Passive shoulder joint exoskeleton robot
By using magnetic spring connection and chain mechanism in the passive shoulder exoskeleton, the problems of collision risks and auxiliary torque dependence in the prior art are solved, and the compact structure, comfortable motion and torque efficiency are improved.
Patent Information
- Application Number
- CN202510196469.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-21
- Publication Date
- 2025-05-09
AI Technical Summary
Existing passive shoulder exoskeletons have the risk of collision and the need for additional mechanisms to provide auxiliary torque, resulting in increased volume, loss of torque and reduced comfort.
Magnetic spring connection and chain mechanism are adopted, and the redundant degree of freedom in the chain follows the movement of the shoulder joints. The magnetic spring generates torque in the compact structure, reducing dependence on external mechanisms.
It achieves a compact structure, low weight, and collision prevention effect, improves sports comfort and reduces torque loss.
Smart Images
Figure CN119952673A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of medical equipment, and in particular to a passive shoulder joint exoskeleton mechanical structure for preventing shoulder injuries and improving the working environment. Background Art
[0002] Traditional passive shoulder exoskeletons contain a limited set of links and joints to adjust shoulder motion while minimizing weight and bulk. They typically have a rotational joint located above the shoulder that allows for cross-body adduction and abduction. In addition, there is a joint on the side of the shoulder that facilitates two upward rotations of the upper arm, flexion and extension and abduction and adduction. As the upper arm rotates upward, the center of the joint moves vertically and horizontally. This shift in the center of rotation can cause collisions with the rotational joints of the exoskeleton fixed above the shoulder. Even if the joint is located higher than the shoulder, there is a possibility of collision with the head.
[0003] Most passive shoulder exoskeletons use the elastic restoring force of a mechanical spring as a force-generating component. The force-bearing part is connected to a rotary joint located on the side of the shoulder, generates a torque corresponding to the rotation angle of the upper arm, and is fixed together with the upper arm to provide auxiliary torque. However, the force-generating component of this structure requires transmission mechanisms such as cams, pulleys, and wires to connect the spring and the rotary joint, as well as space to accommodate the tension spring. This increases the volume of the force-bearing component fixed to the upper arm, loses part of the auxiliary torque, may also affect the comfort when worn for a long time, and increases the risk of collision with the surrounding environment. Summary of the invention
[0004] The present invention overcomes the deficiencies of existing technologies and proposes a novel passive shoulder joint exoskeleton robot, which effectively solves the problems of collision risk and the need for other mechanisms to provide auxiliary torque in existing shoulder exoskeleton mechanisms, while reducing torque loss.
[0005] The present invention achieves the purpose of the invention by adopting the following technical solutions:
[0006] A passive shoulder joint exoskeleton robot structure design includes: an arm mechanism (Ⅰ), a magnetic spring mechanism (Ⅱ), a chain mechanism (Ⅲ) and a wearing mechanism (Ⅳ).
[0007] Furthermore, the left sleeve and the left slide bar of the arm mechanism (Ⅰ) are fixed by bolts; the left slide bar is limited by a left block on the inner slideway of the left slide rail; the right slide bar is limited by a right block on the inner slideway of the right slide rail; the right slide bar and the right sleeve are fixed by bolts.
[0008] Furthermore, the outer shell of the magnetic spring mechanism (II) is fixed to the outer magnet; the central axis is fixed to the inner magnet; the central axis cooperates with the outer shell and the outer shell cover; the outer shell and the outer shell cover are connected by bolts; the deep groove ball bearing 1 cooperates with the outer shell; the outer shell cover cooperates with the deep groove ball bearing 2; and the fastening ring finally cooperates with the central axis to prevent loosening.
[0009] Furthermore, the connecting member 1 and chain 1 of the chain mechanism (III) are connected by bolts but the rotational freedom is not restricted; chain 1, connecting member 2, and chain 2 are connected by bolts in sequence; chain 2 and connecting member 3 are connected by bolts but the rotational freedom is not restricted.
[0010] Furthermore, the stepped shaft of the wearing mechanism (IV) is inserted into the shaft cylinder and limited by bolts, and the stepped shaft can adjust the height; the shaft cylinder and the connecting member 4 are connected by threads; the connecting member 4 is connected to the vest by upper and lower bolts.
[0011] Beneficial effects:
[0012] Compared with the prior art, the present invention has the following beneficial effects:
[0013] The effect of the technical solution is described in words. The present invention uses a magnetic spring connection and a chain. The redundant degrees of freedom in the chain can follow the movement of the shoulder joint in the horizontal direction, while the magnetic spring connection generates torque in a compact form without the need for additional components. Compared with other exoskeleton designs, the present invention is low in weight, compact in structure, can prevent collision with the surrounding environment, and can achieve more comfortable movement. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is the overall structure diagram of the present invention;
[0015] Figure 2 It is a schematic diagram of the arm mechanism structure;
[0016] Figure 3 It is a schematic diagram of the structure of the magnetic spring mechanism;
[0017] Figure 4 It is a schematic diagram of the chain mechanism structure;
[0018] Figure 5 Schematic diagram of the wearing mechanism structure;
[0019] In the figure, 1-left lining sleeve, 2-left slide bar, 3-left stopper, 4-left slide rail, 5-right slide rail, 6-right stopper, 7-right slide bar, 8-right lining sleeve, 9-fastening ring, 10-deep groove ball bearing 1, 11-outer shell, 12-outer magnet, 13-middle shaft, 14-inner magnet, 15-outer shell cover, 16-deep groove ball bearing 2, 17-connector 1, 18-chain 1, 19-connector 2, 20-chain 2, 21-connector 3, 22-step shaft, 23-shaft cylinder, 24-connector 4, 25-vest. DETAILED DESCRIPTION
[0020] The present invention will be described in detail below with reference to the accompanying drawings.
[0021] like Figures 1 to 5 As shown, the passive shoulder joint exoskeleton robot structure design explained in the present invention includes an arm mechanism (I), a magnetic spring mechanism (II), a chain mechanism (III) and a wearing mechanism (IV).
[0022] Specifically, the left sleeve (1) and the left slide bar (2) of the arm mechanism (Ⅰ) are fixed by bolts; the left slide bar (2) is limited by a left stopper (3) on the inner slideway of the left slide rail (4); the right slide bar (7) is limited by a right stopper (6) on the inner slideway of the right slide rail (5); the right slide bar (7) and the right sleeve (8) are fixed by bolts.
[0023] Specifically, the outer shell (11) and the outer magnet (12) of the magnetic spring mechanism (II) are fixed; the central axis (13) and the inner magnet (14) are fixed; the central axis (13) cooperates with the outer shell (11) and the outer shell cover (15); the outer shell (11) and the outer shell cover (15) are connected by bolts; the deep groove ball bearing 1 (10) and the outer shell (11) cooperate; the outer shell cover (15) and the deep groove ball bearing 2 (16) cooperate; and the fastening ring (9) finally cooperates with the central axis (13) to prevent loosening.
[0024] Specifically, the connecting member 1 (17) and chain 1 (18) of the chain mechanism (III) are connected by bolts but the rotational freedom is not restricted; chain 1 (18), connecting member 2 (19), and chain 2 (20) are connected by bolts in sequence; chain 2 (20) and connecting member 3 (21) are connected by bolts but the rotational freedom is not restricted.
[0025] 1. Specifically, the stepped shaft (22) of the wearing mechanism (IV) is inserted into the shaft cylinder (23) and limited by bolts, and the stepped shaft (22) can be adjusted in height; the shaft cylinder (23) and the connecting piece 4 (24) are connected by threads; the connecting piece 4 (24) and the vest (25) are connected by bolts at two locations, upper and lower.
[0026] Working process of the present invention:
[0027] The user wears the passive shoulder joint exoskeleton by adjusting the height of the stepped shaft (22), pulling the left slide bar (2) and the right slide bar (7) to a suitable position, inserting the left arm into the left lining sleeve (1), and the right arm into the right lining sleeve (8), so as to ensure that the wearer is comfortable.
[0028] When working, the wearer lifts a heavy object with his right hand, and the force is transmitted to the right lining sleeve (8) through the arm. The right lining sleeve (8) is connected to the right slide bar (7) and the right slide rail (5) in sequence. The end of the right slide rail (5) is connected to the central axis (13) of the magnetic spring mechanism (II). Then, the force is transmitted to the right slide rail (5), so that the central axis (13) generates torque and rotates. The inner magnet (14) and the central axis (13) are fixed and rotate at the same time. At this time, the inner magnet (14) and the outer magnet (12) generate torque in the opposite direction under the action of magnetic force, thereby reducing the force on the wearer's shoulder joint.
[0029] The chain 2 (20), the connecting piece 3 (21) and the outer shell (15) are connected in sequence by bolts, and the links of the chain 2 (20) can translate and rotate in a plane, thereby ensuring that the arm can complete the adduction and abduction movements.
[0030] The above embodiments are merely illustrative of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, and as long as they do not exceed the spirit of the present invention, they are all within the protection scope of the present invention.
Claims
1. A passive shoulder joint exoskeleton robot structure design, including: An arm mechanism (Ⅰ), a magnetic spring mechanism (Ⅱ), a chain mechanism (Ⅲ) and a wearing mechanism (Ⅳ), characterized in that the left slide rail (4) and the right slide rail (5) of the arm mechanism (Ⅰ) are respectively connected to the two middle axes (13) of the magnetic spring mechanism (Ⅱ); the connecting member 1 (17) and the connecting member 3 (21) of the chain mechanism (Ⅲ) are respectively fixed to the two outer shells (11) of the magnetic spring mechanism (Ⅱ); the connecting member 2 (19) of the chain mechanism (Ⅲ) and the stepped shaft (22) of the wearing mechanism (Ⅳ) are connected by threads.
2. A passive shoulder joint exoskeleton robot structure design according to claim 1, characterized in that: The arm mechanism (I) comprises: a left sleeve (1), a left slide bar (2), a left stopper (3), a left slide rail (4), a right slide rail (5), a right stopper (6), a right slide bar (7), and a right sleeve (8). The left sleeve (1) and the left slide bar (2) are fixed by bolts; the left slide bar (2) is limited by the left stopper (3) on the inner slideway of the left slide rail (4); the right slide bar (7) is limited by the right stopper (6) on the inner slideway of the right slide rail (5); the right slide bar (7) and the right sleeve (8) are fixed by bolts.
3. A passive shoulder joint exoskeleton robot structure design according to claim 1, characterized in that: The magnetic spring mechanism (II) comprises: a fastening ring (9), a deep groove ball bearing 1 (10), an outer shell (11), an outer magnet (12), a central axis (13), an inner magnet (14), an outer shell cover (15), and a deep groove ball bearing 2 (16). The outer shell (11) and the outer magnet (12) are fixed; the central axis (13) and the inner magnet (14) are fixed; the central axis (13) cooperates with the outer shell (11) and the outer shell cover (15); the outer shell (11) and the outer shell cover (15) are connected by bolts; the deep groove ball bearing 1 (10) and the outer shell (11) cooperate; the outer shell cover (15) and the deep groove ball bearing 2 (16) cooperate; and the fastening ring (9) finally cooperates with the central axis (13) to prevent loosening.
4. A passive shoulder joint exoskeleton robot structure design according to claim 1, characterized in that: The chain mechanism (III) comprises: a connector 1 (17), a chain 1 (18), a connector 2 (19), a chain 2 (20), and a connector 3 (21); the connector 1 (17) and the chain 1 (18) are connected by bolts but the rotational freedom is not restricted; the chain 1 (18), the connector 2 (19), and the chain 2 (20) are connected by bolts in sequence; the chain 2 (20) and the connector 3 (21) are connected by bolts but the rotational freedom is not restricted.
5. The passive shoulder joint exoskeleton robot structure design according to claim 1 is characterized in that: The wearing mechanism (IV) comprises: a stepped shaft (22), a shaft cylinder (23), a connecting piece 4 (24), and a vest (25); the stepped shaft (22) is inserted into the shaft cylinder (23) and limited by bolts, and the stepped shaft (22) can be adjusted in height; the shaft cylinder (23) and the connecting piece 4 (24) are connected by threads; the connecting piece 4 (24) and the vest (25) are connected by bolts at two locations, upper and lower.