Shoulder two-degree-of-freedom upper limb lifting assisting exoskeleton

Abstract

The invention relates to a shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton. In order to overcome the defects in the prior art, the shoulder two-degree-of-freedom upper limb lifting assisting exoskeleton comprises a body fixing assembly, two energy storage supporting boxes and two upper arm fixing assemblies, the two energy storage supporting boxes are fixed to a body strap, the two upper arm fixing assemblies are fixed to the upper arms of a user, and the two upper arm fixing assemblies are fixed to the lower arms of the user. The upper arm fixing assembly comprises an upper arm supporting piece and an upper arm binding piece, an arm rod is hinged to the upper arm supporting piece, the lower end of the arm rod is directly or indirectly connected to the adjacent energy storage supporting box, an elastic body is arranged in the energy storage supporting box, an upper rotating seat is arranged at the top of the energy storage supporting box, and a lower rotating seat is arranged at the bottom of the upper rotating seat. The outer side of the shoulder joint piece is hinged to the upper rotating base through a transverse shaft, and the lower end of the arm rod is indirectly connected to the adjacent energy storage supporting box through the shoulder joint piece. According to the shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton, left-right arm opening and closing are not limited, and application and popularization of the upper limb lifting power-assisted exoskeleton are facilitated.

Description

Technical Field

[0001] The invention relates to an upper limb lifting power-assisting exoskeleton with double degrees of freedom at the shoulder. Background Art

[0002] In some work areas, workers need to raise their arms frequently to work, such as automobile manufacturing, wall painting, and construction. Workers frequently raise and lower their arms at high intensity, which can easily cause upper limb muscle fatigue and injury, and even affect the health of bones and joints, and reduce work efficiency.

[0003] As a wearable assistive device, the exoskeleton organically combines human intelligence with the "physical strength" of the exoskeleton to enhance human functions. The mechanical structure of the exoskeleton is the basis of the entire system. It is combined with the human body to support and bear weight, and has the function of transmitting motion and force. There is a motion coupling effect between man and machine. The rationality of its mechanism design and the matching of human and machine sizes will directly affect the functional effect. The upper limb exoskeleton is mainly used to be worn on the upper limbs of the human body to provide assistance to the upper limbs during the handling process. The mechanical exoskeleton can assist the wearer in limb movement, can effectively provide support and assistance to the body, and can reduce muscle and joint injuries.

[0004] Upper limb exoskeleton assistance products are divided into upper limb active exoskeletons and upper limb passive exoskeletons according to the presence or absence of external power sources. Compared with upper limb active exoskeletons, upper limb passive exoskeletons do not require any external energy sources, and only use the elastic potential energy passively stored during the movement of the human upper limbs to achieve auxiliary movement of the upper limbs. Through reasonable structural layout and elastic elements, energy consumption is reduced to achieve the effect of assisting the movement of the human upper limbs. It has the advantages of simple and reliable structure, light weight and low cost. It is more suitable for daily life of normal people and has broader application prospects.

[0005] The authorization announcement on May 15, 2020, with announcement number CN 210525089 U, discloses a back-adjustable upper limb power-assisting exoskeleton device, including a waist component, a back component, a shoulder component and an elbow component, characterized in that the shoulder component includes shoulder oblique rods symmetrically arranged on both sides of the back component, the lower ends of the shoulder oblique rods are hinged to the back component, a shoulder cross bar is provided between the two shoulder oblique rods, the two ends of the shoulder cross bar are respectively hinged to the upper ends of the shoulder oblique rods, the shoulder cross bar includes a first shoulder cross bar and a second shoulder cross bar that can be relatively slidably connected, and also includes a connecting piece, the connecting piece is sleeved on the outside of the first shoulder cross bar and the second shoulder cross bar and is detachably connected to the first shoulder cross bar and the second shoulder cross bar. In the device, the shoulder transition piece is rotatably fixed on the short side of the L-shaped shoulder oblique rod, and the shoulder transition piece is rotatably connected to a shoulder circumferential piece. However, after wearing the back-adjustable upper limb power-assisted exoskeleton device, the user's arms can only be placed in front of the body and cannot be opened and closed to the sides, which is inconvenient to use and has a complex structure. All the weight of the device falls on the user's waist through the waist component.

[0006] The US patent with publication number US2020 / 0261298 A1, published on August 20, 2020, discloses a wearable device for assisting muscle strength, including: a main body extending in the vertical direction of the wearer's torso and a fastening mechanism, which extends in the extension direction of the wearer's upper arm and is arranged on the lower surface of the wearer's upper arm; a connecting mechanism, the two ends of which are respectively connected to the fastening mechanism and the main body mechanism so as to be able to move relative to the main body mechanism; and a supporting mechanism, which is movably connected to one end of the connecting mechanism, and the other end of the connecting mechanism is connected to the main body mechanism, providing support force for the connecting mechanism and can move relatively. The wearable device has a relatively simple structure and does not put a heavy burden on the waist, but it also has the problems of small degree of freedom, limited opening and closing of the arms, and inconvenience in use.

[0007] Due to the high mobility of the human upper limbs, most shoulders in existing upper limb lifting exoskeletons only provide one degree of freedom, and the human body cannot adapt to the exoskeleton well. In addition, when special working conditions require, one arm needs to perform highly flexible and complex operations, and the other arm needs to provide continuous support. Summary of the invention

[0008] The technical problem to be solved by the present invention is how to overcome the above-mentioned defects of the prior art and provide a shoulder double-degree-of-freedom upper limb lifting assisting exoskeleton.

[0009] In order to solve the above technical problems, the present shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton comprises a trunk fixing component, two energy storage support boxes 1 and two upper arm fixing components, wherein the trunk fixing component comprises a shoulder strap 2 and a trunk belt, the two energy storage support boxes 1 are respectively fixed on the trunk belt, and the two upper arm fixing components are respectively fixed on the user's upper arms, the upper arm fixing component comprises an upper arm support 3 and an upper arm binding 4, the upper arm support is hinged with an arm rod 5, the lower end of the arm rod 5 is directly or indirectly connected to the adjacent energy storage support box 1, an elastic body 6 is arranged in the energy storage support box 1, when the user's arm falls, the elastic body 6 is deformed by force to store energy, when the user's arm is raised, the elastic body 6 rebounds to release energy and provide assistance, characterized in that: it also comprises a shoulder joint 7, the energy storage support box 1 An upper rotating seat 8 is provided at the top, the outer side of the shoulder joint 1 is hinged on the upper rotating seat 8 through a transverse axis 9, the lower end of the arm 5 is fixed on the shoulder joint 7, and is indirectly connected to the adjacent energy storage support box 1 through the shoulder joint 7, the lower end of the elastic body 6 is fixed in the energy storage support box 1, and the upper end of the elastic body 6 is connected to the inner side of the shoulder joint 7 through a pull rope 10, the arm 5, the shoulder joint 7, the pull rope 10 and the elastic member 6 form a lever-type energy storage mechanism, the torso belt includes a waist belt 11, and the lower rotating seats 12 are respectively provided on both sides of the rear part of the waist belt 11, and the lower end of the energy storage support box 1 is rotatably fixed on the lower rotating seat 12, and the axis of the upper rotating seat 8 is parallel to the axis of the lower rotating seat 12, and is located outside the axis of the lower rotating seat 12. Note: The upper arm is the part of the arm from the shoulder to the elbow - Sogou Encyclopedia.

[0010] Existing upper limb assist exoskeleton devices either restrict the user's arms to the chest, such as the back-adjustable upper limb assist exoskeleton device described in CN 210525089 U, which cannot open and close the arms left and right.

[0011] US Patent US2020 / 0261298 A1 discloses a wearable device for assisting muscle strength. Considering the need to open and close the arms left and right, the device is equipped with a vertical hinge axis - see the attached manual Figure 2 The vertical hinge axes 130, 140 in the middle are still limited when the user's arms are opened and closed left and right.

[0012] After careful study, the inventor found the reasons as follows: in the horizontal projection, if the user spine 25 and the user shoulder joint 26 are both regarded as a hinge point, the vertical hinge axis 130 / 140 in the wearable device for assisting muscle strength disclosed in US2020 / 0261298 A1 is collectively regarded as a hinge point, and the user spine 25 and the user shoulder joint 26 form an edge 27, the user shoulder joint 26 and the vertical hinge axis 130 / 140 form an edge 28, and the vertical hinge axis 130 / 140 and the user spine 25 form an edge 29. The above three edges (27, 28, 29) and the three hinge points (25, 26, 130 / 140) form a triangular mechanism in the horizontal projection. As we all know, the triangular mechanism has a stable structure and a degree of freedom of 0, such as Figure 7 As shown, the user is still restricted when opening and closing his arms left and right.

[0013] The axis center lines of the upper and lower rotating seats in the present invention are staggered left and right. In horizontal projection, the user spine 25 can be regarded as a hinge point, the user shoulder joint 26 can be regarded as a hinge point, the upper rotating seat 8 and the lower rotating seat 12 respectively constitute a hinge point, and the axis center lines of the above four hinge points are all vertical, the user spine 25 and the user shoulder joint 26 form an edge 27, the user shoulder joint 26 and the upper rotating seat 8 form an edge 30, the energy storage support box 1 forms an edge 31, and the lower rotating seat 12 and the user spine 25 form an edge 32. The above four edges (27, 30, 31, 32) and four hinge points (25, 26, 8, 12) form a quadrilateral mechanism in horizontal projection. The user's arms can open and close to the left and right without being affected, such as Figure 8 Of course, when the user's arm falls, the elastic body is deformed and stores energy. When the user raises his arm, the elastic body rebounds and releases energy, providing assistance like a conventional upper limb lifting assistance exoskeleton.

[0014] This design increases the freedom of the user's arms to open and close left and right, and adapts to the requirement of high mobility of the human upper limbs.

[0015] As an optimization, the upper rotating seat 8 includes a connecting block 81, an upper bearing 82 and a rotating sleeve 83. The energy storage support box 1 extends outwardly out of a slot, the connecting block is inserted into the relevant slot, a cylinder 84 is provided on the connecting block 81, the upper bearing 82 is sleeved on the cylinder 84, the rotating sleeve 83 is sleeved on the upper bearing 82, and a lug 85 with a through hole is provided on the rotating sleeve 83. A convex plate 71 with a through hole extends from the lower corner of the outer side of the shoulder joint 7, the convex plate 71 is opposite to the through hole on the lug 85, and the transverse axis 9 is jointly penetrated in the through hole of the convex plate 71 and the lug 85, so as to hinge the shoulder joint 7 on the upper rotating seat 8. Such a design is simple in structure, strong and light in weight.

[0016] As an optimization, an empty slot 72 is provided at the lower part of the shoulder joint 7, and long slot-shaped guide holes 73 are respectively opened on the side walls on both sides of the empty slot 72, and an adjusting block 74 is provided. The adjusting block 74 has a threaded through hole, and a through hole is opened on the inner wall of the shoulder joint 7, in which an adjusting screw 75 is rotatably fixed, and a relative lower extension plate 76 is provided on the adjusting block 74, and a pin hole 77 is opened on the lower extension plate 76, and a second horizontal axis 78 is passed through the pin hole 77, and the two ends of the second horizontal axis 78 respectively pass through the long slot-shaped guide holes 73 on both sides of the shoulder joint 7. Twisting the adjusting screw 75 can drive the adjusting block 74 and the second horizontal axis 78 thereon to move left and right in the long slot-shaped guide hole 73. One end of the pull rope 10 is fixed on the energy storage support box 1, and the other end is connected downward to the upper end of the elastomer 6 after passing around the second horizontal axis 78 upward.

[0017] With such a design, twisting the adjusting screw rod can drive the adjusting block to move left and right, thereby adjusting the distance between the connection point between the pull rope and the shoulder joint and the axis centerline of the horizontal axis on the upper rotating seat. If the shoulder joint is regarded as a lever mechanism, adjusting the distance is to adjust the length of the force arm of the elastic force of the elastic body, thereby achieving the effect of adjusting the elastic force torque.

[0018] As an optimization, the lower rotating seat 12 includes a connecting piece 121, a lower bearing 122 and a bearing seat 123, the bearing seat 123 is connected to the waist belt 11 through a waist plate 124, the lower bearing 122 is fixed in the bearing seat 123, the lower part of the connecting piece 121 is fixed on the inner ring of the lower bearing 122, and the upper part of the connecting piece 121 is directly or indirectly connected to the lower end of the energy storage support box 1. Such a design has a simple structure and smooth rotation.

[0019] As an optimization, the energy storage support box 1 includes a front back plate 13 and a rear back plate 14, which are buckled together to form an installation space. A vertical slide groove 15 is provided on the inner wall of the front back plate 13 or the rear back plate 14. The upper part of the connecting member 121 is connected to an adjustable waist bar 16, which is inserted into the vertical slide groove 15. A pin hole 77 is opened on the side wall of the vertical slide groove 15, and a bayonet 17 is penetrated by the pin hole 77. A plurality of bayonet holes 23 are opened on the side wall of the adjustable waist bar 16 near the bayonet 17. The energy storage support box 1 is provided with a side window 18, the outer end of the bayonet 17 is hinged on one end of a control switch block 19, the middle section of the control switch block 19 is hinged on the energy storage support box 1 on both sides of the side window 18, and is equipped with a reset torsion spring 20. Pressing the other end of the control switch block 19 can drive the bayonet 17 to exit the clamping hole 23, releasing the control switch block 19, and the reset torsion spring 20 rebounds, which can drive the control switch block 19 to select one of the front ends of the bayonet 17 to be clamped into the clamping hole 23, so as to adjust the distance between the upper rotating seat 8 and the lower rotating seat 12. Such a design has a simple structure, and the length of the energy storage support box is adjustable to meet the requirements of users of different heights.

[0020] As an optimization, a connecting rope or connecting belt 21 is connected between the shoulder joint 7 and the adjacent shoulder strap 2, and the connecting rope or connecting belt is preferably a nylon rope or nylon belt. Such a design is more firm.

[0021] As an optimization, the arm 5 includes an inner tube 51 and an outer tube 52. The inner side of the shoulder joint 7 is provided with an oblique upward protrusion 22. The lower end of the outer tube 52 is sleeved on the protrusion 22. The upper end of the inner tube 51 is fixed on the big arm support 3. The lower part of the inner tube 51 is inserted into the outer tube 52. The lower part of the inner tube 51 is provided with a bayonet 53. The outer end surface of the bayonet 53 is a spherical surface and is equipped with a return spring 54. A plurality of evenly distributed bayonet holes 55 are opened on the same side of the outer tube 52, and the bayonet holes 55 on the outer tube 52 are all connected through long slot holes 56. The outer end of the bayonet 53 can move in the long slot hole 56 and be selected to be stuck in any bayonet hole 55 to lock the length of the arm. Such a design is convenient for adjusting the length of the arm.

[0022] Compared with the prior art, the beneficial effects of the present application are: by providing a waist belt and a shoulder strap, the exoskeleton is convenient to wear and can be prevented from falling off; by providing a support assembly, the exoskeleton can be provided with support for the waist and back position, and since the length of the energy storage support box is adjustable, the energy storage support box can be adjusted for wearers of different heights, thereby improving the adaptability of the exoskeleton; and upper and lower rotating seats are respectively provided at the upper and lower ends of the energy storage support box, so that the shoulder joint can have sufficient freedom relative to the energy storage support box, and the wearer is not restricted in opening and closing his arms left and right, which is conducive to the wearer's flexibility in working.

[0023] An arm is provided, one end of which is connected to the shoulder joint and the other end of which is equipped with an upper arm fixing assembly. The upper arm fixing assembly is fixed to the wearer's upper arm, so that the arm can support the wearer's upper arm. The arm and the shoulder joint also cooperate to form a lever structure with the fulcrum located above the energy storage support box. The elastomer provides the main lifting and assisting function for the exoskeleton. The elastomer acts on the shoulder joint. When the wearer presses down his arm, the arm is pressed down and the shoulder joint is lifted up, so that the elastomer is deformed by tension and stores energy. When the wearer lifts his arm, the elastomer contracts under the action of elastic force, and the shoulder joint is pulled by a pull rope, so that the arm is lifted up for lifting assistance. Since the two assisting devices are independent of each other, the exoskeleton can independently assist both arms.

[0024] The double-degree-of-freedom upper limb lifting assisted exoskeleton at the shoulder of the present invention has no restrictions on the opening and closing of the arms to the left and right, which is conducive to the wearer to work flexibly. It solves the problem of limited movement when using the existing upper limb lifting assisted exoskeleton, improves the scope of application, and is conducive to the promotion and application of the upper limb lifting assisted exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The shoulder double-degree-of-freedom upper limb lifting assisting exoskeleton of the present invention is further described below in conjunction with the accompanying drawings: Figure 1 It is a front three-dimensional structural schematic diagram of the shoulder double-degree-of-freedom upper limb lifting assisting exoskeleton; Figure 2 This is a front three-dimensional structural schematic diagram of the shoulder double-degree-of-freedom upper limb lifting assistance exoskeleton (excluding the front back plate 13 of the left energy storage support box 1); Figure 3 yes Figure 1 , 2 An exploded schematic diagram of the middle shoulder joint and the upper rotating seat; Figure 4 yes Figure 1 , 2 An exploded schematic diagram of the middle and lower rotating seat and the energy storage support box (the figure also shows the upper arm fixing assembly, arm rod, shoulder joint and upper rotating seat energy storage support box); Figure 5 yes Figure 1 , 2 Schematic diagram of the exploded view of the middle arm (the figure also shows the upper arm fixing assembly and the shoulder joint); Figure 6 It is a schematic diagram of the back three-dimensional structure of the shoulder double-degree-of-freedom upper limb lifting assisting exoskeleton; Figure 7 is a top view schematic diagram of the wearable device for assisting muscle strength described in the background art in use; Figure 8 It is a top view structural schematic diagram of the use state of the shoulder double-degree-of-freedom upper limb lifting power-assisting exoskeleton.

[0026] In the figure: 1 is an energy storage support box, 2 is a shoulder strap, 3 is an upper arm support member, 4 is an upper arm binding member, 5 is an arm rod, 51 is an inner tube, 52 is an outer tube, 53 is a bayonet, 54 is a return spring, 55 is a long slot hole, 6 is an elastic body, 7 is a shoulder joint member, 71 is a convex plate, 72 is an empty slot, 73 is a long slot guide hole, 74 is an adjustment block, 75 is an adjustment screw rod, 76 is a lower extension plate, 77 is a pin hole, 78 is a second horizontal axis, 79 is a protrusion, 8 is an upper rotating seat, 81 is a connecting block, and 82 is an upper bearing , 83 is a rotating sleeve, 84 is a cylinder, 85 is a lug, 9 is a horizontal axis, 10 is a pull rope, 11 is a waist belt, 12 is a lower rotating seat, 121 is a connecting piece, 122 is a lower bearing, 123 is a bearing seat, 124 is a waist plate, 13 is a front back plate, 14 is a back back plate, 15 is a vertical slide groove, 16 is an adjustable waist rod, 17 is a bayonet pin, 18 is a side window, 19 is a control switch block, 20 is a reset torsion spring, 21 is a connecting rope or a connecting belt, 22 is a clamping hole, 23 is a first fixed column, and 24 is a second fixed column.

[0027] 25 is the user's spine, 26 is the user's shoulder joint, 130 / 140 is the vertical hinge axis, 27 is the edge formed by the line between the user's spine 25 and the user's shoulder joint 26, 28 is the edge formed by the line between the user's shoulder joint 26 and the vertical hinge axis 130 / 140, and 29 is the edge formed by the line between the vertical hinge axis 130 / 140 and the user's spine 25.

[0028] 30 is the edge formed by the line between the user's shoulder joint 26 and the upper rotating seat 8 , 31 is the edge formed by the energy storage support box 1 , and 32 is the edge formed by the line between the lower rotating seat 12 and the user's shoulder joint 26 . DETAILED DESCRIPTION

[0029] Implementation method 1: Figure 1-6 As shown, the shoulder double-degree-of-freedom upper limb lifting assisting exoskeleton comprises a trunk fixing component, two energy storage support boxes 1 and two upper arm fixing components, wherein the trunk fixing component comprises a shoulder strap 2 and a trunk belt, the two energy storage support boxes 1 are respectively fixed on the trunk belt, and the two upper arm fixing components are respectively fixed on the user's upper arms, the upper arm fixing component comprises an upper arm support 3 and an upper arm binding 4, the upper arm support 3 is hinged with an arm rod 5, the lower end of the arm rod 5 is directly or indirectly connected to the adjacent energy storage support box 1, an elastic body 6 is arranged in the energy storage support box 1, when the user's arm falls, the elastic body 6 is deformed by force to store energy, when the user's arm is raised, the elastic body 6 rebounds to release energy and provide assistance, characterized in that: it also comprises a shoulder joint 7, the top of the energy storage support box 1 An upper rotating seat 8 is provided, and the outer side of the shoulder joint 7 is hinged on the upper rotating seat 8 through a transverse axis 9. The lower end of the arm 5 is fixed on the shoulder joint 7, and is indirectly connected to the adjacent energy storage support box 1 through the shoulder joint 7. The lower end of the elastomer 6 is fixed in the energy storage support box 1, and the upper end of the elastomer 6 is connected to the inner side of the shoulder joint 7 through a pull rope 10. The arm 5, the shoulder joint 7, the pull rope 10 and the elastic member 6 form a lever-type energy storage mechanism. The torso belt includes a waist belt 11, and lower rotating seats 12 are respectively provided on both sides of the rear part of the waist belt 11. The lower end of the energy storage support box 1 can be rotatably fixed on the lower rotating seat 12. The axis of the upper rotating seat 8 is parallel to the axis of the lower rotating seat 12 and is located outside the axis of the lower rotating seat 12.

[0030] The upper rotating seat 8 includes a connecting block 81, an upper bearing 82 and a rotating sleeve 83. The energy storage support box 1 extends outwardly with a slot, and the connecting block is inserted into the relevant slot. A cylinder 84 is provided on the connecting block 81, and the upper bearing 82 is sleeved on the cylinder 84. The rotating sleeve 83 is sleeved on the upper bearing 82. A lug 85 with a through hole is provided on the rotating sleeve 83. A convex plate 71 with a through hole extends from the lower outer corner of the shoulder joint 7. The convex plate 71 is opposite to the through hole on the lug 85. The transverse axis 9 is jointly penetrated in the through hole of the convex plate 71 opposite to the lug 85, so as to hinge the shoulder joint 7 on the upper rotating seat 8.

[0031] The shoulder joint component 7 is provided with an empty slot 72 at the lower part, and the side walls on both sides of the empty slot 72 are respectively provided with long slot-shaped guide holes 73, and an adjusting block 74 is provided. The adjusting block 74 is provided with a threaded through hole, and the inner wall of the shoulder joint component 7 is provided with a through hole (not shown in the figure), in which an adjusting screw rod 75 is rotatably fixed, and a relative lower extension plate 76 is provided on the adjusting block 74, and a pin hole 77 is provided on the lower extension plate 76, and a second horizontal axis 78 is passed through the pin hole 77, and the two ends of the second horizontal axis 78 respectively pass through the long slot-shaped guide holes 73 on both sides of the shoulder joint component 7. Twisting the adjusting screw rod 75 can drive the adjusting block 74 and the second horizontal axis 78 thereon to move left and right in the long slot-shaped guide hole 73. The elastomer 6 is preferably annular, and the lower end of the elastomer 6 is sleeved on the first fixed column 23 on the energy storage support box 1. One end of the pull rope 10 is fixed to the second fixing column 24 of the energy storage support box 1 , and the other end is passed around the second horizontal axis 78 upwards and then connected downwards to the top end of the elastic body 6 .

[0032] The lower rotating seat 12 includes a connecting member 121, a lower bearing 122 and a bearing seat 123. The bearing seat 123 is connected to the waist belt 11 through a waist plate 124. The lower bearing 122 is fixed in the bearing seat 123. The lower part of the connecting member 121 is fixed on the inner ring of the lower bearing 122. The upper part of the connecting member 121 is directly or indirectly connected to the lower end of the energy storage support box 1.

[0033] The energy storage support box 1 includes a front back plate 13 and a rear back plate 14, which are buckled together to form an installation space. A vertical slide groove 15 is provided on the inner wall of the front back plate 13 or the rear back plate 14. An adjusting waist bar 16 is connected to the upper part of the connecting member 121. The adjusting waist bar 16 is inserted into the vertical slide groove 15. A pin hole 77 is provided on the side wall of the vertical slide groove 15. A bayonet 17 is provided on the pin hole 77. A plurality of bayonet holes 22 are provided on the side wall of the adjusting waist bar 16 near the bayonet 17. A side window is provided on one side of the energy storage support box 1 18, the outer end of the bayonet 17 is hinged on one end of a control switch block 19, and the control switch block 19 is installed in the side window 18, and the middle section is hinged on the energy storage support box 1 on both sides of the side window 18, and is equipped with a reset torsion spring 20. Pressing the other end of the control switch block 19 can drive the bayonet 17 to withdraw from the card hole 22, release the control switch block 19, and the reset torsion spring 20 rebounds, which can drive the control switch block 19 to select one of the front ends of the bayonet 17 to be carded into the card hole 22, so as to adjust the distance between the upper rotating seat 8 and the lower rotating seat 12.

[0034] A connecting rope or connecting belt 21 is connected between the shoulder joint 7 and the adjacent shoulder strap 2 .

[0035] The arm 5 includes an inner tube 51 and an outer tube 52. The inner side of the shoulder joint 7 is provided with a protrusion 79 obliquely upward. The lower end of the outer tube 52 is sleeved on the protrusion 79. The upper end of the inner tube 51 is fixed on the boom support 3. The lower part of the inner tube 51 is inserted into the outer tube 52. The lower part of the inner tube 51 is provided with a bayonet 53. The outer end surface of the bayonet 53 is spherical and is equipped with a return spring 54. A plurality of evenly distributed bayonet holes 22 are opened on the same side of the outer tube 52, and the bayonet holes 22 on the outer tube 52 are all connected through a long slot hole 55. The outer end of the bayonet pin 53 can move in the long slot hole 55 and select one to be stuck in any bayonet hole 22 to lock the length of the arm.

Claims

1. A shoulder dual-degree-of-freedom upper limb lifting assistance exoskeleton, comprising a trunk fixing component, two energy storage support boxes (1) and two upper arm fixing components, wherein the trunk fixing component comprises a shoulder strap (2) and a trunk belt, the two energy storage support boxes (1) are respectively fixed on the trunk belt, and the two upper arm fixing components are respectively fixed on the upper arms of a user, wherein the upper arm fixing component comprises an upper arm support member (3) and an upper arm binding member (4), wherein the upper arm support member is hingedly connected with an arm rod (5), wherein the lower end of the arm rod (5) is directly or indirectly connected to an adjacent energy storage support box (1), wherein an elastic body (6) is arranged in the energy storage support box (1), and when the user's arm falls, the elastic body (6) is deformed by force to store energy, and when the user's arm is raised, the elastic body (6) rebounds to release energy to provide assistance, wherein the elastic body (6) rebounds to release energy to provide assistance, wherein the elastic body (6) is characterized in that: It also includes a shoulder joint component (7), an upper rotating seat (8) is provided on the top of the energy storage support box (1), the outer side of the shoulder joint component (1) is hinged on the upper rotating seat (8) via a transverse axis (9), the lower end of the arm rod (5) is fixed on the shoulder joint component (7), and is indirectly connected to an adjacent energy storage support box (1) via the shoulder joint component (7), the lower end of the elastic body (6) is fixed in the energy storage support box (1), and a connection is formed between the upper end of the elastic body (6) and the inner side of the shoulder joint component (7). The arm rod (5), the shoulder joint (7), the pull rope (10) and the elastic member (6) are connected by a pull rope (10), and form a lever-type energy storage mechanism. The torso belt comprises a waist belt (11), and lower rotating seats (12) are respectively provided on both sides of the rear of the waist belt (11). The lower end of the energy storage support box (1) is rotatably fixed on the lower rotating seat (12), and the axis center line of the upper rotating seat (8) is parallel to the axis center line of the lower rotating seat (12) and is located outside the axis center line of the lower rotating seat (12).

2. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to claim 1, characterized in that: The upper rotating seat (8) comprises a connecting block (81), an upper bearing (82) and a rotating sleeve (83); the energy storage support box (1) extends outwardly to form a slot, the connecting block is inserted into the relevant slot, a cylinder (84) is provided on the connecting block (81), the upper bearing (82) is sleeved on the cylinder (84), the rotating sleeve (83) is sleeved on the upper bearing (82), a lug (85) with a through hole is provided on the rotating sleeve (83), a convex plate (71) with a through hole extends from the lower corner of the outer side of the shoulder joint component (7), the convex plate (71) and the through hole on the lug (85) are opposite to each other, and the transverse axis (9) is jointly provided in the through hole of the convex plate (71) and the lug (85) opposite to each other, so as to hinge the shoulder joint component (7) on the upper rotating seat (8).

3. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to claim 2, characterized in that: The shoulder joint component (7) is provided with an empty slot (72) at the bottom, and long slot-shaped guide holes (73) are respectively formed on the side walls of the empty slot (72). An adjusting block (74) is provided, and a threaded through hole is formed on the adjusting block (74). A through hole is formed on the inner side wall of the shoulder joint component (7), and an adjusting screw rod (75) is rotatably fixed in the through hole. The adjusting block (74) is provided with a lower extension plate (76) opposite to the lower extension plate (76), and a pin hole (77) is formed on the pin hole (77). A second transverse axis (78) is provided, and both ends of the second transverse axis (78) respectively pass through the long slot-shaped guide holes (73) on both sides of the shoulder joint member (7). By twisting the adjusting screw rod (75), the adjusting block (74) and the second transverse axis (78) thereon can be driven to move left and right in the long slot-shaped guide hole (73). One end of the pull rope (10) is fixed to the energy storage support box (1), and the other end is passed around the second transverse axis (78) upwards and connected downwards to the upper end of the elastic body (6).

4. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to claim 1, characterized in that: The lower rotating seat (12) comprises a connecting piece (121), a lower bearing (122) and a bearing seat (123); the bearing seat (123) is connected to the waist belt (11) via a waist plate (124); the lower bearing (122) is fixed in the bearing seat (123); the lower part of the connecting piece (121) is fixed on the inner ring of the lower bearing (122); and the upper part of the connecting piece (121) is directly or indirectly connected to the lower end of the energy storage support box (1).

5. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to claim 4, characterized in that: The energy storage support box (1) comprises a front back plate (13) and a rear back plate (14), which are buckled together to form an installation space. A vertical slide groove (15) is provided on the inner wall of the front back plate (13) or the rear back plate (14). An adjusting waist rod (16) is connected to the upper part of the connecting member (121). The adjusting waist rod (16) is inserted into the vertical slide groove (15). A pin hole (77) is provided on the side wall of the vertical slide groove (15). A latch pin (17) is inserted into the pin hole (77). A plurality of latch holes (23) are provided on the side wall of the adjusting waist rod (16) near the latch pin (17). The energy storage support box (1) A side window (18) is provided on one side. The outer end of the bayonet (17) is hinged on one end of a control switch block (19). The middle section of the control switch block (19) is hinged on the energy storage support box (1) on both sides of the side window (18) and is provided with a reset torsion spring (20). Pressing the other end of the control switch block (19) can drive the bayonet (17) to exit the clamping hole (23), releasing the control switch block (19). The reset torsion spring (20) rebounds and drives the control switch block (19) to selectively clamp the front end of the bayonet (17) into the clamping hole (23), thereby adjusting the distance between the upper rotating seat (8) and the lower rotating seat (12).

6. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to claim 6, characterized in that: A connecting rope or a connecting belt (21) is connected between the shoulder joint component (7) and the adjacent shoulder strap (2).

7. The shoulder dual-degree-of-freedom upper limb lifting assisting exoskeleton according to any one of claims 1 to 5, characterized in that: The arm (5) comprises an inner tube (51) and an outer tube (52). The inner side of the shoulder joint (7) is provided with a protrusion (22) obliquely upward. The lower end of the outer tube (52) is sleeved on the protrusion (22). The upper end of the inner tube (51) is fixed on the big arm support member (3). The lower part of the inner tube (51) is inserted into the outer tube (52). The lower part of the inner tube (51) is provided with a bayonet (53). The outer end surface of the bayonet (53) is spherical and is equipped with a return spring (54). A plurality of evenly distributed bayonet holes (55) are opened on the same side of the outer tube (52). The bayonet holes (55) on the outer tube (52) are all connected through a long slot hole (56). The outer end of the bayonet pin (53) can move in the long slot hole (56) and be selectively bayoneted in any bayonet hole (55) to lock the length of the arm (5).

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