A passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism

Abstract

The present invention discloses a passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism, which includes a waist component, an assist mechanism, and an arm component. The two sides of the waist component are respectively connected to the assist mechanism through spherical hinge pairs, and the upper end of the assist mechanism is connected to the arm component through a spherical hinge pair. The assist mechanism includes a base, a guide rail, a gas spring, a lock, a guide seat, and a pressure rod. One end of the base is connected to the waist component, and the other end of the base is connected to the guide rail. One end of the pressure rod is connected to the arm component, and the other end of the pressure rod is connected to the guide seat. The center of the upper end of the base is connected to the gas spring, and a lock is sleeved on the outer wall of the gas spring. The lock can rotate relative to the gas spring. The assist mechanism can cycle between four states and processes, and its states are respectively the locked state, the unlocking process, the assisting state, and the locking process. The present invention adopts a human-machine heterogeneous configuration design, has a simple structure, and can improve human-machine cooperation; by adopting a state switching mechanism, the switching between the assisting state and the free state is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of human-assisted exoskeletons, and particularly to a passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism. Background Art

[0002] In the military, disaster relief, and industrial fields, people are often required to perform long-term or repetitive tasks such as carrying, assembling, and lifting, which can easily cause fatigue and muscle damage, thereby reducing the combat effectiveness of soldiers, lowering the efficiency of rescue and production, and posing potential safety hazards. An upper limb assistive exoskeleton can enhance the load-bearing capacity of the human upper limb, reduce muscle burden and labor intensity, thereby improving work efficiency and safety and reducing the risk of safety accidents.

[0003] Traditional exoskeletons usually adopt a human-machine isomorphic configuration. The isomorphic configuration of an exoskeleton means that the exoskeleton is strictly aligned with the human joint and has the same motion pattern. When the joint axis of the isomorphic exoskeleton is not aligned with the human joint axis, it will cause unnecessary hindrance to the normal movement of the human body, resulting in a decrease in the comfort of the exoskeleton wearer. Moreover, the position and direction of the human joint axis vary due to individual differences. Therefore, the problem of human-machine motion matching needs to be solved in the design and manufacturing process of the isomorphic exoskeleton.

[0004] Traditional passive exoskeletons usually generate assistance through spring energy storage. Since they do not have the ability of active drive, they cannot sense and follow the motion state of the human body, and always generate an assistance effect when a person is wearing the exoskeleton. When a person is performing physical labor, the exoskeleton can provide effective assistance. However, when a person temporarily stops physical labor and moves freely, the traditional passive exoskeleton will instead cause hindrance to the normal activities of the human body. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and provide a passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism. It adopts a human-machine heterogeneous configuration design, does not require the exoskeleton to be strictly aligned with the human joint, only requires that the end of the exoskeleton has the same motion pattern as the target position of the human limb to be assisted. By directly connecting the human waist and upper limb, it avoids the problem of difficult human-machine upper limb motion coordination caused by the combined motion of the human waist and shoulders. The structure is simple and can improve human-machine cooperation. It adopts a state switching mechanism based on a switch locking mechanism to realize the switching between the assistance state and the free state, enabling the driving mechanism of the exoskeleton to generate assistance when the person needs assistance and lock when the person does not need assistance, improving the usability of the exoskeleton. It uses a passive gas spring to provide passive thrust, effectively providing multi-directional boosting force and supporting force for the upper limb.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism, comprising a waist component, an assistive mechanism, and an arm component. The two sides of the waist component are respectively connected to the assistive mechanism through spherical hinge pairs. The upper end of the assistive mechanism is connected to the arm component through a spherical hinge pair. The assistive mechanism includes a base, a guide rail, a gas spring, a lock, a guide seat, and a pressure rod. One end of the base is connected to the waist component, and the other end of the base is connected to the guide rail through a lower optical axis. One end of the pressure rod is connected to the arm component, and the other end of the pressure rod is connected to the guide seat through an upper optical axis. The lower optical axis passes through the guide seat. The center of the upper end of the base is connected to the gas spring. The outer wall of the gas spring is sleeved with the lock, and the lock can rotate relative to the gas spring. The inner peripheral wall of the guide rail is circumferentially provided with guide rail protrusions. The upper end of the lock is provided with circumferentially distributed locking grooves. The lock includes a first lock tooth contact surface and a second lock tooth tip located between two adjacent locking grooves. When the lower end of the guide rail protrusion abuts against the first lock tooth contact surface and the second lock tooth tip abuts against the side surface of the guide rail protrusion, the pressure rod can move freely axially. The pressure rod is provided with circumferentially distributed pressure rod grooves corresponding to the guide rail protrusions. The pressure rod includes a first pressure rod tooth tip located between two adjacent locking grooves. The first pressure rod tooth tip can abut against and drive the first lock tooth contact surface downward so that the second lock tooth tip disengages from the guide rail protrusion. When the guide rail protrusion extends into the locking groove, the lock abuts against and drives the pressure rod to move axially.

[0008] The gas spring includes a gas spring piston rod and a gas spring cylinder body. The gas spring piston rod, the lower end of the gas spring piston rod is fixedly connected to the center of the base. The lock is sleeved outside the gas spring cylinder body and can rotate relative to the gas spring cylinder body. The upper end of the gas spring piston rod is fixedly connected to a threaded cover. The upper end of the lock is restricted by the threaded cover to prevent falling off.

[0009] The center of the guide seat is provided with a through hole for the lock to pass through axially freely. The lower optical axis passes through the outer ring of the guide seat. The lower optical axis and the upper optical axis are staggeredly distributed in the outer ring of the guide seat. The upper optical axis passes through the outer ring of the guide rail.

[0010] The lower end of the guide rail protrusion forms a guide rail tooth tip. The angle between the guide rail tooth tip and the axial cross-section is 30°. The lock includes a first lock tooth tip and a second lock tooth contact surface. The second lock tooth contact surface, the second lock tooth tip, the first lock tooth contact surface, and the first lock tooth tip are arranged circumferentially. The angles between the inclined surfaces of the second lock tooth contact surface and the first lock tooth contact surface and the axial cross-section are 30°. The pressure rod includes a pressure rod tooth contact surface and a second pressure rod tooth tip. The first pressure rod tooth tip, the pressure rod tooth contact surface, and the second pressure rod tooth tip are arranged circumferentially. The angles between the inclined surfaces of the first pressure rod tooth tip and the second pressure rod tooth tip and the axial cross-section are 45°.

[0011] It includes a locked state. The lower end of the guide rail protrusion forms a guide rail tooth tip. In the locked state, the guide rail tooth tip contacts the contact surface of the first locking tooth. The locking is axially rotated under the upward thrust of the gas spring so that the locking moves along the direction of the contact surface of the first locking tooth until the second locking tooth tip abuts against the side surface of the guide rail protrusion.

[0012] It includes an unlocking process. The lower end of the guide rail protrusion forms a guide rail tooth tip. The locking includes a first locking tooth tip and a second locking tooth contact surface. The pressing rod includes a pressing rod tooth contact surface and a second pressing rod tooth tip. The unlocking process includes a first stage and a second stage. In the first stage, the pressing rod is pressed down until the first pressing rod tooth tip contacts the contact surface of the first locking tooth. The pressing rod continues to move downward axially, pushing the locking downward. When the second locking tooth tip is lower than the guide rail tooth tip, the locking moves along the direction of the contact surface of the first locking tooth under the thrust of the gas spring until the first locking tooth tip contacts the pressing rod tooth contact surface. At this time, the second locking tooth tip is located on the right side of the guide rail tooth tip. In the second stage, the pressing rod moves upward. The guide rail tooth tip contacts the second locking tooth contact surface. The locking moves along the direction of the second locking tooth contact surface. The first pressing rod tooth tip separates from the contact surface of the first locking tooth. The first locking tooth tip contacts the pressing rod tooth contact surface. This contact restricts the axial rotation of the locking. The pressing rod continues to move upward. The first locking tooth tip moves to the right along the pressing rod tooth contact surface at the contact position with the pressing rod tooth contact surface until the first locking tooth tip, which was originally on the left side of the second pressing rod tooth tip, is located on the right side of the second pressing rod tooth tip. At this time, the locking loses the restriction of axial rotation and moves along the direction of the second locking tooth contact surface under the push of the gas spring until the first locking tooth tip contacts the side surface of the guide rail protrusion and stops axial rotation. Under the thrust of the gas spring, the locking moves upward axially until the second pressing rod tooth tip contacts the contact surface of the first locking tooth, and at the same time the first pressing rod tooth tip contacts the second locking tooth contact surface.

[0013] It includes an assisting state. In the assisting state, the length of the locking groove is greater than the maximum axial movement range of the locking. The locking is always under the driving force of the gas spring, keeping the second pressing rod tooth tip in contact with the contact surface of the first locking tooth, and at the same time keeping the first pressing rod tooth tip in contact with the second locking tooth contact surface, so that the pressing rod is always under the thrust in the assisting state.

[0014] It includes a locking process, which consists of a first stage and a second stage. In the first stage, as the pressure bar is pressed downward until the first locking tooth tip is lower than the guide rail tooth tip, the locking loses the axial rotation constraint from the guide rail and starts to move along the directions of the first locking tooth contact surface and the second locking tooth contact surface until the second locking tooth tip contacts the pressure bar tooth contact surface. At this time, the first locking tooth tip, which was originally on the left side of the guide rail tooth tip, comes to the right side of the guide rail tooth tip. In the second stage, when the pressure bar moves upward, the locking follows the pressure bar and moves axially upward under the thrust of the gas spring until the guide rail tooth tip contacts the first locking tooth contact surface. The locking moves along the first locking tooth contact surface. At this time, the second pressure bar tooth tip separates from the first locking tooth contact surface, and at the same time, the first pressure bar tooth tip separates from the second locking tooth contact surface. At the same time, the second locking tooth tip remains in contact with the pressure bar tooth contact surface until the second locking tooth tip is lower than the pressure bar tooth contact surface. At this time, the locking loses the axial rotation constraint from the pressure bar until the second locking tooth tip contacts the side surface of the guide rail protrusion.

[0015] The waist assembly includes a waist fixing plate, a belt plate, a belt leather buckle, a belt metal ring, a right belt, a left belt, a waist ball hinge support, a waist ball hinge seat, and a waist ball hinge ball head. The belt plate is fixed to the waist fixing plate. The belt leather buckle passes through the belt metal ring, is folded in half, and is connected to the belt plate by a rivet. One end of the right belt passes through the belt metal ring and is adhered to its own outer side by a magic tape. The other end of the right belt is connected to the left belt by a magic tape. The waist ball hinge support is fixed to the waist fixing plate. The waist ball hinge seat and the waist ball hinge ball head form a ball hinge pair and are installed on the waist ball hinge support by bolts. The waist ball hinge ball head has a threaded blind hole connected to the lower end of the base.

[0016] The arm assembly includes an arm housing, an arm ball hinge seat, an arm ball hinge ball head, and an arm strap. The arm ball hinge seat is fixedly connected to the arm housing. The arm ball hinge seat and the arm ball hinge ball head form a ball hinge pair. The arm ball hinge ball head has a threaded blind hole connected to the upper end of the pressure bar. Slots are opened on both sides of the arm housing, and the arm strap passes through the two slots of the arm housing.

[0017] The beneficial effects of the present invention are as follows:

[0018] First, by adopting a human-machine heterogeneous configuration, it does not require the exoskeleton to be strictly aligned with the human joints. It only requires that the end of the exoskeleton has the same motion pattern as the target position of the human limb to be assisted. The structure is simple and can improve the human-machine cooperation.

[0019] Second, by adopting a switch locking mechanism, the driving mechanism of the exoskeleton can generate assistance when the person needs assistance and lock when the person does not need assistance, improving the usability of the exoskeleton. Brief Description of the Drawings

[0020] Figure 1 is a three-dimensional view of the present invention worn on the human body;

[0021] Figure 2 is a three-dimensional view of the waist assembly of the present invention;

[0022] Figure 3 is a three-dimensional view of the boosting mechanism of the present invention;

[0023] Figure 4 is an exploded view of the boosting mechanism of the present invention;

[0024] Figure 5 is a partial semi-sectional view of the boosting mechanism of the present invention in the locked state;

[0025] Figure 6 is a partial semi-sectional view of the boosting mechanism of the present invention during the unlocking process;

[0026] Figure 7 is a partial semi-sectional view of the boosting mechanism of the present invention in the boosting state;

[0027] Figure 8 is a partial semi-sectional view of the boosting mechanism of the present invention during the locking process;

[0028] Figure 9 is a three-dimensional view of the arm assembly of the present invention;

[0029] Figure 10 is a three-dimensional view of the lock of the present invention.

[0030] Description of the reference numerals: waist assembly 1, waist fixing plate 101, belt plate 102, rear waist sponge pad 103, belt leather buckle 104, belt metal ring 105, right belt 106, left belt 107, waist ball hinge support 108, waist ball hinge seat 109, waist ball hinge ball head 110, boosting mechanism 2, base 201, lower optical axis 202, guide rail 203, guide rail protrusion 2031, guide rail tooth tip 2032, lower optical axis shoulder 204, upper sliding bearing 205, gas spring piston rod 206, gas spring cylinder body 207, lock 208, lock groove 2081, first lock tooth tip 2082, first lock tooth contact surface 2083, second lock tooth tip 2084, second lock tooth contact surface 2085, threaded cover 209, guide seat 210, upper optical axis 211, upper optical axis shoulder 212, lower sliding bearing 213, pressure rod 214, pressure rod groove 2141, first pressure rod tooth tip 2142, pressure rod tooth contact surface 2143, second pressure rod tooth tip 2144, arm assembly 3, arm housing 301, arm ball hinge seat 302, arm ball hinge ball head 303, arm strap 304, human body 4. Detailed Description of the Invention

[0031] The technical solution of the present invention will be further described below through embodiments in conjunction with the accompanying drawings.

[0032] As Figures 1 - 10 shown, a passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism includes a waist component 1, an assist mechanism 2, and an arm component 3. The waist component 1 is located at the posterior waist of the human body 4, the assist mechanism 2 is located on both sides of the posterior waist of the human body 4, and the arm component 3 is located under the two upper arms of the human body 4.

[0033] Both sides of the waist component 1 are respectively connected to the assist mechanism 2 through ball hinge pairs, and the upper end of the assist mechanism 2 is connected to the arm component 3 through a ball hinge pair. The driving force of the assist mechanism 2 provides multi-directional boosting force and supporting force for the upper limbs of the human body 4.

[0034] Referring to Figure 2 , the waist component 1 includes a waist fixing plate 101, a belt plate 102, a posterior waist sponge pad 103, a belt leather buckle 104, a belt metal ring 105, a right belt 106, a left belt 107, a waist ball hinge support 108, a waist ball hinge seat 109, and a waist ball hinge ball head 110. The belt plate 102 is made of plastic. The belt plate 102 is fixed to the waist fixing plate 101 by two rivets. The posterior waist sponge pad 103 is pasted to the belt plate 102 through a back glue magic tape. The belt leather buckle 104 passes through the belt metal ring 105 and then folds back and is connected to the belt plate 102 by a rivet, so that the belt leather buckle 104 can rotate relative to the belt plate 102. One end of the right belt 106 passes through the belt metal ring 105 and is adhered to its own outer side through a magic tape. The other end of the right belt 106 is connected to the left belt 107 through a magic tape and tied tightly to the waist of the human body 4. The waist ball hinge support 108 is fixed to the waist fixing plate 101 by four bolts. The waist ball hinge seat 109 and the waist ball hinge ball head 110 form a ball hinge pair and are installed on the waist ball hinge support 108 through bolts. The waist ball hinge ball head 110 has a threaded blind hole connected to the lower end of the base 201.

[0035] Referring to Figure 9, the arm assembly 3 includes an arm housing 301, an arm ball hinge seat 302, an arm ball hinge ball head 303, and an arm strap 304. The arm housing 301 is made of a lightweight material and has a circular boss in the middle. Four through holes are evenly distributed on the circumference of the circular boss. Four through holes are evenly distributed on the flange of the arm ball hinge seat 302 and are bolted to the four through holes on the circular boss of the arm housing 301. The arm ball hinge seat 302 and the arm ball hinge ball head 303 form a ball hinge pair. The arm ball hinge ball head 303 has a threaded blind hole connected to the threaded boss on the upper half of the pressure rod 214. Grooves are opened on both sides of the arm housing 301, and the arm strap 304 passes through the two grooves of the arm housing 301 and is strapped to the upper arm of the human body 4.

[0036] The boosting mechanism 2 includes a base 201, a guide rail 203, a gas spring, a lock 208, a guide seat 210, and a pressure rod 214. One end of the base 201 is connected to the waist assembly 1, and the other end of the base 201 is connected to the guide rail 203 through a lower optical axis 202. The lower half of the base 201 has a threaded boss, which is connected to the threaded blind hole of the waist ball hinge ball head 110. Three threaded through holes are evenly distributed on the flange of the base 201, and the three lower optical axes 202 are respectively connected to a threaded through hole of the base 201 through the threads at the lower ends. Each lower optical axis 202 passes through a through hole of the guide seat 210 and a stepped hole of the guide rail 203 respectively. Each lower optical axis 202 and the guide seat 210 slide relative to each other axially through a lower sliding bearing 213, and each lower sliding bearing 213 is interference-fitted with a through hole of the guide seat 210 respectively. The upper end of each lower optical axis 202 is connected to a lower optical axis shoulder 204 through threads, and each lower optical axis shoulder 204 is interference-fitted with a stepped hole of the guide rail 203.

[0037] There is a through hole in the middle of the guide seat 210 for the lock 208 to pass through axially freely. Three through holes and three stepped holes are alternately and evenly distributed on the outer circle of the guide seat 210. There is a spline-like through hole in the middle of the guide rail 203 for the lock 208 and the serrated boss of the pressure rod 214 to pass through axially, and the rotation of the lock 208 can be restricted. Three through holes and three stepped holes are alternately and evenly distributed on the outer circle of the guide rail 203.

[0038] The upper end of the pressure rod 214 is connected to the arm assembly 3. The other end of the pressure rod 214 is connected to the guide seat 210 through the upper optical axis 211. The upper part of the pressure rod 214 has a threaded boss with an angle of 30° with the vertical axis. Three threaded through holes are evenly distributed on the flange of the pressure rod 214. The three upper optical axes 211 are respectively connected to a threaded hole of the pressure rod 214 through the threads at the upper ends. The lower optical axis 202 and the upper optical axis 211 are staggeredly distributed on the outer circle of the guide seat 210. Each upper optical axis 211 passes through a stepped hole of the guide seat 210 and a through hole of the guide rail 203. The upper sliding bearing 205 is used for the upper optical axis 211 and the guide rail 203 to slide relative to each other along the axis. Each upper sliding bearing 205 is in interference connection with a through hole of the guide rail 203. The lower end of each upper optical axis 211 is connected to the upper optical axis shoulder 212 through threads. Each upper optical axis shoulder 212 is in interference connection with a stepped hole of the guide seat 210.

[0039] The upper end center of the base 201 is connected to a gas spring. The gas spring provides a thrust force for the boosting mechanism 2. The boosting state and the free state of the boosting mechanism 2 are switched through a switch locking mechanism. The gas spring includes a gas spring piston rod 206 and a gas spring cylinder body 207. The lower end of the gas spring piston rod 206 is fixedly connected to the center of the base 201 through threads. The lock 208 is sleeved outside the gas spring cylinder body 207 and can rotate relative to the gas spring cylinder body 207. The upper end of the gas spring piston rod 206 is fixedly connected to a threaded cover 209. The upper end of the lock 208 is restricted by the threaded cover 209 to prevent falling off. The threaded cover 209 is connected to the threads at the upper end of the gas spring cylinder body 207 through a threaded blind hole at the bottom.

[0040] The lower half of the pressure rod 214 is a serrated boss. The angle between the serrated inclined plane and the axial cross-section is 45°. Six axial pressure rod grooves 2141 are evenly distributed on the boss of the pressure rod 214. A first pressure rod tooth tip 2142, a second pressure rod tooth tip 2144 and a pressure rod tooth contact surface 2143 are formed between every two of the pressure rod grooves 2141. The first pressure rod tooth tip 2142, the pressure rod tooth contact surface 2143 and the second pressure rod tooth tip 2144 are arranged circumferentially. The inclined planes of the first pressure rod tooth tip 2142 and the second pressure rod tooth tip 2144 have an angle of 45° with the axial cross-section.

[0041] Six guide rail protrusions 2031 are evenly distributed on the inner circle of the spline hole in the middle of the guide rail 203. Each of the lower parts of the guide rail protrusions 2031 has a wedge with an angle of 30° with the axial cross-section. The lower part of the guide rail protrusion 2031 includes a guide rail tooth tip 2032, that is, the angle between the guide rail tooth tip 2032 and the axial cross-section is 30°.

[0042] The locking member 208 is a cylindrical part. At the upper end of the locking member 208, there is a serrated structure, and the included angle between the inclined plane of the serration and the axial cross-section is 30°. On the outer cylindrical surface of the locking member 208, six axial locking grooves 2081 are evenly distributed. Between every two adjacent locking grooves 2081, there are a first locking tooth tip 2082, a second locking tooth tip 2084, a first locking tooth contact surface 2083, and a second locking tooth contact surface 2085. The second locking tooth contact surface 2085, the second locking tooth tip 2084, the first locking tooth contact surface 2083, and the first locking tooth tip 2082 are arranged in sequence along the circumferential direction. The inclined planes of the second locking tooth contact surface 2085 and the first locking tooth contact surface 2083 form an included angle of 30° with the axial cross-section, that is, the inclination angles of the first locking tooth tip 2082 and the second locking tooth tip 2084 are 30°.

[0043] When the lower end of the guide rail protrusion 2031 abuts against the first locking tooth contact surface 2083 and the second locking tooth tip 2084 abuts against the side surface of the guide rail protrusion 2031, the pressure rod 214 can move axially freely. The first pressure rod tooth tip 2142 can abut against and drive the first locking tooth contact surface 2083 downward so that the second locking tooth tip 2084 disengages from the guide rail protrusion 2031. When the guide rail protrusion 2031 extends into the locking groove 2081, the locking member 208 abuts against and drives the pressure rod 214 to move axially.

[0044] Specifically, the assisting mechanism 2 can cycle between four states and processes, and its states are respectively the locking state, the unlocking process, the assisting state, and the locking process.

[0045] Refer to Figure 5 , in the locking state, the guide rail tooth tip 2032 contacts the first locking tooth contact surface 2083. Since the locking member 208 is always subjected to an upward thrust of the gas spring and can rotate axially, the locking member 208 moves along the direction of the first locking tooth contact surface 2083 until the second locking tooth tip 2084 abuts against the side surface of the guide rail protrusion 2031. At this time, the locking member 208 is locked by the guide rail 203 and cannot move or rotate axially. At this time, the pressure rod 214 is not subjected to the thrust of the gas spring and can move axially freely.

[0046] Refer to Figure 6, the unlocking process includes a first stage and a second stage. During the first stage of the unlocking process, the pressing rod 214 is pressed downward by the upper limb of the human body 4 until the tip 2142 of the first pressing rod tooth contacts the contact surface 2083 of the first locking tooth. The pressing rod 214 continues to move downward along the axial direction, pushing the lock 208 downward. When the tip 2084 of the second locking tooth is lower than the tip 2032 of the guide rail tooth, the lock 208 moves along the direction of the contact surface 2083 of the first locking tooth under the thrust of the gas spring until the tip 2082 of the first locking tooth contacts the contact surface 2143 of the pressing rod tooth. At this time, the tip 2084 of the second locking tooth is located on the right side of the tip 2032 of the guide rail tooth.

[0047] During the second stage of the unlocking process, the pressing rod 214 starts to move upward under the action of the upper limb of the human body 4. The tip 2032 of the guide rail tooth contacts the contact surface 2085 of the second locking tooth, and the lock 208 moves along the direction of the contact surface 2085 of the second locking tooth. The tip 2142 of the first pressing rod tooth separates from the contact surface 2083 of the first locking tooth, and the tip 2082 of the first locking tooth remains in contact with the contact surface 2143 of the pressing rod tooth. This contact restricts the axial rotation of the lock 208. The pressing rod 214 continues to move upward, and the tip 2082 of the first locking tooth moves to the right along the contact surface 2143 of the pressing rod tooth at the contact position with the contact surface 2143 of the pressing rod tooth until the tip 2082 of the first locking tooth, which was originally on the left side of the tip 2144 of the second pressing rod tooth, is located on the right side of the tip 2144 of the second pressing rod tooth (refer to Figure 7 ), at this time, the lock 208 loses the restriction of axial rotation and moves along the direction of the contact surface 2085 of the second locking tooth under the push of the gas spring until it stops axial rotation when the tip 2082 of the first locking tooth contacts the side surface of the protrusion 2031 of the guide rail. Under the thrust of the gas spring, the lock 208 moves upward along the axis until the tip 2144 of the second pressing rod tooth contacts the contact surface 2083 of the first locking tooth, and at the same time, the tip 2142 of the first pressing rod tooth contacts the contact surface 2085 of the second locking tooth. At this time, the entire unlocking process ends.

[0048] Refer to Figure 7 , in the boosting state, the length of the locking groove 2081 is greater than the maximum axial movement range of the lock 208 to ensure that in the boosting state, the lock 208 only undergoes axial movement without axial rotation. The lock 208 is always under the pushing force of the gas spring, keeping the tip 2144 of the second pressing rod tooth in contact with the contact surface 2083 of the first locking tooth, and at the same time keeping the tip 2142 of the first pressing rod tooth in contact with the contact surface 2085 of the second locking tooth, so that the pressing rod 214 is always under the thrust in the boosting state. Therefore, in the boosting state, the boosting mechanism 2 can generate a boosting effect on the upper limb of the human body 4.

[0049] Refer to Figure 8, the locking process includes a first stage and a second stage. During the first stage of the locking process, the lock 208 is pressed downward by the lever 214 under the action of the upper limb of the human body 4 until the first locking tooth tip 2082 is lower than the guide rail tooth tip 2032. The lock 208 loses the axial rotation constraint from the guide rail 203 and starts to move along the directions of the first locking tooth contact surface 2083 and the second locking tooth contact surface 2085 until the second locking tooth tip 2084 contacts the lever tooth contact surface 2143. At this time, the first locking tooth tip 2082, which was originally on the left side of the guide rail tooth tip 2032, comes to the right side of the guide rail tooth tip 2032.

[0050] During the second stage of the locking process, the lever 214 moves upward under the action of the upper limb of the human body 4. The lock 208 moves axially upward along with the lever 214 under the thrust of the gas spring until the guide rail tooth tip 2032 contacts the first locking tooth contact surface 2083. The lock 208 moves along the first locking tooth contact surface 2083. At this time, the second lever tooth tip 2144 separates from the first locking tooth contact surface 2083, and at the same time, the first lever tooth tip 2142 separates from the second locking tooth contact surface 2085. At the same time, the second locking tooth tip 2084 remains in contact with the lever tooth contact surface 2143 until the second locking tooth tip 2084 is lower than the lever tooth contact surface 2143. At this time, the lock 208 loses the axial rotation constraint from the lever 214 until the second locking tooth tip 2084 contacts the side surface of the guide rail protrusion 2031, and at this time the entire locking process ends.

[0051] The locked state, unlocking process, boosting state, and locking process enable the passive heterogeneous upper limb boosting exoskeleton based on the switch locking mechanism to provide assistance when the human body needs assistance, switch to the locked state to avoid interfering with the free movement of the human body 4 when the human body 4 does not need assistance, and be able to switch back to the boosting state from the locked state again to realize the repeated switching between the two needs of the human body 4 for assistance and free movement.

[0052] The human-machine isomorphic configuration imitates the distribution of the human bones and joints, requiring the exoskeleton joints to be aligned with the human joints one by one, and the exoskeleton to have the same motion pattern as the human bones. For example, the human-machine isomorphic configuration of the lower limb exoskeleton means that the exoskeleton has hip, knee and ankle joints aligned with those of a human, and the lower limb of the exoskeleton and the human leg maintain the same motion pattern. The human-machine heterogeneous configuration means that the joints and degrees of freedom distribution of the exoskeleton and the human body are different. It does not require the exoskeleton joints to be aligned with the human joints, nor does it require the exoskeleton and the human body to have the same motion pattern. It only requires that the end of the exoskeleton has the same motion pattern as a certain point at the end of the human limb. For example, the heterogeneous configuration of the lower limb can be a spring extending from the hip and pressing against the ankle or directly against the ground, and there are no joints on the lower limb of the exoskeleton that are aligned with the human knee and ankle joints.

[0053] For the isomorphic configuration of the upper limb, for example, the human shoulder joint can be equivalent to three degrees of freedom of pitch, roll and yaw. Then, the exoskeleton should also have three rotation axes at the shoulder joint that coincide with the three rotation axes of the human shoulder joint respectively. The heterogeneous configuration can be like in this invention, where a rod extends directly from the waist to the arm, bypassing the degrees of freedom of the waist, scapula and shoulder joint, and directly providing support force for the human upper limb.

[0054] This invention adopts the human-machine heterogeneous configuration design, with a simple structure, which can well cooperate with the movement of the human upper limb. It uses a passive gas spring to provide passive thrust, effectively providing multi-directional boosting force and supporting force for the upper limb.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism, characterized in that: It includes a waist component (1), an assisting mechanism (2) and an arm component (3). The two sides of the waist component (1) are respectively connected to the assisting mechanism (2) through ball hinge pairs. The upper end of the assisting mechanism (2) is connected to the arm component (3) through a ball hinge pair. The assisting mechanism (2) includes a base (201), a guide rail (203), a gas spring, a lock (208), a guide seat (210) and a pressure rod (214). One end of the base (201) is connected to the waist component (1), and the other end of the base (201) is connected to the guide rail (203) through a lower optical axis (202). One end of the pressure rod (214) is connected to the arm component (3), and the other end of the pressure rod (214) is connected to the guide seat (210) through an upper optical axis (211). The lower optical axis (202) passes through the guide seat (210). The center of the upper end of the base (201) is connected to the gas spring. The outer wall of the gas spring is sleeved with the lock (208), and the lock (208) can rotate relative to the gas spring. The inner peripheral wall of the guide rail (203) is circumferentially provided with a guide rail protrusion (2031). The upper end of the lock (208) is provided with circumferentially uniformly distributed lock grooves (2081). The lock (208) includes a first lock tooth contact surface (2083) and a second lock tooth tip (2084) located between two adjacent lock grooves (2081). When the lower end of the guide rail protrusion (2031) abuts against the first lock tooth contact surface (2083) and the second lock tooth tip (2084) abuts against the side surface of the guide rail protrusion (2031), the pressure rod (214) can move freely axially. The pressure rod (214) is provided with circumferentially distributed pressure rod grooves (2141) corresponding to the guide rail protrusions (2031). The pressure rod (214) includes a first pressure rod tooth tip (2142) located between two adjacent lock grooves (2081). The first pressure rod tooth tip (2142) can abut against and drive the first lock tooth contact surface (2083) downward so that the second lock tooth tip (2084) disengages from the guide rail protrusion (2031). When the guide rail protrusion (2031) extends into the lock groove (2081), the lock (208) abuts against and drives the pressure rod (214) to move axially.

2. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, characterized in that: The gas spring includes a gas spring piston rod (206) and a gas spring cylinder body (207). The lower end of the gas spring piston rod (206) is fixedly connected to the center of the base (201). The lock (208) is sleeved outside the gas spring cylinder body (207) and can rotate relative to the gas spring cylinder body (207). The upper end of the gas spring piston rod (206) is fixedly connected to a threaded cover (209). The upper end of the lock (208) is restricted by the threaded cover (209) to prevent it from falling off.

3. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, characterized in that: The center of the guide seat (210) is provided with a through hole for the lock (208) to pass through axially freely. The lower optical axis (202) passes through the outer ring of the guide seat (210). The lower optical axis (202) and the upper optical axis (211) are staggeredly distributed in the outer ring of the guide seat (210). The upper optical axis (211) passes through the outer ring of the guide rail (203).

4. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, characterized in that: The lower end of the guide rail protrusion (2031) forms a guide rail tooth tip (2032). The included angle between the guide rail tooth tip (2032) and the axial cross-section is 30°. The lock (208) includes a first lock tooth tip (2082) and a second lock tooth contact surface (2085). The second lock tooth contact surface (2085), the second lock tooth tip (2084), the first lock tooth contact surface (2083), and the first lock tooth tip (2082) are arranged circumferentially. The inclined surfaces of the second lock tooth contact surface (2085) and the first lock tooth contact surface (2083) form an angle of 30° with the axial cross-section. The pressure rod (214) includes a pressure rod tooth contact surface (2143) and a second pressure rod tooth tip (2144). The first pressure rod tooth tip (2142), the pressure rod tooth contact surface (2143), and the second pressure rod tooth tip (2144) are arranged circumferentially. The inclined surfaces of the first pressure rod tooth tip (2142) and the second pressure rod tooth tip (2144) form an angle of 45° with the axial cross-section.

5. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, wherein: Including the locked state, the lower end of the guide rail protrusion (2031) forms a guide rail tooth tip (2032). In the locked state, the guide rail tooth tip (2032) contacts the first lock tooth contact surface (2083). The lock (208) is axially rotated by the upward thrust of the gas spring so that the lock (208) moves along the direction of the first lock tooth contact surface (2083) until the second lock tooth tip (2084) abuts against the side surface of the guide rail protrusion (2031).

6. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, characterized in that: It includes an unlocking process. The lower end of the guide rail protrusion (2031) forms a guide rail tooth tip (2032). The locking part (208) includes a first locking tooth tip (2082) and a second locking tooth contact surface (2085). The pressure rod (214) includes a pressure rod tooth contact surface (2143) and a second pressure rod tooth tip (2144). The unlocking process includes a first stage and a second stage. In the first stage, the pressure rod (214) is pressed downward until the first pressure rod tooth tip (2142) contacts the first locking tooth contact surface (2083). The pressure rod (214) continues to move downward along the axial direction, pushing the locking part (208) to move downward. When the second locking tooth tip (2084) is lower than the guide rail tooth tip (2032), the locking part (208) moves along the direction of the first locking tooth contact surface (2083) under the thrust of the gas spring until the first locking tooth tip (2082) contacts the pressure rod tooth contact surface (2143). At this time, the second locking tooth tip (2084) is located on the right side of the guide rail tooth tip (2032). In the second stage, the pressure rod (214) moves upward. The guide rail tooth tip (2032) contacts the second locking tooth contact surface (2085). The locking part (208) moves along the direction of the second locking tooth contact surface (2085). The first pressure rod tooth tip (2142) separates from the first locking tooth contact surface (2083). The first locking tooth tip (2082) contacts the pressure rod tooth contact surface (2143). This contact restricts the axial rotation of the locking part (208). The pressure rod (214) continues to move upward. The first locking tooth tip (2082) moves to the right along the pressure rod tooth contact surface (2143) at the contact position with the pressure rod tooth contact surface (2143) until the first locking tooth tip (2082) originally located on the left side of the second pressure rod tooth tip (2144) is located on the right side of the second pressure rod tooth tip (2144). At this time, the locking part (208) loses the restriction of axial rotation and moves along the direction of the second locking tooth contact surface (2085) under the push of the gas spring until the first locking tooth tip (2082) stops axial rotation when it contacts the side surface of the guide rail protrusion (2031). Under the thrust of the gas spring, the locking part (208) moves upward along the axial direction until the second pressure rod tooth tip (2144) contacts the first locking tooth contact surface (2083), and at the same time the first pressure rod tooth tip (2142) contacts the second locking tooth contact surface (2085).

7. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 4, wherein: It includes an assisting state. In the assisting state, the length of the locking groove (2081) is greater than the maximum axial movement range of the locking part (208). The locking part (208) is always under the driving force of the gas spring, keeping the second pressure rod tooth tip (2144) in contact with the first locking tooth contact surface (2083), and at the same time keeping the first pressure rod tooth tip (2142) in contact with the second locking tooth contact surface (2085), so that the pressure rod (214) is always under the thrust in the assisting state.

8. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 4, wherein: It includes a locking process which consists of a first stage and a second stage. In the first stage, as the locking lever (208) is pressed downward by the pressure lever (214) until the first locking tooth tip (2082) is lower than the guide rail tooth tip (2032), the locking lever (208) loses the axial rotation constraint from the guide rail (203) and starts to move along the direction of the first locking tooth contact surface (2083) and the second locking tooth contact surface (2085) until the second locking tooth tip (2084) contacts the pressure lever tooth contact surface (2143). At this time, the first locking tooth tip (2082) which was originally on the left side of the guide rail tooth tip (2032) comes to the right side of the guide rail tooth tip (2032). In the second stage, when the pressure lever (214) moves upward, the locking lever (208) moves axially upward along with the pressure lever (214) under the thrust of the gas spring until the guide rail tooth tip (2032) contacts the first locking tooth contact surface (2083). The locking lever (208) moves along the first locking tooth contact surface (2083). At this time, the second pressure lever tooth tip (2144) separates from the first locking tooth contact surface (2083), and at the same time, the first pressure lever tooth tip (2142) separates from the second locking tooth contact surface (2085), and at the same time, the second locking tooth tip (2084) remains in contact with the pressure lever tooth contact surface (2143) until the second locking tooth tip (2084) is lower than the pressure lever tooth contact surface (2143). At this time, the locking lever (208) loses the axial rotation constraint from the pressure lever (214) until the second locking tooth tip (2084) contacts the side surface of the guide rail protrusion (2031).

9. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, wherein: The waist assembly (1) includes a waist fixing plate (101), a belt plate (102), a belt leather buckle (104), a belt metal ring (105), a right belt (106), a left belt (107), a waist spherical hinge support (108), a waist spherical hinge seat (109), and a waist spherical hinge ball head (110). The belt plate (102) is fixed to the waist fixing plate (101). The belt leather buckle (104) passes through the belt metal ring (105), then folds in half and is connected to the belt plate (102) by a rivet. One end of the right belt (106) passes through the belt metal ring (105) and is adhered to its own outer side by a magic tape. The other end of the right belt (106) is connected to the left belt (107) by a magic tape. The waist spherical hinge support (108) is fixed to the waist fixing plate (101). The waist spherical hinge seat (109) and the waist spherical hinge ball head (110) form a spherical hinge pair and are installed on the waist spherical hinge support (108) by bolts. The waist spherical hinge ball head (110) has a threaded blind hole connected to the lower end of the base (201).

10. The passive heterogeneous upper limb assistive exoskeleton based on a switch locking mechanism according to claim 1, characterized in that: The arm assembly (3) includes an arm housing (301), an arm ball hinge seat (302), an arm ball hinge ball head (303), and an arm strap (304). The arm ball hinge seat (302) is fixedly connected to the arm housing (301), and the arm ball hinge seat (302) and the arm ball hinge ball head (303) form a ball hinge pair. The arm ball hinge ball head (303) has a threaded blind hole connected to the upper end of the pressure rod (214). Slots are formed on both sides of the arm housing (301), and the arm strap (304) passes through the two slots of the arm housing (301).

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