A wearable passive upper limb exoskeleton assist device

Abstract

The present invention proposes a wearable passive upper limb exoskeleton power-assisting device, comprising: shoulder straps, a left frame, a right frame, an arm strap, a waist strap, a back support and a waist support; when the user wears it, he presses the button portion of the locking device, and the buckle rotates to unlock the third connecting rod, so that the gas spring rises, and at the same time drives the second connecting rod and the third connecting rod to move upward, pushing the arm support to lift up, and providing a power-assisting effect for the user's upper limbs. The present invention is based on left and right support rods, the lower parts of the two support rods are hinged to the waist support, and the upper parts of the two support rods are connected to the back support by elastic straps, which enables the device to meet the working conditions of different distances from the operator, and the operation is more flexible and convenient; moreover, the embodiment of the present invention does not require power source equipment such as an external power supply, and the structure is light and simple, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the field of power-assisting device manufacturing, and in particular to a wearable passive upper limb exoskeleton power-assisting device. Background Art

[0002] In many fields, such as automobile maintenance, operators need to keep their upper limbs lifted for a long time, and the single operation time is long and the overall operation frequency is high, which will gradually cause soreness and stiffness in the muscles and joints of their shoulders, backs, upper limbs and other parts, increase working hours to a certain extent, and reduce work efficiency. Long-term and frequent engagement in this type of work will also cause related joint, muscle and bone damage to operators, causing many physical diseases.

[0003] The exoskeleton assist device is worn on the outside of the operator's body and can provide support and protection to the operator's body by assisting the operator during the operation. Currently, a large number of exoskeleton assist devices are designed with active power, which results in a complex structure and large size of the assist device. This makes it inconvenient to wear and has a certain impact on the operator during the operation.

[0004] Existing technologies mostly use motor drive or intelligent sensor control and adjustment to drive the upper limb exoskeleton for assistance, and some use air circuit control devices in combination with air supply systems for driving. Because these devices contain motors or other control devices, they are heavy and complex in installation, and have defects in wearing comfort. But this is because the usage scenarios of these devices are mostly emergency rescue and overweight handling, which require greater support force. However, there are some scenarios where the lifted objects are not too heavy, but need to be held high for a long time, such as product maintenance in a small space, car maintenance and other scenarios, which require wearing a lighter, more lightweight and comfortable upper limb assistant device. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to solve the problems of heavy weight and complex device caused by the need for exogenous intervention in the prior art; in view of this, the present invention provides a wearable passive upper limb exoskeleton power-assisting device.

[0006] The technical solution adopted by the present invention is a wearable passive upper limb exoskeleton power-assisting device, comprising:

[0007] Shoulder straps, left frame, right frame, arm straps, waist straps, back support and waist support; the upper and lower ends of the shoulder straps are respectively connected to the back support and the waist support, the waist strap is connected to the waist support, the arm straps are respectively connected to the arm parts of the left frame and the right frame, and the left frame and the right frame are respectively connected to the waist support;

[0008] Wherein, the left frame and the right frame both include a first connecting rod, an upper rotating rod, a lower rotating rod, a supporting rod, a locking device, an arm support, a second connecting rod, a third connecting rod, and a gas spring; the two ends of the supporting rod are respectively connected to the upper rotating rod and the lower rotating rod through an upper rotating shaft and a lower rotating shaft, the upper rotating rod is connected to the arm support through the first connecting rod, the lower rotating shaft is connected to the lower end of the gas spring, one end of the second connecting rod and one end of the third railing are connected to the upper end of the gas spring, the other end of the second connecting rod is connected to the arm support, and the other end of the third connecting rod is connected to the upper rotating rod;

[0009] Furthermore, when the user puts on the wearer's arm, he presses the button of the locking device, and the buckle rotates to unlock the third connecting rod, causing the gas spring to rise, while driving the second connecting rod and the third connecting rod to move upward, pushing the arm support to rise, thereby providing assistance to the user's upper limbs.

[0010] In one embodiment, the waist support and the back support are connected by an elastic strap to adjust the connection angle.

[0011] In one embodiment, the waist strap, the shoulder strap and the arm strap are adjustable in size.

[0012] In one embodiment, the lower portion of the support rod is hinged to the waist support via bolts, and the elastic strap is connected to the shoulder support via a metal ring on the support rod.

[0013] In one embodiment, the upper rotating rod and the lower rotating rod are connected to the support rod via a rotating shaft, so as to enable relative rotation between the upper rotating rod or the lower rotating rod and the support rod.

[0014] In one embodiment, a pad is provided inside the arm support.

[0015] In one embodiment, the locking device further comprises a baffle, a spring, a spring sleeve, and a rotating shaft;

[0016] When no external force is applied to the button, the locking device is in a locked state;

[0017] When the button is pressed by an external force, the spring is compressed, and the buckle rotates with the rotating shaft and the connection position of the baffle as a fulcrum to complete the unlocking.

[0018] In one embodiment, the spring sleeve is used to fix the position of the spring.

[0019] In one embodiment, the back support rear portion is provided with a first fixing device, a first elastic bandage, a second fixing device, and a second elastic bandage, and the waist support rear portion is provided with a third fixing device.

[0020] In one embodiment, the support rod and the back support are hinged, and the support rod and the back support are connected through the first elastic bandage.

[0021] Compared with the prior art, the present invention has at least the following advantages:

[0022] 1) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention is based on left and right support rods. The lower parts of the two support rods are hinged to the waist support, and the upper parts of the two support rods are connected to the back support through elastic straps. This enables the device to meet the working conditions of different distances from the operator, and the operation is more flexible and convenient.

[0023] 2.) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention has the upper and lower ends of the left and right support rods connected to the rotating rod through a rotating axis, the upper rotating rod is hinged to the arm support through a first connecting rod, the lower rotating rod is hinged to the lower end of the gas spring, one end of the second connecting rod, one end of the third connecting rod and the upper end of the gas spring are hinged through bolts, the other end of the second connecting rod is hinged to the arm support, and the other end of the third connecting rod is hinged to the upper rotating axis, so that the upper and lower rotating rods can rotate relative to the support rods, thereby driving the first connecting rod, the second connecting rod, the third connecting rod, the arm support, and the gas spring to rotate accordingly, ensuring that the upper limbs can move freely in the working state.

[0024] 3) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention has a locking device in the middle of the support rod to control the switching between the use and non-use states of the device. When the third connecting rod is locked by the buckle, the gas spring is completely compressed, and the left and right frames remain vertical. At this time, the device is in the non-use state; when the button is pressed, the spring is compressed, and the buckle no longer locks the third connecting rod, thereby achieving unlocking, and the gas spring slowly rises, driving the second and third connecting rods to move, pushing the upper arm support to lift, thereby providing a power-assisting effect for the operator's upper limbs that are lifted for a long time during the operation, and playing a role of support and protection to a certain extent, reducing muscle fatigue, reducing joint and musculoskeletal injuries, and improving work efficiency.

[0025] 4) The present invention does not require an external power source or other power source equipment, has a light and simple structure, and has a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the front and side structures of a wearable passive upper limb exoskeleton assist device in an unused state according to an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the front and side structures of the wearable passive upper limb exoskeleton assist device in use according to an embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of the rear side structure of a wearable passive upper limb exoskeleton assist device in an unused state according to an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of the side structure of a wearable passive upper limb exoskeleton assist device in an unused state according to an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of the side structure of the wearable passive upper limb exoskeleton assist device in use according to an embodiment of the present invention.

[0031] Figure 6 It is a structural expansion diagram of the locking device according to an embodiment of the present invention.

[0032] Reference numerals

[0033] 1-shoulder strap, 2-skeleton (left and right skeleton), 21-first connecting rod, 22-upper rotating rod, 23-lower rotating rod, 24-support rod, 241-metal ring, 25-locking device, 251-baffle, 252-spring, 253-button, 254-spring sleeve, 255-buckle, 256-rotating axis, 26-arm support, 261-pad, 27-second connecting rod, 28-third connecting rod, 29-gas spring, 210-upper rotating axis, 211-lower rotating axis, 3-arm strap, 4-waist strap, 5-back support, 51-first fixing device, 52-first elastic bandage, 53-second fixing device, 54-second elastic bandage, 6-waist support, 61-third fixing device. DETAILED DESCRIPTION

[0034] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0035] In the drawings, the thickness, size and shape of objects have been slightly exaggerated for ease of explanation. The drawings are only examples and are not drawn strictly to scale.

[0036] It should also be understood that the terms "comprises", "including", "having", "includes" and / or "comprising", when used in this specification, indicate the presence of the stated features, wholes, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof. In addition, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire listed features rather than modifying the individual elements in the list. In addition, when describing embodiments of the present application, "may" is used to mean "one or more embodiments of the present application". And, the term "exemplary" is intended to refer to an example or illustration.

[0037] As used herein, the terms "substantially," "approximately," and similar terms are used as terms of approximation, not degree, and are intended to account for the inherent variations in measurements or calculations that would be recognized by those of ordinary skill in the art.

[0038] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this article have the same meaning as commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined in this article.

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] The first embodiment of the present invention can be referred to Figures 1 to 6 , a wearable passive upper limb exoskeleton assist device, comprising:

[0041] Shoulder strap 1, left frame, right frame, arm strap 3, waist strap 4, back support 5 and waist support 6; the upper and lower ends of the shoulder strap 1 are respectively connected to the back support 5 and the waist support 6, the waist strap 4 is connected to the waist support 6, the arm strap 3 is respectively connected to the arm parts of the left frame and the right frame, and the left frame and the right frame are respectively connected to the waist support 6;

[0042] Wherein, the left skeleton and the right skeleton both include a first connecting rod 21, an upper rotating rod 22, a lower rotating rod 23, a supporting rod 24, a locking device 25, an arm supporting rod 26, a second connecting rod 27, a third connecting rod 28, and a gas spring 29; the two ends of the supporting rod 24 are respectively connected to the upper rotating rod 22 and the lower rotating rod 23, the upper rotating rod 22 is respectively connected to the upper rotating rod 22 and the lower rotating rod 23 through an upper rotating shaft 210 and a lower rotating shaft 211, the first connecting rod 21 is connected to the arm supporting rod 26, the lower rotating shaft 211 is connected to the lower end of the gas spring 29, one end of the second connecting rod 27 and one end of the third connecting rod 28 are connected to the upper end of the gas spring 29, the other end of the second connecting rod 27 is connected to the arm supporting rod 26, and the other end of the third connecting rod 28 is connected to the upper rotating rod 22;

[0043] Furthermore, when the user puts on the wearer's protective clothing, he presses the button 253 of the locking device 25, and the buckle 255 rotates to unlock the third connecting rod 28, causing the gas spring 29 to rise, while driving the second connecting rod 27 and the third connecting rod 28 to move upward, pushing the arm support 26 up, and providing assistance to the user's upper limbs.

[0044] In one embodiment, the waist support 6 and the back support 5 are connected by an elastic strap to adjust the connection angle.

[0045] In one embodiment, the size of the waist strap 4, shoulder strap 1 and arm strap 3 are adjustable.

[0046] In one embodiment, the lower portion of the support rod 24 is hinged to the waist support 6 via bolts, and the elastic strap is connected to the shoulder support via a metal ring 241 on the support rod 24 .

[0047] In one embodiment, the upper rotating rod 22 and the lower rotating rod 23 are connected to the support rod 24 via the rotating shaft 256 for relative rotation between the upper rotating rod 22 or the lower rotating rod 23 and the support rod 24 .

[0048] In one embodiment, a pad 261 is provided inside the arm support 26 .

[0049] In one embodiment, the locking device 25 further includes a baffle 251, a spring 252, a spring sleeve 254, and a rotating shaft 256;

[0050] When no external force is applied to the button 253, the locking device 25 is in a locked state;

[0051] When the button 253 is pressed by an external force, the spring 252 is compressed, and the buckle 255 rotates with the connection position between the rotating shaft 256 and the baffle 251 as a fulcrum, thereby completing the unlocking.

[0052] In one embodiment, the spring sleeve 254 is used to fix the position of the spring 252 .

[0053] In one embodiment, a first fixing device 51 , a first elastic bandage 52 , a second fixing device 53 , and a second elastic bandage 54 are disposed at the rear of the back support 5 , and a third fixing device 61 is disposed at the rear of the waist support 6 .

[0054] In one embodiment, the support rod 24 and the back support 5 are hinged, and the support rod 24 and the back support 5 are connected by a first elastic bandage 52 .

[0055] Compared with the prior art, this embodiment has at least the following advantages:

[0056] 1) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention is based on left and right support rods. The lower parts of the two support rods are hinged to the waist support, and the upper parts of the two support rods are connected to the back support through elastic straps. This enables the device to meet the working conditions of different distances from the operator, and the operation is more flexible and convenient.

[0057] 2.) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention has the upper and lower ends of the left and right support rods connected to the rotating rod through a rotating axis, the upper rotating rod is hinged to the arm support through a first connecting rod, the lower rotating rod is hinged to the lower end of the gas spring, one end of the second connecting rod, one end of the third connecting rod and the upper end of the gas spring are hinged through bolts, the other end of the second connecting rod is hinged to the arm support, and the other end of the third connecting rod is hinged to the upper rotating axis, so that the upper and lower rotating rods can rotate relative to the support rods, thereby driving the first connecting rod, the second connecting rod, the third connecting rod, the arm support, and the gas spring to rotate accordingly, ensuring that the upper limbs can move freely in the working state.

[0058] 3) The wearable passive upper limb exoskeleton power-assisting device provided by the present invention has a locking device in the middle of the support rod to control the switching between the use and non-use states of the device. When the third connecting rod is locked by the buckle, the gas spring is completely compressed, and the left and right frames remain vertical. At this time, the device is in the non-use state; when the button is pressed, the spring is compressed, and the buckle no longer locks the third connecting rod, thereby achieving unlocking, and the gas spring slowly rises, driving the second and third connecting rods to move, pushing the upper arm support to lift, thereby providing a power-assisting effect for the operator's upper limbs that are lifted for a long time during the operation, and playing a role of support and protection to a certain extent, reducing muscle fatigue, reducing joint and musculoskeletal injuries, and improving work efficiency.

[0059] 4) The present invention does not require an external power source or other power source equipment, has a light and simple structure, and has a low cost.

[0060] The second embodiment of the present invention is based on the above embodiment and combined with Figure 3 An application example of the present invention is introduced.

[0061] Can refer to again Figures 1 to 6 A wearable passive upper limb exoskeleton power-assisting device comprises a shoulder strap 1, a left and a right skeleton 2, an arm strap 3, a waist strap 4, a back support 5 and a waist support 6, wherein the upper and lower ends of the shoulder strap 1 are respectively connected to the back support 5 and the waist support 6, the waist strap 4 is connected to the waist support 6, the arm strap 3 is connected to the arm parts of the left and right skeletons 2, and the left and right skeletons 2 are hinged to the waist support 6;

[0062] In this embodiment, the left and right skeletons 2 both include a first connecting rod 21, an upper rotating rod 22, a lower rotating rod 23, a support rod 24, a locking device 25, an arm support 26, a second connecting rod 27, a third connecting rod 28, a gas spring 29, an upper rotating shaft 210, and a lower rotating shaft 211. The two ends of the support rod 24 are respectively connected to the upper rotating rod 22 and the lower rotating rod 23 through the upper rotating shaft 210 and the lower rotating shaft 211. The upper rotating rod 22 is connected to the arm support 26 through the first connecting rod 21. The lower rotating shaft 23 is hinged to the lower end of the gas spring 29. One end of the second connecting rod 27, one end of the third railing 28 and the upper end of the gas spring 29 are connected by bolts. The other end of the second connecting rod 27 is hinged to the arm support 26. The other end of the third railing 28 is hinged to the upper rotating rod 22. A protective pad 261 is arranged inside the arm support 26 to play a protective role.

[0063] The locking device 25 includes a baffle 251, a spring 252, a button 253, a spring sleeve 254, a buckle 255, and a rotating shaft 256; when no external force is applied, the locking device is in a locked state; when an external force is applied to push the button 253 inward, the spring 252 is compressed, and the buckle 255 rotates with the connecting position of the rotating shaft 256 and the baffle 251 as a fulcrum to complete the unlocking; the spring sleeve 254 is used to fix the position of the spring 252; Figure 6 shown.

[0064] The working principle of the upper limb assist device: after the user has put on the device, he needs to press the button 253 of the locking device 25 by hand, and the buckle 255 rotates to unlock the third connecting rod 28. The gas spring 29 rises slowly, and at the same time drives the second connecting rod 27 and the third connecting rod 28 to move upward, pushing the arm support 26 to lift up, which helps the operator to lift the upper limbs for a long time during the operation, and plays a role of support and protection to a certain extent, reduces muscle fatigue, reduces joint and musculoskeletal injuries, and improves work efficiency.

[0065] The back support 5 is provided with a fixing device 1 51, an elastic bandage 1 52, a fixing device 2 53, and an elastic bandage 2 54 at the rear, the waist support 6 is provided with a fixing device 3 61 at the rear, and the support rod 24 is provided with a metal ring 241 at the rear; during the wearer's operation, since the support rod 24 and the back support 6 are hinged, and the support rod 24 and the back support 5 are connected by the elastic bandage 1 52, the wearer's arms can freely complete tasks at various distances from the body.

[0066] The power assist mechanism of the upper limb power assist device is composed of a second connecting rod 27, a third connecting rod 28 and a gas spring 29, one end of the three are hinged together by bolts, and the other ends are respectively hinged to the arm support 26, the upper rotating rod 22 and the lower rotating rod 23, so that the three can rotate freely. When the gas spring 29 is in working state, it drives the second connecting rod 27 and the third connecting rod 28 to rotate to complete the power assist.

[0067] The upper limb assist device has two states: 1. Unused state: the third connecting rod 28 is locked by the buckle 255, and the gas spring 29 is in a compressed state. At this time, the device does not play an assisting role. Figure 4 ②Use state: The buckle 255 unlocks the third link 28, and the arm support 26 is lifted up under the joint action of the gas spring 29, the second link 27 and the third link 28. At this time, the device plays a boosting role, such as Figure 5 shown.

[0068] The two ends of the support rod 24 are connected to the upper rotating rod 22 and the lower rotating rod 23 respectively through the upper rotating shaft 210 and the lower rotating shaft 211. The upper rotating rod 22 and the lower rotating rod 23 can drive the left and right skeletons 2 except the support rod 24 to rotate freely relative to the support rod 24, making the wearer's upper limbs more flexible in the working state.

[0069] The shoulder straps 1, the arm straps 3 and the waist straps 4 can all be adjusted in size according to the body shapes of the wearers.

[0070] Through the description of the specific implementation methods, a deeper and more specific understanding of the technical means and effects adopted by the present invention to achieve the predetermined purpose should be obtained. However, the accompanying drawings are only for reference and illustration purposes and are not intended to limit the present invention.

Claims

1. A wearable passive upper limb exoskeleton power assist device, characterized in that: include: Shoulder straps, left frame, right frame, arm straps, waist strap, back support, and lumbar support; The upper and lower ends of the shoulder straps are respectively connected to the back support and the waist support, the waist strap is connected to the waist support, the arm straps are respectively connected to the arm parts of the left frame and the right frame, and the left frame and the right frame are respectively connected to the waist support; Wherein, the left frame and the right frame both include a first connecting rod, an upper rotating rod, a lower rotating rod, a support rod, a locking device, an arm support, a second connecting rod, a third connecting rod, and a gas spring; the two ends of the support rod are respectively connected to the upper rotating rod and the lower rotating rod through an upper rotating shaft and a lower rotating shaft, the upper rotating rod is connected to the arm support through the first connecting rod, the lower rotating shaft is connected to the lower end of the gas spring, one end of the second connecting rod and one end of the third connecting rod are connected to the upper end of the gas spring, the other end of the second connecting rod is connected to the arm support, and the other end of the third connecting rod is connected to the upper rotating rod; Furthermore, when the user puts on the wearer's arm, he presses the button of the locking device, and the buckle rotates to unlock the third connecting rod, causing the gas spring to rise, while driving the second connecting rod and the third connecting rod to move upward, pushing the arm support to rise, thereby providing assistance to the user's upper limbs.

2. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The waist support and the back support are connected by an elastic strap to achieve adjustment of the connection angle.

3. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The waist strap, the shoulder strap and the arm strap are adjustable in size.

4. The wearable passive upper limb exoskeleton assisting device according to claim 2, characterized in that: The lower part of the support rod is hinged to the waist support through bolts, and the elastic band is connected to the shoulder support through a metal ring on the support rod.

5. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The upper rotating rod and the lower rotating rod are connected to the support rod via a rotating shaft, and are used for relative rotation between the upper rotating rod or the lower rotating rod and the support rod.

6. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: A protective pad is arranged inside the arm support.

7. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The locking device also includes a baffle, a spring, a spring sleeve, and a rotating shaft; When no external force is applied to the button, the locking device is in a locked state; When the button is pressed by an external force, the spring is compressed, and the buckle rotates with the rotating shaft and the connection position of the baffle as a fulcrum to complete the unlocking.

8. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The spring sleeve is used to fix the position of the spring.

9. The wearable passive upper limb exoskeleton assisting device according to claim 1, characterized in that: The back support is provided with a first fixing device, a first elastic bandage, a second fixing device, and a second elastic bandage at the rear part, and the waist support is provided with a third fixing device at the rear part.

10. The wearable passive upper limb exoskeleton assisting device according to claim 9, characterized in that: The support rod is hinged to the back support, and the support rod is connected to the back support through the first elastic bandage.

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