Upper extremity exoskeleton

Abstract

This invention discloses an upper limb exoskeleton, belonging to the field of passive assistive exoskeleton technology. It includes a back support mechanism, an arm support mechanism, and wearable components. The back support mechanism comprises floating lateral support and telescopic vertical support. The arm support mechanism achieves three-level automatic locking and unlocking via a ratchet-pawl type adjustable mechanism. The wearable components employ a magnetic quick-release, universal joint dynamic conforming to the back curve structure, and a three-layer breathable composite fabric. This invention solves the problems of existing exoskeletons, such as single-function assistance, manual locking / unlocking, concentrated force, discomfort, and inability to conform to back movements. It has the advantages of automatic locking / unlocking, uniform force distribution, quick and easy disassembly, dynamic conforming to the human body, comfort and breathability, and lightweight and low cost, making it suitable for industrial heavy-duty work and upper limb rehabilitation assistance scenarios.

Description

Technical Field

[0001] This invention relates to the field of passive upper limb assistive exoskeleton technology, and in particular to an upper limb exoskeleton. Background Technology

[0002] Upper limb exoskeletons are wearable mechanical assistive devices that primarily provide load-bearing support, strength enhancement, and fatigue relief to the wearer's upper limbs through mechanical structures. They are widely used in scenarios such as high-altitude operations, assembly line work, and heavy object handling. Currently, passive upper limb exoskeletons on the market are mainly divided into three categories: energy storage assist structures based on elastic elements, force transmission structures based on levers and linkages, and passive locking support structures based on pneumatics.

[0003] Existing upper limb exoskeletons generally suffer from the following technical defects: They offer only a single assist mode, providing support at only one level, failing to adapt to the diverse working conditions requiring different heights for the left and right hands, and causing conflicts between range of motion and assist effect; the mainstream V-shaped structure lacks sufficient freedom of movement, easily interfering with the shoulder during horizontal arm rotation, resulting in concentrated stress on the scapula and potential localized compression with prolonged wear; locking and unlocking require manual operation of switches, making them cumbersome and hindering continuous operation; the wearable components are fixed to the main mechanical body using screws, preventing quick disassembly and making wear and maintenance inconvenient; and the backpack-style wearable structure has poor breathability, causing stuffiness and discomfort during prolonged wear, and poor ergonomics. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of existing upper limb exoskeletons, such as limited assist levels, insufficient freedom of movement, manual locking and unlocking, concentrated force, cumbersome wearing, and poor breathability, and to provide an upper limb exoskeleton with a simplified structure, automatic locking and unlocking, uniform force distribution, quick and easy disassembly, and comfortable wear.

[0005] To achieve the above objectives, the present invention provides an upper limb exoskeleton, including a back support mechanism and two sets of arm support mechanisms; the back support mechanism includes a horizontal support component and a vertical support component, the upper end of the vertical support component being fixedly connected to the horizontal support component; the two sets of arm support mechanisms are symmetrically connected to both ends of the horizontal support component; each arm support mechanism includes a first link, a second link, and an assist adjustment mechanism, the first link and the second link being rotatably connected via the assist adjustment mechanism; the end of the first link away from the assist adjustment mechanism is rotatably connected to the horizontal support component, and the end of the second link away from the assist adjustment mechanism is fixedly connected to an arm rest.

[0006] Preferably, the lateral support assembly includes a support beam and two symmetrically arranged back support blocks; the back support blocks have a first connecting hole on the side facing the support beam, and both ends of the support beam are respectively inserted into the corresponding first connecting holes; the section of the support beam located in the first connecting hole has an elongated limiting hole along the axial direction; the lower surface of the back support block has a vertically threaded hole, and a limiting bolt is installed in the threaded hole. The upper end of the limiting bolt passes through the elongated limiting hole and slides with it to realize the floating adjustment of the lateral support and distribute the force on the back.

[0007] Preferably, the vertical support assembly includes two symmetrically arranged support rods; the support rods are telescopic structures, consisting of an inner tube and an outer tube sleeved together, with the inner tube sliding axially relative to the outer tube; the upper end of the inner tube is fixedly connected to the lower surface of the back support block, and a fastening ring for locking the telescopic length is provided at the sleeve joint between the outer tube and the inner tube, adapting to wearers of different heights.

[0008] Preferably, the first connecting rod is an L-shaped rod; one end of it is rotatably connected to the end of the back support block away from the support beam to form a first rotating pair, and the other end is integrally formed with a ratchet, and the ratchet is coaxially fixedly provided with a cam.

[0009] Preferably, the power-assist adjustment mechanism includes a mounting block and a connecting block; the mounting block has a cavity inside, and the ratchet is rotatably mounted in the cavity via a first connecting shaft to form a second rotating pair; a pawl is also provided in the cavity, and the pawl is rotatably connected to the inner wall of the cavity via a second connecting shaft, the axes of the first connecting shaft and the second connecting shaft being parallel; a first torsion spring is sleeved on the second connecting shaft, one end of the first torsion spring abuts against the inner wall of the cavity, and the other end cooperates with a groove opened on the surface of the pawl, so that the lower end of the pawl is engaged with the ratchet teeth of the ratchet; a hinge seat is integrally formed on the side of the mounting block away from the first connecting rod, and a connecting groove adapted to the hinge seat is opened on the connecting block, the hinge seat and the connecting groove are rotatably connected by a pin; a second torsion spring is sleeved on the pin, and the two ends of the second torsion spring abut against the mounting block and the connecting block respectively; a second connecting hole is opened on the side of the connecting block away from the mounting block, and the end of the second connecting rod is fixedly inserted into the second connecting hole.

[0010] Preferably, the axis of the first rotary joint is set in the vertical direction, and the axis of the second rotary joint is set in the horizontal direction, which improves the degree of freedom of arm rotation and avoids interference with the human body.

[0011] Preferably, the device also includes a wearable assembly, which includes shoulder straps, a waist belt, and a magnetic locking buckle. The magnetic locking buckle consists of a male and a female connector that attract each other. The male connector includes a fixed male connector and a rotating male connector. The fixed male connector is fixed to the side of the back support block facing the human body, and the rotating male connector is fixedly connected to the lower end of the outer tube of the support vertical rod via a universal joint. The universal joint can achieve multi-angle deflection to dynamically conform to the operator's back movement curve. The shoulder straps are a separate independent structure, consisting of a left shoulder strap and a right shoulder strap. The female connectors are respectively fixed to the side of the left shoulder strap, the right shoulder strap, and the waist belt facing the mechanical structure. The front ends of the left and right shoulder straps are connected by adjusting buckles and are both connected to the waist belt via adjusting straps.

[0012] Preferably, the left shoulder strap, right shoulder strap, and waist belt are all three-layer composite fabric structures: the outer layer is high-strength nylon Oxford cloth, the middle layer is EPE pearl cotton cushioning layer, and the bottom layer is high-elastic breathable sandwich mesh fabric, which improves wearing comfort and breathability.

[0013] Therefore, the present invention employs the above-mentioned upper limb exoskeleton, which has the following technical effects: (1) The present invention uses ratchet and pawl in conjunction with torsion spring to achieve a first-level lock at 89°, a second-level lock at 113°, a third-level lock at 137° and an automatic unlock at 140°, without the need for manual operation, and is suitable for various working conditions.

[0014] (2) The present invention adds a vertical axis rotation pair to the shoulder, so that the arm rotation is not interfered with; the horizontal floating support beam disperses the concentrated force on the scapula to four connection points, reducing local pressure.

[0015] (3) The four-point magnetic locking buckle of the present invention enables the wearable components to be quickly separated from the mechanical body, making it convenient to put on and take off and highly efficient to maintain.

[0016] (4) The present invention features a split double-module shoulder strap with three layers of composite fabric to form a breathable channel, avoid sweat accumulation and stuffiness, and adapt to the movement trajectory of the human shoulder blade.

[0017] (5) The rotating male head of the present invention is connected to the lower end of the support rod through a universal joint, which can deflect at multiple angles with the operator's movements, perfectly fit the back movement curve, and improve the dynamic adaptability of the wearer.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an upper limb exoskeleton according to the present invention; Figure 2 This is a front view of an upper limb exoskeleton according to the present invention; Figure 3This is a side view of an upper limb exoskeleton according to the present invention; Figure 4 This is a rear view of an upper limb exoskeleton according to the present invention; Figure 5 This is a cross-sectional view of the support beam of an upper limb exoskeleton according to the present invention; Figure 6 This invention relates to an upper limb exoskeleton. Figure 5 Enlarged sectional view at point A in the middle; Figure 7 This is an internal sectional view of an upper limb exoskeleton mounting block and connecting block according to the present invention; Figure 8 This is a schematic diagram of the structure of an upper limb exoskeleton wearable component according to the present invention.

[0020] Figure Labels 1. Back support mechanism; 11. Lateral support assembly; 111. Support beam; 112. Back support block; 113. Long strip limiting hole; 114. Limiting bolt; 12. Vertical support assembly; 121. Support rod; 122. Inner tube; 123. Outer tube; 124. Fastening ring; 2. Arm support mechanism; 21. First link; 211. Ratchet; 212. Cam; 22. Second link; 23. Assist adjustment mechanism; 231. Mounting block; 2 32. Connecting block; 233. First connecting shaft; 234. Pawl; 235. Second connecting shaft; 236. First torsion spring; 237. Hinge seat; 238. Pin; 239. Second torsion spring; 24. Arm support; 3. Wearing assembly; 31. Shoulder strap; 32. Waist belt; 33. Magnetic locking buckle; 331. Male connector; 3311. Fixed male connector; 3312. Rotating male connector; 332. Female connector; 34. Adjusting buckle; 35. Adjusting belt; 4. Universal joint. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figures 1 to 7 As shown, an upper limb exoskeleton includes a back support mechanism 1 and two sets of symmetrically arranged arm support mechanisms 2. The back support mechanism 1 is composed of a horizontal support component 11 and a vertical support component 12. The upper end of the vertical support component 12 is fixedly connected to the horizontal support component 11, and the two sets of arm support mechanisms 2 are respectively connected to the left and right ends of the horizontal support component 11.

[0024] The lateral support assembly 11 includes a support beam 111 and two back support blocks 112. A first connecting hole is opened on the inner side of the back support block 112, and both ends of the support beam 111 are inserted into the first connecting hole. An elongated limiting hole 113 is opened on the support beam 111, and the limiting bolt 114 at the bottom of the back support block 112 passes through the elongated limiting hole 113 to achieve left and right sliding limitation, forming a free floating structure and dispersing the force on the scapula.

[0025] The vertical support component 12 has a telescopic support rod 121. The upper end of the inner tube 122 is fixed with a back support block 112. The outer tube 123 slides with the inner tube 122. The fastening ring 124 locks the telescopic length to accommodate users of different heights.

[0026] The arm support mechanism 2 includes a first link 21, a second link 22, and an assist adjustment mechanism 23. The first link 21 and the second link 22 are rotatably connected through the assist adjustment mechanism 23. The upper end of the first link 21 is rotatably connected to the transverse support assembly 11, and the lower end of the second link 22 is fixedly connected to the arm support 24. The arm support 24 is used to support the wearer's upper limb and is fixed to the wearer's upper limb by the arm magnetic quick-release strap.

[0027] The first connecting rod 21 is L-shaped, with its upper end forming a first rotating joint with the back support block 112 on a vertical axis, and its lower end integrally formed with a ratchet 211 and a cam 212. Inside the mounting block 231 of the power assist adjustment mechanism 23, the ratchet 211 forms a second rotating joint on a horizontal axis through the first connecting shaft 233, and the pawl 234 is fixed in the internal cavity of the mounting block 231 through the second connecting shaft 235, and engages with the ratchet 211 under the action of the first torsion spring 236 to achieve multi-position locking.

[0028] Mounting block 231 and connecting block 232 are rotatably connected by pin 238. The second torsion spring 239 provides torque support and provides cushioning assistance to the arm. Connecting block 232 is fixed to the second connecting rod 22 to transmit assistance and support force.

[0029] like Figure 8 As shown, the wearable component 3 includes a shoulder strap 31 and a waist belt 32, and uses a magnetic locking buckle 33 for quick release. The male connector 3311 is fixed to the back support block 112. The male connector 3312 is fixedly connected to the lower end of the outer tube of the support rod 121 via the universal joint 4. The universal joint 4 can achieve multi-dimensional deflection and conform to the curve of the human back in real time with the operator's back movements. The female connector 332 is fixed to the shoulder strap 31 and the waist belt 32, and the magnetic attraction enables quick assembly and disassembly.

[0030] The shoulder straps 31 are a separate independent structure, with the left and right shoulder straps being independent of each other. The front of the left and right shoulder straps are connected by the adjusting buckle 34, and both are connected to the waist belt 32 by the adjusting strap 35. They are made of three-layer composite fabric, with the outer layer of nylon Oxford cloth that is wear-resistant and tear-resistant, the middle layer of EPE pearl cotton for cushioning, and the bottom layer of sandwich mesh for breathability, which improves wearing comfort.

[0031] Working principle: After the wearer puts on the garment, when the arm is raised to angles of 89°, 113°, and 137° with the vertical, the ratchet 211 and pawl 234 automatically engage and lock, with the second torsion spring 239 providing corresponding assistance. When the arm continues to rise to 140°, the cam 212 lifts the pawl 234, automatically unlocking the garment. The transverse floating support beam 111 distributes the concentrated force on the scapula to four magnetic connection points, reducing localized pressure. The first rotary joint along the vertical axis allows for horizontal arm rotation without human interference. The magnetic structure enables quick separation of the wearable device from the main mechanical body, meeting the needs for convenient wear and maintenance. Structures and connections not described in detail in this embodiment are implemented using conventional techniques in the field.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An upper limb exoskeleton, characterized in that: It includes a back support mechanism and two sets of arm support mechanisms; the back support mechanism includes a horizontal support component and a vertical support component, the upper end of the vertical support component is fixedly connected to the horizontal support component; the two sets of arm support mechanisms are symmetrically connected to both ends of the horizontal support component; the arm support mechanism includes a first link, a second link and an assist adjustment mechanism, the first link and the second link are rotatably connected through the assist adjustment mechanism; the end of the first link away from the assist adjustment mechanism is rotatably connected to the horizontal support component, and the end of the second link away from the assist adjustment mechanism is fixedly connected to an arm rest.

2. The upper limb exoskeleton according to claim 1, characterized in that: The transverse support assembly includes a support beam and two symmetrically arranged back support blocks; each back support block has a first connecting hole on the side facing the support beam, and both ends of the support beam are respectively inserted into the corresponding first connecting holes; the section of the support beam located in the first connecting hole has an elongated limiting hole along the axial direction; the lower surface of the back support block has a vertically threaded hole, and a limiting bolt is installed in the threaded hole, with the upper end of the limiting bolt passing through the elongated limiting hole and slidingly engaging with it.

3. The upper limb exoskeleton according to claim 2, characterized in that: The vertical support assembly includes two symmetrically arranged support rods; the support rods are telescopic structures, consisting of an inner tube and an outer tube sleeved together, with the inner tube sliding axially relative to the outer tube; the upper end of the inner tube is fixedly connected to the lower surface of the back support block, and a fastening ring for locking the telescopic length is provided at the sleeve joint between the outer tube and the inner tube.

4. The upper limb exoskeleton according to claim 3, characterized in that: The first connecting rod is an L-shaped rod; one end of it is rotatably connected to the end of the back support block away from the support beam to form a first rotating pair, and the other end is integrally formed with a ratchet, and the ratchet is coaxially fixed with a cam.

5. An upper limb exoskeleton according to claim 4, characterized in that: The power-adjusting mechanism includes a mounting block and a connecting block. The mounting block has an internal cavity, and the ratchet is rotatably mounted within the cavity via a first connecting shaft, forming a second rotating pair. A pawl is also provided within the cavity, and the pawl is rotatably connected to the inner wall of the cavity via a second connecting shaft. The axes of the first and second connecting shafts are parallel. A first torsion spring is sleeved on the second connecting shaft, with one end abutting against the inner wall of the cavity and the other end engaging with the pawl, so that the lower end of the pawl remains engaged with the ratchet teeth of the ratchet. A hinge seat is integrally formed on the side of the mounting block away from the first connecting rod. The connecting block has a connecting groove adapted to the hinge seat, and the hinge seat and the connecting groove are rotatably connected via a pin. A second torsion spring is sleeved on the pin, with both ends abutting against the mounting block and the connecting block, respectively. A second connecting hole is provided on the side of the connecting block away from the mounting block, and the end of the second connecting rod is fixedly inserted into the second connecting hole.

6. The upper limb exoskeleton according to claim 5, characterized in that: The axis of the first revolute joint is set in the vertical direction, and the axis of the second revolute joint is set in the horizontal direction.

7. An upper limb exoskeleton according to claim 6, characterized in that: It also includes wearable components, which include shoulder straps, a waist belt, and a magnetic locking buckle. The magnetic locking buckle consists of a male and a female connector that attract each other. The male connector includes a fixed male connector and a rotating male connector. The fixed male connector is fixed to the side of the back support block facing the human body, and the rotating male connector is fixedly connected to the lower end of the outer tube of the support vertical rod via a universal joint. The shoulder straps are a separate, independent structure, consisting of a left shoulder strap and a right shoulder strap. The female connectors are fixed to the side of the left shoulder strap, the right shoulder strap, and the waist belt facing the mechanical structure, respectively. The front ends of the left and right shoulder straps are connected by adjusting buckles, and both are connected to the waist belt via adjusting straps.

8. An upper limb exoskeleton according to claim 7, characterized in that: The left shoulder strap, right shoulder strap, and waist belt are all three-layer composite fabric structures: the outer layer is high-strength nylon Oxford cloth, the middle layer is EPE pearl cotton cushioning layer, and the bottom layer is high-elastic breathable sandwich mesh fabric.

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