Stepless regulation self-adaptive exoskeleton with wide freedom

Abstract

The invention discloses a wide-freedom stepless regulation self-adaptive exoskeleton, and relates to the technical field of exoskeleton robots. The device comprises a lower back plate, an upper back plate is slidably connected to the top of the lower back plate, hip joint connecting pieces are slidably connected to the two sides of the lower back plate, a waistband is installed on one sides of the hip joint connecting pieces, and straps are installed on the top of the upper back plate. The novel universal joint mechanism at the elbow joint can truly reproduce the rotation function of the elbow joint of the human body, real multi-degree-of-freedom simultaneous rotation is achieved, the problem that the degree of freedom of a traditional exoskeleton at the elbow joint is limited is solved, and the limitation of the traditional exoskeleton at the elbow joint on many upper limb actions is released. Stepless adjusting structures are arranged on the back, the hip and the big arms, more size choices are provided for a user, stepless adjustment can be carried out according to specific requirements of the user, the self-adaptive capacity is high, and more comfortable use experience is provided.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a wide-free stepless adjustment adaptive exoskeleton. Background Art

[0002] Nowadays, many repetitive and mechanical jobs are gradually replaced by machines and automation with the advancement of technology, but there are still some tasks that require people to perform in a fixed posture, such as tasks that require workers to raise their arms to a certain angle and maintain their upper limbs in a fixed posture for a long time. Long-term work puts great pressure on workers' shoulder and elbow joints, which can easily cause fatigue and injury to the arm muscles, and even waist injuries caused by waist leverage, further affecting the health of workers.

[0003] Due to structural limitations, traditional exoskeleton robots have difficulty achieving simultaneous multi-degree-of-freedom movements of the human elbow at the elbow joint, and cannot truly reproduce the rotation function of the human elbow joint, which restricts many upper limb movements and makes it impossible to achieve precise assistance. In addition, due to structural limitations, traditional exoskeletons cannot achieve stepless size adjustment, making it difficult to adapt to people of different body shapes and having poor adaptability, making the wearer experience unfriendly. To this end, we provide a wide-freedom, stepless and adaptive adaptive exoskeleton to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a wide-freedom stepless adjustment adaptive exoskeleton, which can reproduce the rotation function of the human elbow joint through an improved new universal elbow joint, realize true multi-degree-of-freedom rotation, and eliminate the problem of limited degrees of freedom at the elbow joint of traditional exoskeletons.

[0005] To solve the above technical problems, the present invention is implemented through the following technical solutions.

[0006] The present invention is a wide-free stepless adjustable adaptive exoskeleton, comprising a lower back plate, the top of the lower back plate is slidably connected to an upper back plate, both sides of the lower back plate are slidably connected to hip joint connectors, a waist belt is installed on one side of the hip joint connector, a shoulder strap is installed on the top of the upper back plate, a backpack-shaped fixed structure is formed between the waist belt and the shoulder strap, both sides of the upper back plate are horizontally rotatably connected to shoulder joint connectors, one side of the shoulder joint connector is rotatably connected to a large arm sleeve, a drive motor is installed on one side of the shoulder joint connector, the output end of the drive motor is fixed to the large arm sleeve through a bearing, a universal joint mechanism is arranged at the bottom of the large arm sleeve, and a small arm rod is arranged on one side of the universal joint mechanism.

[0007] The present invention is further configured such that the universal joint mechanism includes a first universal joint fork, a universal joint cross shaft, a universal joint bearing, and a second universal joint fork. The first universal joint fork is slidably connected to the bottom of the large arm sleeve. The universal joint cross shaft is installed at the inner bottom of the first universal joint fork. The universal joint bearing is installed on the universal joint cross shaft. The second universal joint fork is installed on one side of the universal joint bearing. The small arm rod is installed on the second universal joint fork.

[0008] The present invention is further configured such that a first adjustment knob is rotatably connected to the bottom of the back surface of the upper back plate. The first adjustment knob is used to adjust the distance between the upper back plate and the lower back plate.

[0009] The present invention is further configured such that second adjustment knobs are rotatably connected to both sides of the back surface of the lower back plate. The second adjustment knobs are used to adjust the distance between the hip joint connecting member and the lower back plate.

[0010] The present invention is further configured such that a third adjustment knob is rotatably connected to one side of the large arm sleeve. The third adjustment knob is used to adjust the distance between the first universal joint fork and the large arm sleeve.

[0011] The present invention is further configured such that a wrist sleeve is installed at the end of the small arm rod. A first soft strap is installed on the wrist sleeve. A second soft strap is installed on the large arm sleeve. It is fixed on the human wrist through the wrist sleeve and the first soft strap connected to the wrist sleeve.

[0012] The small arm rod rotates in the horizontal plane through the elbow joint. When the telescopic lengths of the inner and outer small arm rods are different, a distance difference will be formed. Through the pneumatic slide rail inside the small arm rod, distance compensation is carried out. Taking the right side as an example, when the user bends the elbow and makes an external rotation movement of the elbow joint, the small arm rod contracts along the pneumatic slide rail, and the other small arm rod extends along the pneumatic slide rail. When the elbow joint rotates internally, the small arm rod extends along the pneumatic slide rail, and the other small arm rod contracts along the pneumatic slide rail. In this way, the distance difference formed by the inner and outer small arm rods during the horizontal rotation of the small arm is compensated.

[0013] The present invention is further configured such that a charging compartment is provided on the back surface of the lower back plate for placing the battery to provide power for the entire exoskeleton.

[0014] The present invention is further configured such that heat dissipation holes are provided on one side of the shoulder joint connecting member to enhance the heat dissipation of the drive motor.

[0015] The present invention has the following beneficial effects.

[0016] (1) The novel universal joint mechanism at the elbow joint of the present invention can truly reproduce the rotational function of the human elbow joint, achieve true simultaneous rotation of multiple degrees of freedom, solve the problem of limited degrees of freedom of the traditional exoskeleton at the elbow joint, and relieve the limitation of many upper limb movements of the traditional exoskeleton at the elbow joint.

[0017] (2) The present invention is provided with stepless adjustment structures at the back, hip, and upper arm, providing users with more size options. It can be adjusted steplessly according to the specific needs of users, has strong adaptability, and provides a more comfortable use experience.

[0018] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a schematic diagram of the back structure of the present invention.

[0022] Figure 3 It is a schematic diagram of the elbow joint structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the shoulder joint structure of the present invention.

[0024] In the drawings: 1, waist belt; 2, shoulder strap; 3, second soft strap; 4, first soft strap; 5, first adjustment knob; 6, second adjustment knob; 7, forearm rod; 8, upper arm sleeve; 9, third adjustment knob; 10, universal joint fork one; 11, wrist sleeve; 12, universal joint fork two; 13, universal joint cross shaft; 14, universal joint bearing; 15, lower back plate; 16, upper back plate; 17, hip joint connector; 18, shoulder joint connector; 19, drive motor; 20, charging bin; 21, heat dissipation holes. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] Since the new universal joint mechanism is a structure that realizes the functions of the human elbow joint and can meet the requirements of the elbow joint when a person wears an exoskeleton, it has extremely promising applications in the field of exoskeletons. Therefore, the applicant proposes a new universal joint mechanism and distance compensation concept, which can provide new options for exoskeleton design and promote the development and popularization of exoskeletons.

[0027] Since the stepless adjustment structure is a structure that can change its size and can adjust the size according to the changes in environmental conditions and usage requirements, it is extremely widely used in the field of exoskeletons. Therefore, the applicant of the present invention proposes an exoskeleton stepless adjustment structure and concept, which can provide new options for the design and use of exoskeletons and promote the development, popularization, and application of exoskeletons.

[0028] Referring to Figure 1 As shown, the wide-free stepless adjustment adaptive exoskeleton of this embodiment includes a waistband 1, a backstrap 2, a second soft strap 3, and a first soft strap 4 on the wrist sleeve 11. The waistband 1 and the backstrap 3 form a backpack-shaped fixed structure. The back is adjusted to a suitable size for the human body through the first adjustment knob 5 on the back, and then the hip width is adjusted to a suitable size through the second adjustment knob 6. Finally, the waistband 1 and the backstrap 2 are tightened to closely and comfortably connect the human body with the entire exoskeleton. The third adjustment knob 9 at the upper arm sleeve 8 is used to adjust the universal joint fork 1 to a suitable position to adapt to the length of the upper arm. Then, the upper arm of the human body and the exoskeleton upper arm structure are fixed through the upper arm sleeve 8 and the second soft strap 3. The wrist sleeve 11 is fixed on the human wrist through the first soft strap 4, completing the wearing of the exoskeleton.

[0029] Referring to Figure 3 As shown, Figure 3 It shows a specific structural schematic diagram of the elbow joint. By improving the traditional universal joint mechanism, the support of the universal joint fork 1 is moved backward in the new universal joint mechanism, enabling the universal joint fork 2 to rotate not only in the vertical plane but also in the horizontal plane when rotating through the elbow joint. The universal joint cross shaft 13 is connected to the universal joint fork through a universal joint bearing 14, making the rotation process more sensitive and forming a brand-new elbow joint movement structure to solve the problem of limited degrees of freedom of the traditional exoskeleton at the elbow joint.

[0030] Referring to Figure 2 As shown, the movable rod of the lower backplate 15 is placed in the movable cavity of the upper backplate 16 to achieve the maximum limit of the relative position between the upper backplate 16 and the lower backplate 15. When adjusting the length of the backplate, the lower backplate 15 is adjusted by loosening the first adjustment knob 5 on the upper backplate 16, and the lower backplate 15 is locked by tightening the first adjustment knob 5, realizing the adjustment of the backplate length.

[0031] Referring to Figure 2 As shown, the movable rod of the hip joint connector 17 is placed in the movable cavity of the lower backplate 15 to achieve the maximum limit of hip joint adjustment. When adjusting the width of the hip joint, the hip joint connector 17 is adjusted by loosening the second adjustment knob 6 on the lower backplate 15, and the hip joint connector 17 is locked by tightening the second adjustment knob 6 on the lower backplate 15, realizing the adjustment of the hip joint width.

[0032] Referring to Figure 1As shown, the universal joint fork 10 is placed in the movable cavity of the boom sleeve 8 to achieve the maximum limit of boom adjustment. When adjusting the length of the boom, the universal joint fork 10 is adjusted by loosening the third adjustment knob 9 in the front. When the third adjustment knob 9 is tightened, the universal joint fork 10 is locked to achieve the adjustment of the boom length.

[0033] Refer to Figure 4 As shown, Figure 4 The structural schematic diagram of the shoulder joint is shown. One end of the shoulder joint connecting piece 18 is connected to the upper back plate 16 through a bearing to achieve fixation and horizontal rotation of the shoulder joint, thereby driving the horizontal rotation of the entire arm. The other end of the shoulder joint is connected to the boom sleeve 8 through a rotating shaft to achieve the rotation of the entire arm in the vertical plane. The driving motor 19 is connected to the shoulder joint connecting piece 18, and the driving motor 19 is used to assist the entire arm. The driving motor can enhance heat dissipation through the heat dissipation holes 21.

[0034] Refer to Figure 2 As shown, the charging bin 20 on the back is used for placing the battery to provide power for the entire exoskeleton.

[0035] In some embodiments, the forearm rod 7 rotates in the horizontal plane through the elbow joint. The telescopic lengths of the inner and outer forearm rods are different, which will form a distance difference. Through the pneumatic slide rail in the forearm rod, distance compensation is carried out. Taking the right side as an example, when the user bends the elbow and performs an external rotation movement of the elbow joint, the forearm rod 7 contracts along the pneumatic slide rail, and the other forearm rod 7 extends along the pneumatic slide rail. When the elbow joint rotates internally, the forearm rod 7 extends along the pneumatic slide rail, and the other forearm rod 7 contracts along the pneumatic slide rail, thereby completing the distance compensation for the distance difference formed by the inner and outer forearm rods during the horizontal rotation of the forearm.

[0036] The above shows and describes the main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic features of the present invention, the present invention can be implemented in other specific forms.

[0037] Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention.

[0038] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wide-free stepless adaptive exoskeleton, comprising a lower back plate (15), characterized in that: The top of the lower back plate (15) is slidably connected to an upper back plate (16), and both sides of the lower back plate (15) are slidably connected to hip joint connectors (17), one side of the hip joint connector (17) is installed with a waist belt (1), and the top of the upper back plate (16) is installed with a shoulder belt (2), and a backpack-shaped fixed structure is formed between the waist belt (1) and the shoulder belt (2), and both sides of the upper back plate (16) are horizontally rotatably connected to shoulder joint connectors (18), one side of the shoulder joint connector (18) is rotatably connected to a large arm sleeve (8), and one side of the shoulder joint connector (18) is installed with a drive motor (19), and the output end of the drive motor (19) is fixed to the large arm sleeve (8) through a bearing, and a universal joint mechanism is arranged at the bottom of the large arm sleeve (8), and a small arm rod (7) is arranged on one side of the universal joint mechanism.

2. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: The novel universal joint mechanism at the elbow joint comprises a universal joint fork 1 (10), a universal joint cross shaft (13), a universal joint bearing (14), and a universal joint fork 2 (12); the universal joint fork 1 (10) is slidably connected to the bottom of the upper arm sleeve (8); the universal joint cross shaft (13) is installed on the inner bottom of the universal joint fork 1 (10); the universal joint bearing (14) is installed on the universal joint cross shaft (13); the universal joint fork 2 (12) is installed on one side of the universal joint bearing (14); and the small arm rod (7) is installed on the universal joint fork 2 (12).

3. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: The bottom of the back side of the upper back plate (16) is rotatably connected to a first adjusting knob (5), and the first adjusting knob (5) is used to adjust the distance between the upper back plate (16) and the lower back plate (15).

4. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: The back side of the lower back plate (15) is rotatably connected to a second adjustment knob (6), and the second adjustment knob (6) is used to adjust the distance between the hip joint connector (17) and the lower back plate (15).

5. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: One side of the upper arm sleeve (8) is rotatably connected to a third adjusting knob (9), and the third adjusting knob (9) is used to adjust the distance between the universal joint fork 1 (10) and the upper arm sleeve (8).

6. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: A wrist sleeve (11) is installed at the end of the small arm rod (7), a first soft binding strap (4) is installed on the wrist sleeve (11), and a second soft binding strap (3) is installed on the upper arm sleeve (8), which is fixed to the human wrist through the wrist sleeve (11) and the first soft binding strap (4) connected to the wrist sleeve (11).

7. A wide-free stepless adaptive exoskeleton according to claim 6, characterized in that: The small arm rod (7) is rotated in a horizontal plane through the elbow joint. The extension and retraction lengths of the inner and outer small arm rods are different, which will form a distance difference. The distance is compensated by the pneumatic slide rail inside the small arm rod. Taking the right side as an example, when the user bends the elbow and performs an external rotation of the elbow joint, the small arm rod (7) contracts along the pneumatic slide rail, and the other small arm rod (7) extends along the pneumatic slide rail. When the elbow joint rotates inward, the small arm rod (7) extends along the pneumatic slide rail, and the other small arm rod (7) contracts along the pneumatic slide rail, thereby completing the distance compensation for the distance difference formed by the inner and outer small arm rods when the small arm rotates horizontally.

8. The wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: A charging compartment (20) is provided on the back of the lower back plate (15) for placing batteries to provide power for the entire exoskeleton.

9. A wide-free stepless adaptive exoskeleton according to claim 1, characterized in that: A heat dissipation hole (21) is provided on one side of the shoulder joint connecting piece (18) for enhancing the heat dissipation of the drive motor (19).

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