Flexible traction upper arm exoskeleton

Abstract

The invention discloses a flexible traction upper arm exoskeleton which comprises a carrying piece used for bearing gravity when carrying an object; the first end of the traction belt is connected with the carrying piece; the shoulder strap grooves are suitable for being placed on the left shoulder and the right shoulder of a user to bear the weight of the whole exoskeleton; the second end of the traction belt penetrates through the shoulder belt groove and then is connected with the flexible traction mechanism; the flexible traction mechanism comprises a fixing plate, the two ends of the upper side of the fixing plate are fixedly connected with the first ends of the shoulder strap grooves, and the second ends of the two traction straps are arranged on the outer side of the fixing plate in a crossed mode and fixed to the two ends of the lower side of the fixing plate respectively. The flexible elastic belt is attached to the traction belt in the range of the fixing plate in parallel, and the length of the flexible elastic belt when the flexible elastic belt is not stretched is smaller than the length of the traction belt attached to the flexible elastic belt. Extra strength and support can be provided for a user when the user carries an object, the strength of the upper limbs of the user is enhanced, the labor intensity is relieved, the body injury of the user is relieved, and the working efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of wearable devices, and in particular to a flexible traction upper arm exoskeleton that can enhance and assist the movement and functionality of human upper limbs. Background Art

[0003] Since the last century, exoskeleton robots have been exploratory research. Initially, they were developed to solve military tasks, improve the combat mobility of individual soldiers, and provide medical assistance to disabled people to improve their living standards. In order to improve the current situation of heavy manual laborers, ensure their health, alleviate physical injuries, and improve their load-bearing capacity, control and flexibility, people began to study exoskeleton-assisted human movement. After years of development, major universities and research institutions at home and abroad have increasingly developed exoskeleton technology, developed and improved key technologies, and achieved human-machine integration. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a flexible traction upper arm exoskeleton that can enhance and assist the movement and functionality of the upper limbs of the human body, aiming to help improve the working conditions and health of heavy manual workers.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A flexible traction upper arm exoskeleton comprises: two carrying pieces, used to bear gravity when carrying objects;

[0007] There are two traction belts, and the first end of each traction belt is connected to the transporting member; there are also two shoulder belt slots, and the shoulder belt slots are suitable for being placed on the left and right shoulders of the user to bear the weight of the entire exoskeleton; a flexible traction mechanism, and the second ends of the two traction belts are connected to the flexible traction mechanism after passing through the two shoulder belt slots respectively, and the flexible traction mechanism is used to provide assistance when transporting objects through the two traction belts;

[0008] The flexible traction mechanism includes: a fixing plate, which is an X-shaped plate structure, the inner side of which is suitable for fitting the user's back, and the two ends of the upper side of the fixing plate are respectively fastened to the first ends of the two shoulder strap grooves, and the second ends of the two traction belts are cross-arranged on the outer side of the fixing plate and are respectively fixed to the two ends of the lower side of the fixing plate; a flexible elastic belt, the two flexible elastic belts are respectively attached in parallel to the two traction belts located within the range of the fixing plate, and the length of the flexible elastic belt when not stretched is shorter than the length of the traction belt to which it is attached.

[0009] The flexible traction upper arm exoskeleton is preferably such that the lower ends of the two flexible elastic bands are respectively fixed to the second ends of the two traction bands, and the upper ends of the two flexible elastic bands are provided with first adjustment buckles. Meanwhile, a plurality of positioning grooves are arranged at intervals on the two traction bands within the range of the fixed plate. The upper ends of the flexible elastic bands are connected to the traction bands through the first adjustment buckle and the positioning groove, and the excess traction bands are folded and stored in the lower part of the flexible elastic bands.

[0010] The flexible traction upper arm exoskeleton preferably also includes a telescopic box arranged on the outside of the fixed plate, and the shape of the telescopic box is adapted to the shape of the fixed plate so as to encapsulate the flexible traction mechanism in the telescopic box, and the lower two ports of the telescopic box are provided with limit blocks for preventing the received traction belt from escaping.

[0011] In the flexible traction upper arm exoskeleton, preferably, the transport member is a suction cup mechanism, which includes: a suction cup, which can be adsorbed on an object with a smooth surface through negative pressure; a pressure relief valve, which is arranged on the surface of the suction cup and is used to release pressure to separate the suction cup from the object; a pad, a transition plate and a handle, which are arranged on the back side of the suction cup in sequence and are fastened to the suction cup by fastening screws, and a traction belt groove is provided on the transition plate, and the traction belt passes through the traction belt groove to hang the suction cup mechanism on the first end of the traction belt.

[0012] In the flexible traction upper arm exoskeleton, preferably, the transporting member is a handle, and a handle pad is fixedly connected to the outer side of the handle.

[0013] The flexible traction upper arm exoskeleton is preferably provided with a finger wearing buckle fixed on the outer side of the handle pad.

[0014] The flexible traction upper arm exoskeleton is preferably provided with an anti-gravity shoulder strap at the lower part of the shoulder strap slot, and the anti-gravity shoulder strap is composed of a 3D airbag array, and the airbags are connected by small channels.

[0015] The flexible traction upper arm exoskeleton is preferably provided with a second adjustment buckle suitable for adjusting the length of the traction belt on the traction belt close to the transport member.

[0016] The flexible traction upper arm exoskeleton is preferably provided with a first limiting shaft assembly on the fixed plate near the first end of the shoulder strap groove, the first limiting shaft assembly is composed of a first shaft seat and two first limiting shafts, the first shaft seat is fastened to the fixed plate, the two first limiting shafts are mounted on the first shaft seat, and a gap is left between the two first limiting shafts for the traction belt to pass through.

[0017] The flexible traction upper arm exoskeleton is preferably provided with a second limiting shaft assembly at the second end of the shoulder strap groove, the second limiting shaft assembly is composed of a second shaft seat and a second limiting shaft, the second shaft seat is fastened to the first end of the shoulder strap groove, the second limiting shaft is installed on the second shaft seat, and a gap is left between the second limiting shaft and the shoulder strap groove for the traction belt to pass through, and the second end of the traction belt passes through the second limiting shaft assembly and the first limiting shaft assembly in sequence and then enters the telescopic box.

[0018] The present invention adopts the above technical solution, which has the following advantages:

[0019] 1. The flexible traction upper arm exoskeleton provided by the present invention can be used to assist heavy physical labor and carry heavy objects. It can provide users with additional strength and support, enhance the user's upper limb strength, reduce labor intensity, alleviate the user's physical injuries, improve work efficiency and safety, and provide users with better quality of life and work efficiency.

[0020] 2. The telescopic box of the present invention can store the traction belt, and the overall volume is small and the weight is light. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the dorsal structure of a flexible traction upper arm exoskeleton provided by an embodiment of the present invention;

[0023] Figure 2 An exploded view of the flexible traction upper arm exoskeleton provided in this embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the front and side structures of the flexible traction upper arm exoskeleton provided in this embodiment of the present invention;

[0025] Figure 4 is an exploded view of a suction cup mechanism provided by an embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the connection between the suction cup mechanism and the traction belt provided in this embodiment of the present invention.

[0027] The reference numerals in the figure are as follows:

[0028] 1-handle; 2-traction belt; 3-shoulder strap groove; 4-fixing plate; 5-flexible elastic belt; 6-first adjustment buckle; 7-positioning slot; 8-telescopic box; 9-suction cup mechanism; 10-handle pad; 11-finger wearing buckle; 12-anti-gravity shoulder strap; 13-second adjustment buckle; 14-first limit shaft assembly; 15-second limit shaft assembly;

[0029] 91-suction cup; 92-pressure relief valve; 93-pad; 94-transition plate; 95-handle; 96-fastening screw; 97-traction belt groove. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc., are used to define components, only for the convenience of distinguishing the above components, and unless otherwise stated, the above terms have no special meanings and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "setting", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The flexible traction upper arm exoskeleton provided by the present invention comprises: a transporting member, which is used to bear gravity when transporting an object; a traction belt, whose first end is connected to the transporting member; a shoulder belt groove, which is suitable for being placed on the left and right shoulders of the user to bear the weight of the entire exoskeleton; a flexible traction mechanism, and the second end of the traction belt is connected to the flexible traction mechanism after passing through the shoulder belt groove; the flexible traction mechanism comprises: a fixing plate, whose upper two ends are fastened to the first end of the shoulder belt groove, and the second ends of the two traction belts are arranged crosswise on the outside of the fixing plate and are respectively fixed to the lower two ends of the fixing plate; a flexible elastic belt, which is parallelly attached to the traction belt located within the range of the fixing plate, and the length of the flexible elastic belt when it is not stretched is shorter than the length of the traction belt to which it is attached. The present invention can provide additional strength and support for the user when carrying an object, enhance the upper limb strength of the user, reduce labor intensity, alleviate the user's physical injury, and improve work efficiency and safety.

[0034] The flexible traction upper arm exoskeleton provided by the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0035] See also Figure 1 The flexible traction upper arm exoskeleton provided in this embodiment includes: two handles 1, which are used to bear gravity when carrying objects; two traction belts 2, and the first end of each traction belt 2 is connected to the handle 1; two shoulder strap grooves 3, which are suitable for being placed on the left and right shoulders of the user to bear the weight of the entire exoskeleton; a flexible traction mechanism, the second ends of the two traction belts 2 respectively pass through the two shoulder strap grooves 3 and are connected to the flexible traction mechanism, and the flexible traction mechanism is used to provide assistance when carrying objects through the two traction belts 2.

[0036] See also Figure 2 The flexible traction mechanism includes: a fixed plate 4, which is an X-shaped plate structure, the inner side of which is suitable for fitting the user's back, and the two ends of the upper side of the fixed plate 4 are respectively fastened to the first ends of the two shoulder strap grooves 3, and the second ends of the two traction belts 2 are cross-arranged on the outside of the fixed plate 4 and are respectively fixed to the two ends of the lower side of the fixed plate 4; a flexible elastic belt 5, two flexible elastic belts 5 are respectively attached in parallel to the two traction belts 2 located within the range of the fixed plate, and the length of the flexible elastic belt 5 when not stretched is shorter than the length of the traction belt 2 to which it is attached.

[0037] When the flexible traction upper arm exoskeleton provided by the present invention is in use, the user first wears the exoskeleton on the body through the shoulder strap slot 3, and then holds the handle 1 to fix it to the object to be transported. The gravity of the object is transmitted to the two traction belts 2 through the two handles 1, and further transmitted to the two flexible elastic belts 5 through the two traction belts 2. The two flexible elastic belts 5 are stretched and provide reaction force to resist the tendency of being stretched, thereby providing assistance for transporting the object; at the same time, the two traction belts 2 overlapping with the two flexible elastic belts 5 are also automatically stretched. When the two traction belts 2 are straightened, the two traction belts 2 and the two flexible elastic belts 5 jointly bear the gravity of the object.

[0038] In the above embodiment, preferably, please continue to refer to Figure 2 The lower ends of the two flexible elastic bands 5 are respectively fixed to the second ends of the two traction belts 3, and the upper ends of the two flexible elastic bands 5 are installed with first adjustment buckles 6. At the same time, a plurality of positioning grooves 7 are arranged at intervals on the two traction belts 2 within the range of the fixing plate 4. The upper ends of the flexible elastic bands 5 are connected to the traction belts 2 through the first adjustment buckles 6 and the positioning grooves 7, and the excess traction belts 2 are folded and stored in the lower part of the flexible elastic bands 5. Through the above arrangement, the first adjustment buckle 6 can be connected to the positioning grooves 7 at appropriate positions according to different user needs, thereby providing different degrees of assistance.

[0039] In the above embodiments, preferably, please refer to Figure 1 and Figure 2 The flexible traction upper arm exoskeleton further includes a telescopic box 8 disposed outside the fixing plate 4, and the shape of the telescopic box 8 is adapted to the shape of the fixing plate 4, so as to encapsulate the flexible traction mechanism in the telescopic box 8, and the two lower ends of the telescopic box 8 are provided with stoppers 9 for preventing the stored traction belt 2 from escaping. Through the above arrangement, the flexible traction mechanism can be hidden inside the telescopic box 8 to protect the flexible traction mechanism, and the excess length of the traction belt 2 can be stored in the telescopic box 8.

[0040] In the above embodiment, preferably, the handle 1 can be replaced according to the shape of different objects. For example, when carrying objects with smooth surfaces, the handle 1 can be replaced with a suction cup mechanism. Figure 4 and Figure 5The suction cup mechanism 9 includes: a suction cup 91, which can be adsorbed on an object with a smooth surface by negative pressure; a pressure relief valve 92, which is arranged on the surface of the suction cup 91 and is used to release pressure to separate the suction cup 91 from the object; a cushion block 93, a transition plate 94 and a handle 95, which are arranged on the back side of the suction cup 91 in sequence and are fastened to the suction cup 91 by fastening screws 96, and a traction belt groove 97 is provided on the transition plate 94, and the traction belt 2 passes through the traction belt groove 97 to hang the suction cup mechanism 9 on the first end of the traction belt 2. Through the above-mentioned arrangement, negative pressure can be generated by squeezing the air in the suction cup 91, so that the suction cup 91 is tightly adsorbed on the object with a smooth surface, and then the object can be transported and moved; when the object is transported to the designated position, the pressure relief valve 92 can be opened to separate the suction cup 91 from the object.

[0041] In the above embodiments, preferably, please refer to Figure 3 The outer side of the handle 1 is fixedly connected with a handle pad 10. Through the above arrangement, the contact between the palm skin and the handle 1 can be isolated by the handle pad 10 to prevent the palm from being cut or bruised by the handle.

[0042] In the above embodiment, preferably, a finger wearing buckle 11 is fixed on the outside of the handle pad 10. Through the above arrangement, when the user is carrying heavy objects, the fingers of both hands can be inserted into the finger wearing buckle 11 to fix the finger position and prevent the palm from sliding sideways.

[0043] In the above embodiment, preferably, an anti-gravity shoulder strap 12 is installed at the lower part of the shoulder strap slot 3, and the anti-gravity shoulder strap 12 is composed of a 3D airbag array, and the airbags are connected by small channels. Through the above arrangement, the anti-gravity shoulder straps 12 on both sides can contact the user's shoulders to set off the downward pressure of the shoulders to reduce the uneven force damage. When the airbags are in a stressed state, the airflow flows mutually to produce uniform force, sharing the pressure in terms of area, and there are gaps between the airbags to have a ventilation effect.

[0044] In the above embodiment, preferably, a second adjusting buckle 13 suitable for adjusting the length of the traction belt 2 is provided on the traction belt 2 near the wrench 1. Through the above arrangement, the second adjusting buckle 13 can be fixed at different adjustment positions according to the length required by the user, thereby adjusting the traction belt 2 to a suitable length.

[0045] In the above embodiments, preferably, please refer to Figure 2 A first limiting shaft assembly 14 is provided on the fixing plate 4 near the first end of the shoulder belt groove 3. The first limiting shaft assembly 14 is composed of a shaft seat and two limiting shafts. The shaft seat is fastened to the fixing plate 4. The two limiting shafts are installed on the shaft seat, and a gap is left between the two limiting shafts for the traction belt 2 to pass through; please refer to Figure 3At the same time, a second limiting shaft assembly 15 is arranged at the second end of the shoulder belt slot 3. The second limiting shaft assembly 15 is composed of a shaft seat and a limiting shaft. The shaft seat is fastened to the first end of the shoulder belt slot 3. The limiting shaft is installed on the shaft seat, and a gap is left between the limiting shaft and the shoulder belt slot 3 for the traction belt 2 to pass through. The second end of the traction belt 2 passes through the second limiting shaft assembly 15 and the first limiting shaft assembly 14 in sequence and then enters the telescopic box 8. Through the above-mentioned settings, the traction belt 2 can be guided to pass through the path through the above-mentioned limiting shaft assemblies, which plays the role of guiding the traction belt 2 and limiting the swing of the traction belt 2.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A flexible traction upper arm exoskeleton, characterized in that: include: There are two carrying pieces, which are used to bear the gravity when carrying objects; Two traction belts, each of which has a first end connected to the transport member; There are also two shoulder strap slots, which are suitable for being placed on the left and right shoulders of the user to bear the weight of the entire exoskeleton; A flexible traction mechanism, wherein the second ends of the two traction belts are connected to the flexible traction mechanism after respectively passing through the two shoulder belt slots, and the flexible traction mechanism is used to provide assistance when carrying objects through the two traction belts; The flexible traction mechanism comprises: The fixing plate is an X-shaped plate structure, the inner side of which is suitable for fitting the back of the user, and the two ends of the upper side of the fixing plate are respectively fastened to the first ends of the two shoulder strap grooves, and the second ends of the two traction belts are cross-arranged on the outer side of the fixing plate and are respectively fixed to the two ends of the lower side of the fixing plate; Flexible elastic bands, two of the flexible elastic bands are respectively and parallelly attached to the two traction bands located within the range of the fixed plate, and the length of the flexible elastic band when not stretched is shorter than the length of the traction band to which it is attached.

2. The flexible traction upper arm exoskeleton according to claim 1, characterized in that: The lower ends of the two flexible elastic bands are respectively fixed to the second ends of the two traction bands, and the upper ends of the two flexible elastic bands are installed with first adjustment buckles. At the same time, a plurality of positioning grooves are arranged at intervals on the two traction bands located within the range of the fixed plate. The upper ends of the flexible elastic bands are connected to the traction bands through the first adjustment buckles and the positioning grooves, and the excess traction bands are folded and stored in the lower part of the flexible elastic band.

3. The flexible traction upper arm exoskeleton according to claim 1, characterized in that: It also includes a telescopic box arranged on the outside of the fixed plate, and the shape of the telescopic box is adapted to the shape of the fixed plate so as to encapsulate the flexible traction mechanism in the telescopic box, and the two lower ports of the telescopic box are provided with limit blocks for preventing the stored traction belt from escaping.

4. The flexible traction upper arm exoskeleton according to claim 1, characterized in that: The transport member is a suction cup mechanism, and the suction cup mechanism comprises: Suction cups, which can be attached to objects with smooth surfaces through negative pressure; A pressure relief valve, arranged on the surface of the suction cup, for releasing pressure to allow the suction cup to separate from the object; A pad, a transition plate and a handle are sequentially arranged on the back side of the suction cup and fastened to the suction cup by fastening screws, and a traction belt groove is opened on the transition plate, and the traction belt passes through the traction belt groove to hang the suction cup mechanism on the first end of the traction belt.

5. The flexible traction upper arm exoskeleton according to claim 1, characterized in that: The transporting member is a handle, and a handle pad is fixedly connected to the outer side of the handle.

6. The flexible traction upper arm exoskeleton according to claim 5, characterized in that: A finger wearing buckle is fixed on the outer side of the handle pad.

7. The flexible traction upper arm exoskeleton according to any one of claims 1 to 6, characterized in that: An anti-gravity shoulder strap is installed at the lower part of the shoulder strap groove, and the anti-gravity shoulder strap is composed of a 3D airbag array, and the airbags are connected by small channels.

8. The flexible traction upper arm exoskeleton according to any one of claims 1 to 6, characterized in that: A second adjusting buckle suitable for adjusting the length of the traction belt is arranged on the traction belt close to the transporting member.

9. The flexible traction upper arm exoskeleton according to claim 3, characterized in that: A first limiting shaft assembly is arranged on the fixed plate near the first end of the shoulder strap groove, and the first limiting shaft assembly consists of a first shaft seat and two first limiting shafts, the first shaft seat is fastened to the fixed plate, the two first limiting shafts are mounted on the first shaft seat, and a gap is left between the two first limiting shafts for the traction belt to pass through.

10. The flexible traction upper arm exoskeleton according to claim 9, characterized in that: A second limiting shaft assembly is provided at the second end of the shoulder strap groove, and the second limiting shaft assembly consists of a second shaft seat and a second limiting shaft. The second shaft seat is fastened to the first end of the shoulder strap groove, and the second limiting shaft is installed on the second shaft seat. A gap is left between the second limiting shaft and the shoulder strap groove for the traction belt to pass through. The second end of the traction belt passes through the second limiting shaft assembly and the first limiting shaft assembly in sequence and then enters the telescopic box.

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