Upper limb assisting exoskeleton

Abstract

The utility model discloses an upper limb power-assisted exoskeleton, and particularly relates to the technical field of power-assisted equipment, the upper limb power-assisted exoskeleton comprises a back attaching plate, power-assisted skeletons are symmetrically arranged on one side of the back attaching plate, one side of the back attaching plate is connected with a shoulder strap, one end of each power-assisted skeleton is connected with an arm bandage, the lower end of each power-assisted skeleton is connected with a waist strap, and the waist strap is connected with a waist strap. An adjusting mechanism is arranged between the two power-assisted frameworks and the waist belt, the adjusting mechanism comprises an adjusting seat, the distance between the two power-assisted frameworks and the waist belt can be conveniently and quickly adjusted through the adjusting mechanism, so that the adjustable power-assisted belt is suitable for people with different sizes and figures, is more comfortable to use, is more suitable for a user, and is convenient to use. The application range is wider, the stability of the equipment is improved, and the practicability is higher; according to the utility model, through the connecting rod made of a rubber material, two belts can be connected and can be correspondingly bent and deformed according to the waist of a user, so that the connecting rod can be attached and matched with the waist of the user.

Description

Technical Field

[0001] The utility model relates to the technical field of power-assisting equipment, in particular to an upper limb power-assisting exoskeleton. Background Art

[0002] An exoskeleton is a device that can be worn on a person to provide protection, additional power or ability, and enhance human functions. Exoskeleton devices are mainly used in medical rehabilitation, military, personal ability improvement and other fields. Many wearable exoskeleton devices have been published in the prior art, and their functions include weight-bearing walking, lifting heavy objects, medical assisted rehabilitation, human amputation limb replacement, individual combat uniforms, etc. For example, in medical care, medical staff sometimes need to move patients, and the weight of the patient and the strength of the medical staff are different, so they will use upper limb assistance equipment to assist them in lifting and moving the patient.

[0003] The patent with reference publication number CN209850911U discloses a wearable upper limb power-assisted exoskeleton, including shoulder straps, arm straps, a frame and a waist belt, the shoulder straps are connected to the waist belt, the upper end of the frame is connected to the shoulder straps, and the lower end is connected to the waist belt, the frame includes a left frame and a right frame that are symmetrical and independent of each other; the left and right frames both include a rotating rod, a support tube, a drawstring, a linear spring and a spring seat, the rotating rod is hinged to the support tube and can move up and down around the upper end of the support tube, the upper end of the rotating rod is connected to the upper end of the drawstring, the lower end of the drawstring is connected to the upper end of the linear spring, the lower end of the linear spring is connected to the spring seat arranged at the lower end of the support tube, and the lower end of the rotating rod is connected to an arm strap. The utility model has the advantages of no power source, energy storage, an overall weight of no more than 2kg, light weight, easy and comfortable to wear, and high arm freedom.

[0004] During use of the above-mentioned upper limb assistance device, the distance between the two frames and the size of the belt are fixed, and they are of universal type. It is inconvenient to adjust them according to the width of the back and waist of different people to make them more suitable for the user's back and more comfortable to use. The scope of application is small and the practicality is relatively poor. Utility Model Content

[0005] The purpose of the utility model is to provide an upper limb power-assisting exoskeleton to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions: an upper limb power-assisting exoskeleton, comprising a back plate, a power-assisting frame is symmetrically arranged on one side of the back plate, a shoulder strap is connected to one side of the back plate, an arm strap is connected to one end of the power-assisting frame, a waist belt is connected to the lower end of the power-assisting frame, an adjustment mechanism is arranged between the two power-assisting frames and the waist belt, the adjustment mechanism comprises an adjustment seat, the adjustment seat is fixedly installed on one side of the back plate, and the adjustment seat is a hollow structure, a rotating shaft is rotatably installed inside the adjustment seat, a gear is sleeved on the outer wall of the rotating shaft, sliders are symmetrically arranged in the adjustment seat, racks are symmetrically arranged between the sliders, and the two racks are meshed with the gears, a support rod is fixedly installed on the opposite outer side walls of the two sliders, and one end of the support rod is movably connected to the power-assisting frame.

[0007] Furthermore, the adjusting mechanism also includes a connecting handle, and the connecting handle is sleeved on the outside of the rotating shaft, the connecting handle is located on the outside of the adjusting seat, one end of the rotating shaft is connected to a baffle in the connecting handle, the outside of the rotating shaft is sleeved with a spring 1 in the connecting handle, and the spring 1 is located on the side of the baffle close to the adjusting seat, one side of the connecting handle is symmetrically provided with a plurality of plug blocks, one side of the adjusting seat is provided with a plurality of plug holes adapted to the plug blocks, a connecting seat is installed on one side of the two belts, and the two connecting seats are arranged up and down, a block is provided in the connecting seat, one side of the block is connected to a connecting rod, one end of the connecting rod is connected to a fixing block outside the connecting seat, and the fixing block is fixedly connected to the belt away from the side of the connecting seat, and a spring 2 is sleeved on one side of the block outside the connecting rod, through the adjusting mechanism, the stability of the equipment can be improved, and the supporting force can be provided to the power-assisting skeleton, and at the same time, the distance between the two power-assisting skeletons and the two belts can be adjusted as needed to make them more adapted to the back of the user, make them more comfortable to use, have a wider range of applications, and be more practical.

[0008] Furthermore, the two racks are arranged in a circumferentially equidistant array, and the inner wall of the slider is provided with a through groove adapted to the racks so as to limit and guide the racks.

[0009] Furthermore, the rotating shaft is rotatably connected to the adjustment seat via a bearing, the baffle is a hexagonal structure, and the baffle is slidably connected to the inner wall of the connecting handle, so that the connecting handle can be controlled by the baffle so that it can rotate synchronously with the rotating shaft.

[0010] Furthermore, the two ends of the second spring are fixedly connected to the stopper and the inner wall of the connecting seat respectively, and the connecting rod is made of rubber so that it has a deformation function, so that it can bend and deform when the belt is tied around the waist.

[0011] Furthermore, the support rod is connected to the power-assisting frame by hinged connection, and the plug blocks and sockets are arranged in a circular equidistant array to transmit power and small angle changes. The plug blocks cooperate with the sockets to facilitate the limiting and fixing of the connecting handle to avoid affecting the change in the distance between the power-assisting frame after adjustment.

[0012] Compared with the prior art, the beneficial effects achieved by the utility model are:

[0013] 1. The utility model can adjust the distance between the two power-assisting frames and the waist belt conveniently and quickly through the adjustment mechanism, so as to adapt to people of different sizes and shapes, and is more comfortable to use and more suitable for users, so that the scope of application is wider, the stability of the equipment is improved, and the practicality is stronger;

[0014] 2. The utility model can connect two waist belts at the same time through a rubber connecting rod, and can be bent and deformed accordingly according to the waist of the user so as to fit the waist of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a front view structural schematic diagram of the utility model;

[0018] Figure 3 This utility model Figure 1 A is a schematic diagram of the enlarged structure of the middle part;

[0019] Figure 4 This utility model Figure 1 A schematic diagram of the enlarged structure of B;

[0020] Figure 5 It is a schematic diagram of the structure between the gear, the slider and the rack of the utility model;

[0021] Figure 6 It is a schematic diagram of the structure between the rotating shaft, the connecting handle and the baffle of the utility model;

[0022] In the figure: 1. back plate; 2. power skeleton; 3. shoulder straps; 4. arm straps; 5. waist belt; 6. adjustment seat; 7. rotating shaft; 8. gear; 9. slider; 10. rack; 11. support rod; 12. connecting handle; 13. baffle; 14. spring 1; 15. insert block; 16. connecting seat; 17. connecting rod; 18. baffle block; 19. spring 2; 20. fixing block. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figure 1 - Figure 6An upper limb power-assisting exoskeleton shown in the figure comprises a back plate 1, a power-assisting frame 2 is symmetrically arranged on one side of the back plate 1, a shoulder strap 3 is connected to one side of the back plate 1, an arm strap 4 is connected to one end of the power-assisting frame 2, and a waist belt 5 is connected to the lower end of the power-assisting frame 2. In this example, the power-assisting frame 2 is a prior art, and the specific structural composition and principle can refer to the corresponding part in the above-mentioned disclosed patent. In this example, the power-assisting frame 2 is composed of a rotating rod, a support tube, a pull belt, a linear spring, a spring seat, a sleeve rod, an arm support block, a telescopic sleeve, a telescopic rod, a hip support block, a quick-release pin and a spring cover, etc., which can be adjusted in height according to the back of the human body. The length of the part connecting the arm strap 4 can be adjusted according to the arm, which can provide assistance to the user; an adjustment mechanism is provided between the two power-assisting skeletons 2 and the belt 5, and the adjustment mechanism includes an adjustment seat 6, which is fixedly installed on one side of the back plate 1, and the adjustment seat 6 is a hollow structure, and a rotating shaft 7 is rotatably installed inside the adjustment seat 6, and a gear 8 is sleeved on the outer wall of the rotating shaft 7, and sliders 9 are symmetrically provided in the adjustment seat 6, and racks 10 are symmetrically provided between the sliders 9, and the two racks 10 are both meshed with the gear 8, and a support rod 11 is fixedly installed on the opposite outer side wall of the two sliders 9, and one end of the support rod 11 is movably connected to the power-assisting skeleton 2. In this example, the adjustment mechanism also includes a connecting handle 12, and the connecting handle 12 is sleeved on the outside of the rotating shaft 7. In this example, the connecting handle 12 is connected to a handle at one end away from the adjustment seat 6, and the connecting handle 12 is located on the outside of the adjustment seat 6. One end of the rotating shaft 7 is connected to a baffle 13 in the connecting handle 12. A spring 14 is sleeved in the connecting handle 12 on the outside of the rotating shaft 7, and the spring 14 is located on the side of the baffle 13 close to the adjustment seat 6. A plurality of plug blocks 15 are symmetrically arranged on one side of the connecting handle 12, and a plurality of jacks adapted to the plug blocks 15 are arranged on one side of the adjustment seat 6. A connecting seat 16 is installed on one side of the two belts 5, and the two connecting seats 16 The connecting seat 16 is provided with a block 18, one side of the block 18 is connected to a connecting rod 17, one end of the connecting rod 17 is connected to a fixing block 20 outside the connecting seat 16, and the fixing block 20 is fixedly connected to the belt 5 on the side away from the connecting seat 16, and a spring 19 is sleeved on one side of the block 18 outside the connecting rod 17. The stability of the equipment can be improved by adjusting the mechanism, and the supporting force can be provided to the power-assisting skeleton 2. At the same time, the distance between the two power-assisting skeletons 2 and the two belts 5 can be adjusted as needed to make it more suitable for the user's back, making it more comfortable to use, with a wider range of applications and stronger practicality.

[0025] In this example, two racks 10 are arranged in a circular array with equal spacing, and the inner wall of the slider 9 is provided with through grooves adapted to the racks 10, so as to limit and guide the racks 10. In this example, the rotating shaft 7 is rotatably connected to the adjustment seat 6 through a bearing, the baffle 13 is a hexagonal structure, and the baffle 13 is slidably connected to the inner wall of the connecting handle 12, so that the connecting handle 12 is controlled by the baffle 13 so that it can rotate synchronously with the rotating shaft 7. In this example, the two ends of the spring 19 are fixedly connected to the block 18 and the inner wall of the connecting seat 16 respectively, and the connecting rod 17 is made of rubber material so that it has a deformation function, so that it can bend and deform when the belt 5 is tied to the waist. In this example, the support rod 11 is connected to the power-assisting frame 2 in a hinged manner, and the plug block 15 and the socket are both arranged in a circular array with equal spacing, so as to transmit power and small angle changes. The plug block 15 cooperates with the socket to facilitate the limit fixation of the connecting handle 12 to avoid affecting the change in the distance between the power-assisting frame 2 after adjustment.

[0026] Working principle of the utility model: when in use, when it is necessary to adjust the distance between the two power-assisting skeletons 2 and the waist belt 5, the handle can be pulled to drive the connecting handle 12, so that the connecting handle 12 can slide along the rotating shaft 7 under the limit of the baffle 13, and the connecting handle 12 will cooperate with the baffle 13 to squeeze the spring 14, and the connecting handle 12 will drive the connected plug block 15 to move out of the socket, and then the handle is rotated to drive the connected connecting handle 12, and then cooperate with the baffle 13 to drive the connected rotating shaft 7 to rotate synchronously, so that the rotating shaft 7 will drive the gear 8 to rotate, so that the gear 8 will synchronously drive the racks 10 on both sides, so that the two racks 10 will synchronously move to the relative outsides, and at the same time, the two racks 10 will respectively drive the connected slider 9 to drive the support rod 11 to move synchronously, so that the support rod 11 will push one side of the connecting rod The connected power-assisting skeletons 2 move synchronously to change the distance between the two power-assisting skeletons 2. At the same time, the power-assisting skeleton 2 will drive the connected belt 5 to move synchronously, and at the same time, it will drive the connecting seat 16 and the fixed block 20 connected thereto to move synchronously, and then drive the connecting rod 17 to pull the block 18, so that the block 18 cooperates with the inner wall of the connecting seat 16 to squeeze the spring 2 19. After adjusting to the appropriate position, the force applied to the handle can be released, and the connecting handle 12 is driven to perform a reset movement under the elastic force of the spring 14, so that the connecting handle 12 drives the plug block 15 to be inserted into the corresponding socket, thereby realizing the restriction and fixation of the rotating shaft 7, so that the position of the adjusted support rod 11 can be restricted and fixed, and then it can be worn by the user. It is easy to use and can be adapted to people of different body sizes. The device is more stable and more practical.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An upper limb power-assisting exoskeleton, comprising a back plate (1), wherein a power-assisting frame (2) is symmetrically arranged on one side of the back plate (1), characterized in that: A shoulder strap (3) is connected to one side of the back plate (1), an arm strap (4) is connected to one end of the power-assisting frame (2), a waist belt (5) is connected to the lower end of the power-assisting frame (2), an adjustment mechanism is provided between the two power-assisting frames (2) and the waist belt (5), the adjustment mechanism comprises an adjustment seat (6), the adjustment seat (6) is fixedly installed on one side of the back plate (1), and the adjustment seat (6) is a hollow structure, a rotating shaft (7) is rotatably installed inside the adjustment seat (6), a gear (8) is sleeved on the outer wall of the rotating shaft (7), sliders (9) are symmetrically provided inside the adjustment seat (6), racks (10) are symmetrically provided between the sliders (9), and the two racks (10) are meshed with the gear (8), and a support rod (11) is fixedly installed on the opposite outer side wall of the two sliders (9), and one end of the support rod (11) is movably connected to the power-assisting frame (2).

2. An upper limb assisting exoskeleton according to claim 1, characterized in that: The adjustment mechanism further comprises a connecting handle (12), and the connecting handle (12) is sleeved on the outside of the rotating shaft (7), and the connecting handle (12) is located on the outside of the adjustment seat (6). One end of the rotating shaft (7) is connected to a baffle (13) in the connecting handle (12), and a spring (14) is sleeved in the connecting handle (12) on the outside of the rotating shaft (7), and the spring (14) is located on the side of the baffle (13) close to the adjustment seat (6). One side of the connecting handle (12) is symmetrically provided with a plurality of plug blocks (15), and one side of the adjustment seat (6) is provided with a plurality of plug blocks symmetrically provided with the plug blocks. (15) an adaptable socket, one side of the two waist belts (5) is equipped with a connecting seat (16), and the two connecting seats (16) are distributed up and down, a stopper (18) is provided inside the connecting seat (16), one side of the stopper (18) is connected to a connecting rod (17), one end of the connecting rod (17) is connected to a fixing block (20) outside the connecting seat (16), and the fixing block (20) is fixedly connected to the waist belt (5) away from the side of the connecting seat (16), and a spring (19) is sleeved on one side of the stopper (18) outside the connecting rod (17).

3. The upper limb assist exoskeleton according to claim 1, characterized in that: The two racks (10) are arranged in a circumferentially equidistant array, and the sliding block (9) is provided with a through groove matching the racks (10) on the inner wall thereof.

4. The upper limb assist exoskeleton according to claim 2, characterized in that: The rotating shaft (7) is rotatably connected to the adjusting seat (6) via a bearing, the baffle (13) is a hexagonal structure, and the baffle (13) is slidably connected to the inner wall of the connecting handle (12).

5. The upper limb assist exoskeleton according to claim 2, characterized in that: The two ends of the second spring (19) are respectively fixedly connected to the stopper (18) and the inner wall of the connecting seat (16), and the connecting rod (17) is made of rubber.

6. The upper limb assisting exoskeleton according to claim 2, characterized in that: The support rod (11) is connected to the power-assisting frame (2) in an articulated manner, and the plug blocks (15) and the plug holes are arranged in a circumferentially equidistant array.

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