Underwater Assistive Exoskeleton Elbow Joint Structure Wearable Inside a Dry Wetsuit

Abstract

The present application discloses an underwater assisting exoskeleton elbow joint structure wearable inside a dry diving suit, which relates to the technical field of underwater assisting exoskeleton elbow joint structures. On the premise of making the axial dimension of the elbow joint structure smaller, it does not affect the flexible state of the joint, and can also assist the diver's elbow joint during underwater engineering operations, and makes the relative machining accuracy and installation requirements of the elbow joint lower and more reliable. The elbow joint structure includes a forearm assembly, a clutch reduction motor, a driving sprocket, a transmission chain, a passive sprocket group, a driven sprocket and a large arm structural member; a forearm binding strap and a clutch reduction motor are provided on the mounting plate of the forearm assembly; the driving sprocket is arranged on the clutch reduction motor, the passive sprocket group and the driven sprocket are both connected to the mounting plate, and the axes of the passive sprocket group and the driven sprocket are perpendicular to the axis of the driving sprocket; the large arm structural member is fixedly connected to the driven sprocket; the transmission chain is tensioned between the passive sprocket group and the driven sprocket.

Description

Technical Field

[0001] This application relates to the technical field of underwater assistive exoskeletons, and particularly to an elbow joint structure of an underwater assistive exoskeleton wearable inside a dry wetsuit. Background Art

[0002] Underwater engineering diving operations need to face a complex underwater environment and have a relatively long operation time, which requires high physical strength and motor ability of divers. Especially for underwater equipment installation and removal, welding, handling, etc., the assistance for the upper limb movement of divers can effectively improve the efficiency and duration of underwater engineering diving operations. At the same time, the underwater operation environment is generally complex. For example, in the operation environments such as salvage, leak stoppage and dredging, the underwater temperature and water quality are relatively harsh, and divers need to wear dry wetsuits for operations. At the same time, due to the large thickness of the dry wetsuit and the non-fitting with the divers, and in many cases, divers need to wear warm clothes inside the dry wetsuit. Therefore, the exoskeleton needs to be worn inside the dry wetsuit.

[0003] At the same time, the current cross-axis drive schemes of exoskeletons are mainly bevel gear drive, worm and worm gear drive and wire drive structures. The first two drive methods require high machining accuracy and installation accuracy due to the use of meshing drive structures. When adopting a compact structure design, the cost is not easy to control, and wire drive may have problems such as slipping, creeping and wear. Therefore, there is an urgent need to provide an elbow joint structure of an underwater assistive exoskeleton that can be worn inside a dry wetsuit and can provide sufficient underwater engineering operation assistance to the elbow joint of divers. Summary of the Invention

[0004] An embodiment of this application provides an elbow joint structure of an underwater assistive exoskeleton wearable inside a dry wetsuit. On the premise of making the axial dimension of the elbow joint structure relatively small, it does not affect the flexible state of the joint, and can also assist the elbow joint of the diver during underwater engineering operations, and makes the elbow joint have lower relative machining accuracy and installation requirements and is more reliable.

[0005] To achieve the above object, an embodiment of the present application provides an underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit, including a forearm assembly, a clutch reduction motor, a driving sprocket, a transmission chain, a passive sprocket group, a driven sprocket, and a large arm structural member; the transmission chain is a side pin rack; the forearm assembly includes a mounting plate; a forearm binding strap is provided on the first side of the mounting plate; the housing of the clutch reduction motor is fixedly connected to the second side of the mounting plate; the driving sprocket is arranged on the output shaft of the clutch reduction motor, the passive sprocket group and the driven sprocket are both rotatably connected to the mounting plate, and the axes of the passive sprocket group and the driven sprocket are perpendicular to the axis of the driving sprocket; the lower end of the large arm structural member is fixedly connected to the driven sprocket; the transmission chain is tensioned between the passive sprocket group and the driven sprocket, and when the clutch reduction motor is engaged, the driving sprocket meshes with the side pins of the transmission chain.

[0006] Further, the passive sprocket group includes two passive sprockets arranged up and down; both of the two passive sprockets are rotatably connected to the mounting plate.

[0007] Further, the transmission chain includes multiple sets of link side pin assemblies, and each link side pin assembly includes a link and a side pin hinged to the link, and the axis of the side pin is perpendicular to the axis of the connecting shaft in the link.

[0008] Further, a tensioning device for tensioning the transmission chain is further provided on the driven sprocket.

[0009] Further, the tensioning device includes a tensioning block and a guide block; the tensioning block is located between the two passive sprockets and at the same height as the driving sprocket; the guide block is slidably connected to the mounting plate and is located between the driving sprocket and the lower passive sprocket, and sliding the guide block downward can tension the transmission chain.

[0010] Further, the clutch reduction motor is fixedly connected to the mounting plate through a motor bracket.

[0011] Further, the passive sprocket is rotatably connected to the mounting plate through a passive rotating shaft.

[0012] Further, the driven sprocket is rotatably connected to the mounting plate through a driven rotating shaft.

[0013] The present application has the following beneficial effects compared with the prior art:

[0014] 1. The exoskeleton elbow joint structure wearable inside a dry wetsuit in the embodiment of the present application is a chain drive structure with a vertical axis drive. After the clutch reduction motor is engaged at the elbow, it drives the drive chain to drive the elbow joint to swing, thereby assisting the extension / flexion movement of the diver's elbow joint and realizing the assistance for the diver to perform engineering tasks such as underwater welding, assembly, handling, support, demolition, salvage, and leak stoppage.

[0015] 2. The exoskeleton elbow joint structure in the embodiment of the present application fills the gap in the exoskeleton elbow joint structure solution for engineering diving operations. The binding structures of the exoskeleton are all located inside the dry wetsuit, reducing the restriction on the expansion and contraction of the wetsuit and not hindering the inflation and deflation of the dry wetsuit.

[0016] 3. The exoskeleton elbow joint structure in the embodiment of the present application adopts a drive chain with side pins to achieve a vertical axis drive structure with a relatively small axial dimension of the elbow joint and relatively low machining accuracy and installation requirements.

[0017] 4. The embodiment of the present application adopts a clutch reduction motor to drive the movement of the drive chain structure. The clutch engagement and disengagement are both free and flexible, and when no assistance is required, it can reduce the hindrance to the normal movement of the diver.

[0018] 5. The exoskeleton elbow joint structure in the embodiment of the present application has a symmetrical structure, fits the diver well, has no obvious sharp protrusions and moving parts on the outer shape, protects the inside of the dry wetsuit and the human body, makes the overall outer shape symmetrical and without obvious protrusions and deformations during diving, reduces unnecessary interference to the diver, and reduces additional water resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a three-dimensional structure schematic diagram of an underwater assist exoskeleton elbow joint structure wearable inside a dry wetsuit in an embodiment of the present application from one angle;

[0021] Figure 2 It is a three-dimensional structure schematic diagram of an underwater assist exoskeleton elbow joint structure wearable inside a dry wetsuit in an embodiment of the present application from another angle;

[0022] Figure 3 It is a top view of the elbow joint structure in the underwater assist exoskeleton elbow joint structure wearable inside a dry wetsuit in an embodiment of the present application;

[0023] Figure 4 is Figure 3 the A-A cross-sectional view of;

[0024] Figure 5 is the exploded structural schematic diagram of the elbow joint structure of the underwater assistive exoskeleton wearable inside a dry wetsuit in the embodiment of the present application;

[0025] Figure 6 is the meshing state diagram of the driving sprocket and the side shaft in the elbow joint structure of the underwater assistive exoskeleton wearable inside a dry wetsuit in the embodiment of the present application;

[0026] Figure 7 is the three-dimensional structural schematic diagram of a link at an angle in the elbow joint structure of the underwater assistive exoskeleton wearable inside a dry wetsuit in the embodiment of the present application;

[0027] Figure 8 is the three-dimensional structural schematic diagram of the link at another angle in the elbow joint structure of the underwater assistive exoskeleton wearable inside a dry wetsuit in the embodiment of the present application. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0030] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; for those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0031] The terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0032] Referring to Figure 1 and Figure 6 , an embodiment of the present application provides an underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit, including a forearm assembly 1, a clutch reduction motor 2, a driving sprocket 3, a transmission chain 4, a passive sprocket group 5, a driven sprocket 6, and a large arm structural member 7. Among them, referring to Figure 7 and Figure 8 , the transmission chain 4 is a side pin rack, including multiple groups of link side pin assemblies 41. The link side pin assembly 41 includes a link 42 and a side pin 43 hinged on the link. One end of the side pin 43 is connected to the link 42, and the axis of the side pin 43 is perpendicular to the axis of the connecting shaft 44 in the link 42.

[0033] Referring to Figures 1 to 6 , the forearm assembly 1 includes a mounting plate 11. A forearm binding strap 12 is provided on the first side of the mounting plate 11. The housing of the clutch reduction motor 2 is fixedly connected to the second side of the mounting plate 11. The driving sprocket 3 is mounted on the output shaft of the clutch reduction motor 2. The passive sprocket group 5 and the driven sprocket 6 are both rotatably connected to the mounting plate 11, and the axes of the passive sprocket group 5 and the driven sprocket 6 are perpendicular to the axis of the driving sprocket 3. The passive sprocket group 5 includes two passive sprockets 51 arranged vertically. Both of the two passive sprockets 51 are rotatably connected to the mounting holes of the mounting plate 11 through passive rotating shafts 8. The driven sprocket 6 is rotatably connected to the mounting hole of the mounting plate 11 through a driven rotating shaft 9. The lower end of the large arm structural member 7 is fixedly connected to the driven sprocket 6. The upper end of the large arm structural member 7 is bound to the diver's large arm through a large arm binding assembly. The transmission chain 4 is tensioned between the passive sprocket 51 and the driven sprocket 6, and when the clutch reduction motor 2 is engaged, the driving sprocket 3 meshes with the side pin 43 of the transmission chain 4.

[0034] To prevent the transmission chain 4 from becoming slack, the embodiment of the present application provides a tensioning device 9 on the mounting plate 11 to tension the transmission chain 4. Specifically, the tensioning device 9 includes a tensioning block 91 and a guide block 92. The guide block 92 is located between the two passive sprockets 51 and at the same height as the driving sprocket 3. The guide block 92 is slidably connected to the mounting plate 11 and is located between the driving sprocket 3 and the lower passive sprocket 51. Sliding the guide block 92 downward can tension the transmission chain 4.

[0035] During the assembly of this embodiment, first, the drive chain 4 should bypass the driven sprocket 6 and a pair of passive sprockets 51. Then, by adjusting the mounting base of the clutch reduction motor 2, the drive sprocket 3 is brought into normal meshing with the side shaft 443 on the corresponding link 41 of the drive chain 4. The movement trajectory of the drive chain 4 is defined by adjusting the guide block 92 in the forearm assembly 1. Finally, the drive chain 4 is brought into a proper tension state by adjusting the tensioning block 91 in the forearm assembly 1.

[0036] The embodiment of this application should be used in cooperation with the upper arm binding assembly. The upper arm structural member 7 is bound to the upper arm of the diver through the upper arm binding assembly. When worn on the elbow joint of the diver, the rotation axis of the driven sprocket 46 should be fitted as closely as possible to the axis of rotation of the abduction / adduction degree of freedom of the human elbow joint, and the elbow joint structure 4 is fixed to the forearm of the diver through the forearm binding strap 12.

[0037] After the diver wears the exoskeleton of this application, the abduction / adduction movement of the human elbow joint is coaxial and synchronous with the rotation of the driven sprocket 6. When the elbow joint structure of this exoskeleton assists the diver's elbow joint, the clutch reduction motor 2 is in the clutch engaged state. The clutch reduction motor 2 drives the drive sprocket 3 to drive the side pin 43 of the link 41 of the drive chain 4 through meshing, driving the drive chain 4 to move, thereby rotating the driven sprocket 6, and then driving the forearm assembly 1 to swing, realizing the assistance to the diver in underwater engineering operations by the exoskeleton.

[0038] When the elbow joint of the exoskeleton of this application is in a free and flexible state, the clutch reduction motor 2 is in the clutch open state, and the drive sprocket 3 is disconnected from the internal moment of inertia of the clutch reduction motor 2 and rotates with the movement of the drive chain 4. This ensures that the elbow joint structure of the exoskeleton imposes almost no additional load on the diver's elbow joint, and the diver's elbow joint can move freely and flexibly.

[0039] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. An underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit, characterized in that, it includes a forearm assembly, a clutch reduction motor, a driving sprocket, a transmission chain, a passive sprocket set, a driven sprocket and a large arm structural member; the transmission chain is a side pin rack; the transmission chain includes multiple groups of link side pin assemblies, the link side pin assembly includes a link and a side pin hinged on the link, and the axis of the side pin is perpendicular to the axis of the connecting shaft in the link; the forearm assembly includes a mounting plate; a forearm binding strap is provided on the first side of the mounting plate; the housing of the clutch reduction motor is fixedly connected to the second side of the mounting plate; the driving sprocket is arranged on the output shaft of the clutch reduction motor, the passive sprocket set and the driven sprocket are both rotatably connected to the mounting plate, and the axes of the passive sprocket set and the driven sprocket are perpendicular to the axis of the driving sprocket; the lower end of the large arm structural member is fixedly connected to the driven sprocket; the transmission chain is tensioned between the passive sprocket set and the driven sprocket, and when the clutch reduction motor is engaged, the driving sprocket meshes with the side pins of the transmission chain.

2. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 1, characterized in that, the passive sprocket set includes two passive sprockets arranged up and down; both of the two passive sprockets are rotatably connected to the mounting plate.

3. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 1, characterized in that, a tensioning device for tensioning the transmission chain is further provided on the driven sprocket.

4. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 3, characterized in that, the tensioning device includes a tensioning block and a guide block; the tensioning block is located between the two passive sprockets and at the same height as the driving sprocket; the guide block is slidably connected to the mounting plate and is located between the driving sprocket and the lower passive sprocket, and sliding the guide block downward can tension the transmission chain.

5. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 1, characterized in that, the clutch reduction motor is fixedly connected to the mounting plate through a motor bracket.

6. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 1, characterized in that, the passive sprocket is rotatably connected to the mounting plate through a passive rotating shaft.

7. The underwater assistive exoskeleton elbow joint structure wearable inside a dry wetsuit according to claim 1, characterized in that, the driven sprocket is rotatably connected to the mounting plate through a driven rotating shaft.

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