bracket 4, and the other end of the tension spring 3 is fixed to the lower connecting bracket 8.

[0022] A boosting starting component 9 is installed on the "L"-shaped lower connecting bracket 8. The boosting starting component 9 includes a first fixing member 16 and a first rotating member 20 installed on the lower connecting bracket. The first fixing member 16 and the first rotating member 20 are located at both ends of the guide column 7. A slider 10 is sleeved on the guide column 7. The slider 10 is hinged to the side bracket 13 through a connecting rod 15. A compression spring 18 is provided between the first rotating member 20 and the slider 10, and the compression spring 18 is sleeved on the guide column 7.

[0023] On the lower side of the side bracket 13, there are also two symmetrically arranged second bending assist components 11 connected. The second bending assist component 11 includes a second rotating member 19 and a second fixing member 17. The second rotating member 19 and the second fixing member 17 are located at both ends of the guide post 7. A slider 10 is sleeved on the guide post 7. The slider 10 is hinged to the lower connecting bracket 8 through a connecting rod. The second rotating member 19 is hinged to the side bracket 13. A compression spring 18 is provided between the second rotating member 13 and the slider 10. The compression spring 18 is sleeved on the guide post 7.

[0024] When the arm extends into the wearing mechanism and is in a bent state, the two mutually hinged lower connecting brackets on one side of the side bracket are arranged in a "V" shape. When it needs to be straightened, the assist starting component moves upward under the drive of the slider. The cross arm of the lower connecting bracket where the assist starting component is located gradually changes from an inclined state to a horizontal state. When in the horizontal state, the compression spring forces on both sides reach a balance. The compression spring under the slider provides assistance to the slider to make it continue to move upward, breaking the balance force and making the lower connecting bracket continue to move upward. The cross arm of the lower connecting bracket gradually changes from the horizontal state to the inclined state again, and the two mutually hinged lower connecting brackets are in a "human" shape; when it needs to be bent, the pulling forces on the two tension springs on the upper connecting bracket are the largest, and the pulling force is greater than the spring force of the assist starting component. The assist starting component forms a power starting basis for driving the slider to move downward. At the same time, the spring force generated by the compression of the compression spring of the second bending assist component also drives the lower connecting bracket to move downward to provide assistance for bending.

Claims

1. A wearable bionic elbow joint mechanism, characterized in that: It includes an elbow bracket and an arm bracket connected by a connecting bracket. The arm bracket includes a upper arm bracket and a forearm bracket. A boosting structure is provided on the connecting bracket. The boosting structure includes a first bending boosting component, a second bending boosting component and a straightening boosting component. The included angle between the upper arm bracket and the forearm bracket is changed by the boosting structure. The elbow bracket includes an upper end bracket, a lower end bracket and two side brackets. The two ends of the upper end bracket and the lower end bracket are respectively located at the upper and lower ends of the two side brackets to form a ring surrounding the elbow. The connecting bracket includes two upper connecting bracket groups and two lower connecting bracket groups. One upper connecting bracket group and one lower connecting bracket group are installed on each side bracket. Each upper connecting bracket group includes two upper connecting brackets arranged symmetrically in a "V" shape. Each lower connecting bracket group includes two "L"-shaped lower connecting brackets arranged symmetrically. One end of the two adjacent upper connecting brackets is respectively fixed on the upper side of the side bracket, and the other end is respectively connected to one of the two "L"-shaped lower connecting brackets through a tension spring as the first bending boosting component. One end of the two "L"-shaped lower connecting brackets away from each other is respectively fixed to one of the upper arm bracket and the forearm bracket, and the other end is hinged to a first slider. There are two parallel first guide posts on the outer side of the side bracket. First stop blocks are installed at the upper and lower ends of the first guide posts. The first slider is sleeved on the first guide posts. A first compression spring as the straightening boosting component is arranged between the first slider and the lower first stop block. The first compression spring is sleeved on the first guide posts. There is a boosting starting component on the lower connecting bracket. The boosting starting component includes a first fixing part and a first rotating part on the lower connecting bracket. The first fixing part and the first rotating part are located at both ends of a second guide post. A second slider is sleeved on the second guide post. The second slider is hinged to the side bracket through a first connecting rod. A second compression spring is arranged between the first rotating part and the second slider. The second compression spring is sleeved on the second guide posts. Two symmetrically arranged second bending boosting components are also connected to the lower side of the side bracket. The second bending boosting component includes a second rotating part and a second fixing part. The second rotating part and the second fixing part are located at both ends of a third guide post. A third slider is sleeved on the third guide post. The third slider is hinged to the lower connecting bracket through a second connecting rod. The second rotating part is hinged to the side bracket. A third compression spring is arranged between the second rotating part and the third slider. The third compression spring is sleeved on the third guide post.

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