Shoulder and back integrated upper limb exoskeleton

Abstract

The utility model relates to the technical field of mechanical exoskeletons, in particular to a shoulder and back integrated upper limb exoskeleton which comprises a shoulder and back integrated supporting module composed of a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, and a hip joint module composed of a carbon fiber waist plate and two carbon fiber connecting rods. The carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a rotating shaft structure in the horizontal direction, and the lower end of the carbon fiber connecting rod is connected with a rotating joint connected with a lower limb exoskeleton. The utility model is suitable for tasks such as backpack type load bearing and front lifting type carrying, can better bear weight and transmit pressure to the ground, has front-back and left-right bending freedom degrees, and meets the use requirements and comfort requirements of human body bowing and left-right swinging.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical exoskeletons, and specifically provides an upper limb exoskeleton with integrated shoulder and back. Background Art

[0002] In recent years, with the rapid development and changes of society, many fields such as individual combat, emergency rescue, medical rehabilitation, etc. have put forward new demands for auxiliary robots and portable devices. Exoskeletons belong to wearable portable devices, which can transfer the upper body load to the ground through mechanical mechanisms, thereby indirectly enhancing the wearer's limb strength. They have been widely used in many industries such as agriculture, manufacturing, construction, logistics, medical rehabilitation, disaster relief, and individual combat.

[0003] Existing power-assisted exoskeleton systems mainly bear weight through load-bearing brackets at the hip joints of the exoskeleton or back frames connected to the lower limb exoskeleton. The load-bearing bracket is a load-bearing platform that extends outward from the hip of the lower limb exoskeleton. When carrying weight, the heavy objects are placed on the platform. However, it is difficult to achieve a perfect combination of the power-assisted exoskeleton that bears weight through the load-bearing bracket and a carrying system such as a backpack. During exercise, the backpack often slips off the load-bearing bracket, which will cause great pressure on the shoulders and back. The traditional back frame connected to the lower limb exoskeleton is usually a rigid frame, such as the utility model patent application with Chinese patent publication number CN103315834A, publication date September 25, 2013, and patent name "A wearable lower limb power-assisted exoskeleton". Even only a rigid rod is used as a back frame, such as the utility model patent application with Chinese patent publication number CN210061120U, publication date February 14, 2020, and patent name "Elastic exoskeleton back frame". The back frame in the above patent application only considers the force transmission characteristics of the structure. Although it can transfer the weight to the lower limb exoskeleton, the carrying comfort is greatly reduced, affecting the freedom of human movement. It has a great impact on the forward and backward bending, left and right swinging of the human body during the load-bearing process.

[0004] In order to improve the freedom of movement of the back frame, the Chinese patent publication number is CN109318214A, the publication date is February 12, 2019, and the patent name is a utility model patent application for "an exoskeleton back device imitating the human spine". It imitates the human spine to design a vertebral structure that is arranged and connected in sequence, and the vertebrae are connected in series through an elastic rope assembly. The device as a whole has good movement flexibility and wearing comfort. Although this type of flexible back frame solves the flexibility problem of the waist and back, it sacrifices the carrying capacity of the back frame itself, which greatly reduces the efficiency of transferring weight to the lower limb exoskeleton, and can only play an auxiliary support role for the human body. In addition, during walking, the human body needs to provide forward traction to the heavy objects carried by the back frame through the back straps of the back frame. Traditional shoulder straps will cause excessive pressure on the front of the shoulders, and there is a problem of strangling the shoulders; the back frame and the backpack and other carrying systems are closely combined, which will bring difficulties to the release of the carrying system. Utility Model Content

[0005] In order to solve the above-mentioned problems, the utility model provides an upper limb exoskeleton with integrated shoulder and back. Through the integrated design of the shoulder exoskeleton and the back exoskeleton, the load-bearing weight when carrying on the back and lifting forward can be transferred to the ground, and the use requirements and comfort requirements of the human body such as bending over and swinging left and right can be met.

[0006] The utility model provides an upper limb exoskeleton with integrated shoulder and back, comprising: an integrated shoulder and back support module and a hip joint module, wherein the integrated shoulder and back support module comprises a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, the rear end of the carbon fiber shoulder plate is fixed to the upper end of the carbon fiber back plate, and the front end of the carbon fiber shoulder plate is provided with a traction hole for fixing a rope;

[0007] The hip joint module includes a carbon fiber lumbar plate and two carbon fiber connecting rods. The lower end of the carbon fiber back plate is connected to the carbon fiber lumbar plate. The upper end of the carbon fiber connecting rod is connected to the carbon fiber lumbar plate through a horizontal rotating shaft structure. The lower end of the carbon fiber connecting rod is connected to a rotary joint with a forward and backward rotation direction. The rotary joint is used to connect to the lower limb exoskeleton.

[0008] Preferably, the inner sides of the integrated shoulder and back support module and the hip joint module are fastened with a padding layer via Velcro.

[0009] Preferably, the upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

[0010] Preferably, the carbon fiber connecting rod is in a curved shape extending along the rear surface of the carbon fiber waist plate to both sides of the wearer's body.

[0011] Preferably, a wedge-shaped groove extending to the lower edge of the carbon fiber waist plate is opened on the rear surface of the carbon fiber waist plate, and the width of the wedge-shaped groove increases as the wedge-shaped groove extends toward the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can perform relative lateral rotation in the wedge-shaped groove.

[0012] Preferably, an adjustment mechanism is provided on the carbon fiber waist plate, and the connection position between the carbon fiber back plate and the carbon fiber waist plate can be adjusted by the adjustment mechanism.

[0013] Compared with the prior art, the utility model can achieve the following beneficial effects:

[0014] The upper limb exoskeleton of the utility model integrates the shoulder bones and the back bones into an integrated design, and utilizes a Y-shaped carbon fiber back plate and an arc-shaped carbon fiber shoulder plate to increase the driving force action area during walking. During the back-carrying load-bearing process, the carbon fiber shoulder plate can effectively increase the force-bearing area of ​​the human shoulder, thereby reducing the pressure at any single point, avoiding local excessive compression, and improving the double-shoulder load-bearing effect. The evenly distributed pressure helps to reduce the wearer's shoulder fatigue and discomfort when using the exoskeleton for a long time, and improves the wearer's comfort. In addition, a rope structure can be set at the front end to realize the front-lifting carrying requirements. During the front-lifting carrying process, the carbon fiber shoulder plate assists the human body in pulling the load, and the contact area between the carbon fiber back plate and the back of the human body is significantly increased, thereby improving the load-bearing capacity.

[0015] In addition, the utility model has specially designed the hip joint module, and the upper end of the carbon fiber connecting rod is rotatably connected to the carbon fiber waist plate, so that the upper limb exoskeleton has the freedom to deflect to both sides of the human body. At the same time, the carbon fiber connecting rod is set in a wedge-shaped groove to limit the lateral deflection angle to avoid excessive bending that causes the human body to be unable to stand and reset, and may even cause falls and injuries; the lower end of the carbon fiber connecting rod is connected to the lower limb exoskeleton through a rotating joint, so that the upper limb exoskeleton has the freedom to rotate forward and backward toward the human body, so that the wearer can perform activities such as bending over, reducing the interference with the natural movement pattern due to the limitation of the exoskeleton. In addition, the rotatable angle of the rotating joint is set according to the needs of physical activities, and the angle of backward rotation is limited to avoid excessive backward leaning causing the wearer to lose balance. In addition, a rotating joint with a damping and rebound mechanism can be selected to improve the stability of the exoskeleton during walking, while also providing the wearer with a restoring force to recover from a bending or backward state to a vertical standing state.

[0016] The upper limb exoskeleton of the utility model adopts carbon fiber material on the main body, which has a positive significance for lightweighting. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an axonometric view of an upper limb exoskeleton provided according to an embodiment of the utility model;

[0018] Figure 2 is a rear view of an upper limb exoskeleton provided according to an embodiment of the utility model;

[0019] Figure 3 is a rear view of a hip joint module provided according to an embodiment of the utility model;

[0020] Figure 4 It is a schematic diagram of an upper limb exoskeleton after a cushion layer is installed according to an embodiment of the utility model.

[0021] Reference numerals include:

[0022] Shoulder and back integrated support module 1, carbon fiber back plate 11, carbon fiber shoulder plate 12, traction hole 13;

[0023] Hip joint module 2, carbon fiber waist plate 21, carbon fiber connecting rod 22, wedge groove 23, shaft structure 24, rotary joint 25, adjustment mechanism 26;

[0024] The lining layer 3, the Velcro 31 and the buckle 32. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present utility model will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0026] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and do not constitute a limitation of the utility model.

[0027] like Figure 1 and Figure 2As shown, the upper limb exoskeleton with integrated shoulder and back provided by the embodiment of the utility model mainly includes an integrated shoulder and back support module 1 and a hip joint module 2, wherein the integrated shoulder and back support module 1 is an innovative design based on the existing bionic back plate structure. In the prior art, the upper limb exoskeleton does not have a shoulder support and protection structure. The embodiment of the utility model not only designs two arc-shaped carbon fiber shoulder plates 12, but also specially designs the bionic back plate structure. The carbon fiber back plate 11 is designed as a Y-shaped structure. Specifically, the rear end of the arc-shaped carbon fiber shoulder plate 12 is fixedly installed on the carbon fiber back plate. The raised part at the upper end of the carbon fiber back plate 11, the arc curve of the carbon fiber shoulder plate 12 is designed according to the physiological curve of the human shoulder, and a traction hole 13 is opened at the front end of the carbon fiber shoulder plate 12. In the front lifting and carrying scenario, the rope can be connected through the traction hole 13, and the rope can be used to assist in carrying. At this time, the carbon fiber shoulder plate 12 is pulled forward by the rope, so that the carbon fiber back plate 11 contacts the wearer's back over a large area. The weight of the carried object is transmitted to the lower limb exoskeleton through the carbon fiber back plate 11 and the carbon fiber shoulder plate 12, and finally applied to the ground, reducing the pressure of the carried object on the human body. In addition, due to the large contact area between the carbon fiber back plate 11 and the wearer's back, the pressure of the carbon fiber back plate 11 on the back is reduced, and the wearer's load-bearing capacity is improved. During backpack-type weight-bearing, the carbon fiber shoulder plate 12 can significantly increase the contact area with the wearer's shoulders, and during walking, since the carbon fiber back plate 11 and the carbon fiber shoulder plate 12 are fixedly connected, the front shoulder pressure caused by the forward drive of the human body can be partially transferred to the back, thereby increasing the body's effective area and reducing the shoulder pressure. That is, the carbon fiber back plate 11 and the carbon fiber shoulder plate 12 offset the horizontal force, improve the stability during exercise, and transmit the vertical force to the ground through the hip joint module 2 and the lower limb exoskeleton, thereby reducing the pressure on the body.

[0028] As a preferred embodiment, the connection structure of the carbon fiber back plate 11 and the carbon fiber shoulder plate 12 can adopt an adjustable structure to meet the needs of wearers of different body shapes and heights.

[0029] The lower end of the carbon fiber back plate 11 is connected to the hip joint module 2. The hip joint module 2 mainly includes a carbon fiber waist plate 21 and a carbon fiber connecting rod 22. The design of the hip joint module 2 is mainly to enhance the freedom of the wearer's waist, so that the wearer can bend, lean back, and turn sideways. The carbon fiber waist plate 21 is roughly arranged at the waist and hip joint position of the human body, which can support the waist. An adjustment mechanism 26 is arranged on the upper part of the carbon fiber waist plate 21. The lower end of the carbon fiber back plate 11 is connected to the carbon fiber back plate 11 through the adjustment mechanism 26. The connection position of the carbon fiber back plate 11 and the carbon fiber waist plate 21 can be adjusted by the adjustment mechanism. After the position is adjusted, the adjustment mechanism 26 can lock the position. The existing common adjustment mechanism 26 includes but is not limited to buckles, positioning shafts, screws, etc.

[0030] The rear surface of the carbon fiber waist plate 21 is provided with two wedge-shaped grooves 23 symmetrical in the vertical direction, and the angle of the wedge-shaped grooves 23 is an obtuse angle. Both wedge-shaped grooves 23 extend downward from the middle of the carbon fiber waist plate 21 to the lower edge of the carbon fiber waist plate 21, so that the downward surface of the wedge-shaped groove 23 is in an open state. As the wedge-shaped groove 23 extends to the lower edge, the width of the wedge-shaped groove 23 increases continuously, that is, the wedge-shaped groove 23 has an outwardly expanding opening angle. The depth of the wedge-shaped groove 23 is close to the thickness of the carbon fiber connecting rod 22. The carbon fiber connecting rod 22 is provided with two parts respectively installed in the two wedge-shaped grooves 23. The upper end of the carbon fiber connecting rod 22 is installed in the wedge-shaped groove 23 through a horizontal rotating shaft structure 24. The carbon fiber connecting rod 22 can rotate in the wedge-shaped groove 23 around the rotating shaft structure 24, and the rotatable angle is limited by the opening angle of the wedge-shaped groove 23. The optional rotating shaft structure 24 includes but is not limited to a latch, a bearing, etc. The purpose of the above-mentioned rotational connection is mainly to provide lateral rotational freedom, so that the wearer's waist can be twisted to both sides of the body. And the twisting angle is effectively limited by the wedge-shaped groove 23 to prevent the wearer from twisting excessively and causing the body's center of gravity to be unbalanced, leading to falls or injuries. Therefore, the opening angle of the wedge-shaped groove 23 can be designed according to the actual twisting angle required by the human body. The carbon fiber connecting rod 22 is curved, extending downward and forward from the position of the rotating shaft structure 24 along the body curve to both sides of the wearer's hip joint. The lower end of the carbon fiber connecting rod 22 is connected to a rotating joint 25, such as Figure 3 As shown, the rotary joint 25 adopts a rotating shaft structure, and the lower end of the carbon fiber connecting rod 22 is sleeved on the rotating shaft of the rotary joint 25 through a flange structure extending downward. The rotary joint 25 can rotate relative to the carbon fiber connecting rod 22 to achieve relative rotation of the upper limb exoskeleton and the lower limb exoskeleton, which is convenient for the wearer to perform actions such as bending and leaning back. In addition, there is a torsion spring on the rotating shaft of the rotary joint 25, and the two force-bearing ends of the torsion spring are respectively in contact with the carbon fiber connecting rod 22 and the lower limb exoskeleton. When the wearer switches from the standing state to the bending or leaning back state, the torsion spring converts kinetic energy into elastic potential energy for storage, providing auxiliary force for the conversion from the bending or leaning back state to the standing state, reducing the wearer's physical loss while improving the wearer's flexibility. In addition, the torsion spring can also reduce the risk of excessive leaning back.

[0031] As a preferred embodiment, Figure 4As shown, a cushioning layer 3 conforming to the physiological curve of the back of the human body is tied to the inner side of the shoulder-back integrated support module 1 and the hip joint module 2 by Velcro 31, which further improves the comfort of the back frame. The cushioning layer 3 is tied to the shoulder-back integrated support module 1 and the hip joint module 2 by Velcro for easy disassembly and cleaning. The cushioning layer 3 can be provided with two shoulder straps forward along the carbon fiber shoulder plate 12, and a waist belt is provided at the position of the carbon fiber waist plate 21. The shoulder straps and the waist belt can be connected by a buckle 32, and a buckle 32 can also be provided between the two shoulder straps to facilitate the fixing of the shoulder straps.

[0032] The upper limb exoskeleton of the utility model can not only be applied to various load-bearing tasks and improve the load capacity, but also has a high degree of freedom, thereby avoiding the upper limb exoskeleton from restricting the flexibility of the wearer.

[0033] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0034] The above specific implementation methods of the utility model do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. An upper limb exoskeleton with integrated shoulder and back, characterized in that: include: An integrated shoulder-back support module and a hip joint module, wherein the integrated shoulder-back support module comprises a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, the rear ends of the carbon fiber shoulder plates are fixed to the upper ends of the carbon fiber back plate, and the front ends of the carbon fiber shoulder plates are provided with traction holes for fixing ropes; The hip joint module includes a carbon fiber waist plate and two carbon fiber connecting rods. The lower end of the carbon fiber back plate is connected to the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected to the carbon fiber waist plate through a horizontal rotating shaft structure, and the lower end of the carbon fiber connecting rod is connected to a rotating joint with a forward and backward rotating direction, and the rotating joint is used to connect to the lower limb exoskeleton.

2. The upper limb exoskeleton with integrated shoulder and back as claimed in claim 1, characterized in that: The inner sides of the shoulder-back integrated support module and the hip joint module are fastened with padding layers via Velcro.

3. The upper limb exoskeleton with integrated shoulder and back as claimed in claim 1, characterized in that: The upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

4. The upper limb exoskeleton with integrated shoulder and back as claimed in claim 3, characterized in that: The carbon fiber connecting rod is in a curved shape extending along the rear surface of the carbon fiber waist plate to both sides of the wearer's body.

5. The upper limb exoskeleton with integrated shoulder and back as claimed in claim 1, characterized in that: A wedge-shaped groove extending to the lower edge of the carbon fiber waist plate is opened on the rear surface of the carbon fiber waist plate, and the width of the wedge-shaped groove increases as the wedge-shaped groove extends toward the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can perform relative lateral rotation in the wedge-shaped groove.

6. The upper limb exoskeleton with integrated shoulder and back as claimed in claim 1, characterized in that: The carbon fiber waist plate is provided with an adjustment mechanism, and the connection position between the carbon fiber back plate and the carbon fiber waist plate can be adjusted by the adjustment mechanism.

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