Upper limb power assisting device

Abstract

The utility model provides an upper limb power assisting device which comprises a hollowed-out bearing frame, an upper limb power assisting device and a lower limb power assisting device. The hollowed-out bearing frame is matched with the big arm of a human body; the hollowed-out movable frame is movably connected with one end of the hollowed-out bearing frame and matched with the forearm of the human body; the power assisting assembly is adjustably arranged in the cavity of the hollowed-out bearing frame and connected with the hollowed-out movable frame so as to drive the hollowed-out movable frame to move relative to the hollowed-out bearing frame; the shoulder bearing assembly is adjustably arranged at the other end of the hollowed-out bearing frame and used for being matched with the shoulder of the human body, so that the shoulder bearing assembly and the hollowed-out bearing frame are borne by the shoulder of the human body. According to the upper limb power assisting device, the weight of the whole upper limb power assisting device is effectively reduced, so that the burden and pressure on the upper limbs are effectively reduced when a wearer wears the upper limb power assisting device for a long time, and the wearing comfort is improved; the upper limb power assisting device can automatically control the arms of a wearer to bend and can assist the wearer in carrying heavy objects or training arm muscles.

Description

Technical Field

[0001] The utility model relates to the technical field of human body assisting devices, and more specifically, to an upper limb assisting device. Background Art

[0002] A human body assisting device refers to a device that can provide assistance for the movements of human limbs. It can be used in the field of transportation and handling to enhance the limb strength of the wearer, or in the medical field to assist patients in rehabilitation training, and can also be used to assist patients or the elderly with insufficient limb strength in their daily lives and provide assistance for their daily movements. Various existing human body assisting devices are mainly simulated exoskeletons, which provide assistance by simulating the way human muscles exert force along the direction of bone movement.

[0003] Exoskeletons can be divided into two types according to the power mode: active and passive. Active exoskeletons are generally equipped with external power drive components such as motors, hydraulic cylinders, and air cylinders, which can provide greater assistance to the human body. However, due to the existence of the power device, active exoskeletons generally have a very heavy self-weight; passive exoskeletons generally use springs equipped on the exoskeleton as energy storage elements, which can provide less assistance to the human body, but have a lighter self-weight. Different types of exoskeletons are suitable for different working conditions; currently, exoskeletons have been widely used in various fields of society to assist the human body in heavy physical handling and sports rehabilitation work, which can save labor costs and protect human health.

[0004] Currently, upper limb assisting devices (i.e., active upper limb exoskeletons) generally have a very heavy self-weight, which causes a relatively large burden on the upper limbs when worn by the wearer for a long time and is extremely likely to cause muscle fatigue in personnel; therefore, there is an urgent need to design an upper limb assisting device with a relatively light weight and a relatively small wearing pressure.

[0005] For example: In fire fighting operations in mines, firefighters often need to hold a water gun for a long time to extinguish fires. During this process, the upper limbs of firefighters not only have to bear the gravitational load of the pipeline and the internal fluid, but also the recoil force generated by the jet of the fluid in the pipe, and they need to adjust their positions and postures in real time according to the situation. During the process of position and posture adjustment, the human muscles bear extremely high pressure; when the human body is exposed to continuous loads or bears loads in an inappropriate posture, there is a high risk of muscle strain or fatigue. Even in the case of relatively low intensity, holding a water gun for a long time will cause the muscles to quickly fatigue, and long-term fatigue will cause permanent damage to the body of firefighters; therefore, it is also necessary to design an upper limb assisting device with a relatively light weight and capable of providing greater assistance to firefighters in response to the requirements of fire fighting operations such as suddenness, urgency, and persistence. Summary of the Utility Model

[0006] The present utility model provides an upper limb assisting device to solve the problem in the prior art that the large weight of the active upper limb exoskeleton leads to a large burden and pressure on the upper limb during long-term wearing.

[0007] To solve the above problems, the present utility model provides an upper limb assisting device, including: a hollow load-bearing frame with a cavity inside; the hollow load-bearing frame is matched with the human upper arm; a hollow movable frame, which is movably connected to one end of the hollow load-bearing frame and is matched with the human forearm; an assisting component, which is adjustably arranged in the cavity of the hollow load-bearing frame and is connected to the hollow movable frame to drive the hollow movable frame to move relative to the hollow load-bearing frame; a shoulder load-bearing component, which is adjustably arranged at the other end of the hollow load-bearing frame and is used to cooperate with the human shoulder so that the human shoulder bears the shoulder load-bearing component and the hollow load-bearing frame; wherein, the assisting component drives the hollow movable frame to move to assist the movement of the human forearm relative to the human upper arm.

[0008] Furthermore, the shoulder load-bearing component includes a connecting piece and a shoulder restraint; one end of the connecting piece is detachably and fixedly connected to the other end of the hollow load-bearing frame, and the other end is rotatably connected to the shoulder restraint; the surface of the shoulder restraint facing the human shoulder has a limiting groove, and the size of the limiting groove is adapted to the human shoulder, and the inner wall of the limiting groove is in limiting cooperation with the human shoulder so that the human shoulder bears the shoulder restraint.

[0009] Furthermore, the shoulder load-bearing component further includes a flexible pad, and the flexible pad is made of a flexible material; the flexible pad is detachably and fixedly arranged on the inner wall of the limiting groove and abuts against the human shoulder, and is used for buffering the load between the shoulder restraint and the human shoulder.

[0010] Furthermore, the assisting component includes a hydraulic drive cylinder and a telescopic rod fixedly arranged on the reciprocating piston of the hydraulic drive cylinder; the hydraulic drive cylinder is used to drive the telescopic rod to reciprocate; the telescopic rod is connected to the hollow movable frame and is used to drive the hollow movable frame to move; the end of the hydraulic drive cylinder far from the telescopic rod is rotatably connected to the inner wall of the cavity; the upper limb assisting device further includes a sliding member, and the sliding member is rotatably arranged in the cavity or on the hollow load-bearing frame, and the sliding member has a chute, and the chute is in sliding fit with the outside of the end of the hydraulic drive cylinder close to the telescopic rod to restrict the movement of the hydraulic drive cylinder in the cavity.

[0011] Furthermore, the hollow movable frame includes a hollow triangular frame and a main body load-bearing frame. The first corner of the hollow triangular frame is detachably connected to the main body load-bearing frame. One end of the main body load-bearing frame is rotatably connected to the hollow load-bearing frame through a rotating shaft. The second corner of the hollow triangular frame is rotatably connected to the rotating shaft, and the third corner of the hollow triangular frame is rotatably connected to the telescopic rod.

[0012] Furthermore, there are two sliding members, which are respectively arranged on both sides of the hollow carrier in parallel at intervals and are respectively located outside the cavity; wherein, the extending direction of the chute forms an angle with the reciprocating movement direction of the telescopic rod.

[0013] Furthermore, the upper limb assisting device further includes a large arm connecting ring, and the hollow carrier is fixedly fitted with the human large arm through the large arm connecting ring; the large arm connecting ring is detachably and fixedly arranged on the hollow carrier and sleeved outside the human large arm.

[0014] Furthermore, the large arm connecting ring is made of an elastic material and has a circumferential break, so that the internal dimension of the large arm connecting ring can be changed; the upper limb assisting device further includes a first buffer pad, the first buffer pad is made of a flexible material, and the first buffer pad is adhesively fixed on the inner wall of the large arm connecting ring for buffering the load between the large arm connecting ring and the human large arm; there are multiple large arm connecting rings, and the multiple large arm connecting rings are arranged in parallel at intervals along the extending direction of the hollow carrier and respectively avoid the human elbow.

[0015] Furthermore, the upper limb assisting device further includes a small arm connecting ring and a sliding block; the sliding block is slidably arranged on the hollow movable frame to slide along the hollow movable frame; the small arm connecting ring is detachably and fixedly arranged on the sliding block and sleeved outside the human small arm.

[0016] Furthermore, the small arm connecting ring is made of an elastic material and has a circumferential notch, so that the internal dimension of the small arm connecting ring can be changed; the upper limb assisting device further includes a second buffer pad, the second buffer pad is made of a flexible material, and the second buffer pad is adhesively fixed on the inner wall of the small arm connecting ring for buffering the load between the small arm connecting ring and the human small arm; taking one sliding block and one small arm connecting ring arranged on the sliding block as a group of small arm connecting components, there are multiple groups of small arm connecting components, and the small arm connecting rings in the multiple groups of small arm connecting components are arranged in parallel; the hollow movable frame includes a hollow triangular frame and a main body carrier, the main body carrier is of a Z-shaped structure, and the Z-shaped structure includes a first section, a second section and a third section which are connected in sequence; the first section and the third section are arranged in parallel and are respectively perpendicular to the second section; the first angle of the hollow triangular frame is detachably connected to the first section, one end of the first section is rotatably connected to the hollow carrier through a rotating shaft, the second angle of the hollow triangular frame is rotatably connected to the rotating shaft, and the third angle of the hollow triangular frame is rotatably connected to the telescopic rod of the assisting component; the sliding blocks in the multiple groups of small arm connecting components are respectively slidably arranged on the third section; the connection between the first section and the second section is used to accommodate the human elbow, and the connection between the third section and the second section is chamfered to avoid the human elbow and the human small arm.

[0017] Applying the technical solution of the present utility model, the present utility model provides an upper limb assisting device, including: a hollow load-bearing frame with a cavity inside; the hollow load-bearing frame is matched with the human upper arm; a hollow movable frame, which is movably connected to one end of the hollow load-bearing frame and is matched with the human forearm; an assisting component, which is adjustably arranged in the cavity of the hollow load-bearing frame and is connected to the hollow movable frame to drive the hollow movable frame to move relative to the hollow load-bearing frame; a shoulder load-bearing component, which is adjustably arranged at the other end of the hollow load-bearing frame and is used to cooperate with the human shoulder so that the human shoulder bears the shoulder load-bearing component and the hollow load-bearing frame; wherein, the assisting component drives the hollow movable frame to move to assist the movement of the human forearm relative to the human upper arm.

[0018] By setting the hollow load-bearing frame and the hollow movable frame, on the premise of ensuring that the strength and stiffness meet the actual use requirements, the overall weight of the upper limb assisting device is effectively reduced. Furthermore, when the wearer wears it for a long time, the burden and pressure on the upper limb are effectively reduced, and the wearing comfort is improved; by setting the shoulder load-bearing component, the human shoulder can effectively bear the shoulder load-bearing component and the hollow load-bearing frame. As a result, the gravity of the upper limb assisting device is not entirely applied to the human upper arm and forearm, and most of the gravity can be applied to the shoulder with higher load-bearing capacity. Thus, the distribution of the application position of the overall gravity of the upper limb assisting device is reasonable, which not only reduces the burden and pressure on the upper limb when the wearer wears it for a long time and improves the wearing comfort, but also enables the wearer's upper limb to move flexibly, thereby improving the use convenience; the upper limb assisting device proposed by the present utility model can automatically control the bending of the wearer's arm and can assist the wearer in carrying heavy objects or training the arm muscles; the structure of the present utility model is simple and the work is reliable, which is suitable for large-scale popularization and use; in addition, the upper limb assisting device proposed by the present utility model can also be applied to the fire fighting operation in the mine, effectively reducing the impact of the gravity load of the pipeline and the internal fluid on the upper limb of the firefighter, and at the same time effectively reducing the adverse impact of the recoil force generated by the fluid jet in the pipe on the firefighter, enabling the firefighter to adjust the position and upper arm posture in real time according to the situation, reducing the risk of muscle strain or strain of the firefighter, and meeting the requirements of emergency, safety and durability for the fire fighting operation in the coal mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specification drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0020] Figure 1 It shows a specific structural schematic diagram of the upper limb assisting device provided by the embodiment of the present utility model;

[0021] Figure 2The figure shows a partial structural schematic diagram of the upper limb assisting device provided by the embodiment of the present utility model.

[0022] Among them, the above-mentioned drawings include the following reference numerals:

[0023] 10, hollow bearing frame; 11, cavity;

[0024] 20, hollow movable frame; 21, hollow triangular frame; 211, first angle; 212, second angle; 213, third angle; 22, main body bearing frame; 221, first section; 222, second section; 223, third section;

[0025] 30, assisting component; 31, hydraulic drive cylinder; 32, telescopic rod;

[0026] 40, shoulder bearing component; 41, connecting piece; 42, shoulder restraint; 421, limiting groove;

[0027] 50, sliding piece; 51, sliding groove;

[0028] 60, large arm connecting ring; 61, break;

[0029] 70, small arm connecting ring; 71, notch;

[0030] 80, sliding block. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present utility model and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0032] Such as Figure 1 and Figure 2As shown in the figure, an embodiment of the present utility model provides an upper limb assisting device, including: a hollow load-bearing frame 10 with a cavity 11 inside; the hollow load-bearing frame 10 is matched with the human upper arm; a hollow movable frame 20, movably connected to one end of the hollow load-bearing frame 10 and matched with the human forearm; an assisting component 30, adjustably arranged in the cavity 11 of the hollow load-bearing frame 10 and connected to the hollow movable frame 20 to drive the hollow movable frame 20 to move relative to the hollow load-bearing frame 10; a shoulder load-bearing component 40, adjustably arranged at the other end of the hollow load-bearing frame 10 for cooperating with the human shoulder to enable the human shoulder to bear the shoulder load-bearing component 40 and the hollow load-bearing frame 10; wherein, the assisting component 30 drives the hollow movable frame 20 to move to assist the movement of the human forearm relative to the human upper arm.

[0033] By setting the hollow load-bearing frame 10 and the hollow movable frame 20, on the premise of ensuring that the strength and stiffness meet the actual use requirements, the overall weight of the upper limb assisting device is effectively reduced. Furthermore, when the wearer wears it for a long time, the burden and pressure on the upper limb are effectively reduced, and the wearing comfort is improved; by setting the shoulder load-bearing component 40, the human shoulder can effectively bear the shoulder load-bearing component 40 and the hollow load-bearing frame 10. Furthermore, the gravity of the upper limb assisting device is not all applied to the human upper arm and forearm, and most of the gravity can be applied to the shoulder with higher load-bearing capacity. Furthermore, the application position of the overall gravity of the upper limb assisting device is reasonably distributed, which not only reduces the burden and pressure on the upper limb of the wearer during long-term wearing and improves the wearing comfort, but also enables the wearer's upper limb to move flexibly, thereby improving the use convenience; the upper limb assisting device proposed by the present utility model can automatically control the bending of the wearer's arm and can assist the wearer in carrying heavy objects or training the arm muscles; the structure of the present utility model is simple and the work is reliable, which is suitable for large-scale popularization and use; in addition, the upper limb assisting device proposed by the present utility model can also be applied to the fire fighting operation underground in the mine, effectively reducing the impact of the gravity load of the pipeline and the internal fluid on the upper limb of the firefighter, and at the same time effectively reducing the adverse impact of the recoil force generated by the fluid jet in the pipe on the firefighter, enabling the firefighter to adjust the position and upper arm posture in real time according to the situation, reducing the risk of muscle strain or fatigue of the firefighter, and meeting the requirements of emergency, safety and durability for the fire fighting operation underground in the coal mine.

[0034] As Figure 1 shown, the shoulder load-bearing component 40 includes a connecting piece 41 and a shoulder restraint 42; one end of the connecting piece 41 is detachably and fixedly connected to the other end of the hollow load-bearing frame 10, and the other end is rotatably connected to the shoulder restraint 42; the surface of the shoulder restraint 42 facing the human shoulder has a limit groove 421, and the size of the limit groove 421 is adapted to the human shoulder, and the inner wall of the limit groove 421 is in limit cooperation with the human shoulder to enable the human shoulder to bear the shoulder restraint 42.

[0035] By setting the size of the limit groove 421 to be adapted to the human shoulder, it not only ensures that the human shoulder can reliably carry the shoulder restraint 42, but also ensures the wearing comfort.

[0036] Specifically, the shoulder bearing assembly 40 further includes a flexible pad, and the flexible pad is made of a flexible material; the flexible pad is detachably fixed on the inner wall of the limit groove 421 and abuts against the human shoulder, and is used for buffering the load between the shoulder restraint 42 and the human shoulder.

[0037] By setting the flexible pad, the wearing comfort is further improved; by setting the flexible pad to be detachably fixed on the inner wall of the limit groove 421, it is convenient for subsequent replacement and maintenance of the flexible pad.

[0038] As Figure 1 shown, the boosting assembly 30 includes a hydraulic drive cylinder 31 and a telescopic rod 32 fixedly arranged on a reciprocating piston of the hydraulic drive cylinder 31; the hydraulic drive cylinder 31 is used to drive the telescopic rod 32 to reciprocate; the telescopic rod 32 is connected to the hollow movable frame 20 and is used to drive the hollow movable frame 20 to move; one end of the hydraulic drive cylinder 31 away from the telescopic rod 32 is rotatably connected to the inner wall of the cavity 11; the upper limb boosting device further includes a sliding member 50, the sliding member 50 is rotatably arranged in the cavity 11 or on the hollow bearing frame 10, and the sliding member 50 has a chute 51, and the chute 51 is slidably matched with the outside of one end of the hydraulic drive cylinder 31 close to the telescopic rod 32 to restrict the movement of the hydraulic drive cylinder 31 in the cavity 11.

[0039] With such a setting, it not only ensures the simplicity of the structure and the working reliability of the boosting assembly 30, but also reliably restricts the movement of the hydraulic drive cylinder 31 in the cavity 11.

[0040] As Figure 1 shown, the hollow movable frame 20 includes a hollow triangular frame 21 and a main body bearing frame 22. The first angle 211 of the hollow triangular frame 21 is detachably connected to the main body bearing frame 22. One end of the main body bearing frame 22 is rotatably connected to the hollow bearing frame 10 through a rotating shaft. The second angle 212 of the hollow triangular frame 21 is rotatably connected to the rotating shaft, and the third angle 213 of the hollow triangular frame 21 is rotatably connected to the telescopic rod 32.

[0041] With such a setting, it not only ensures that the overall stiffness and strength of the hollow movable frame 20 meet the actual use requirements, but also makes the structure of the hollow movable frame 20 tend to be simple, which is convenient for subsequent assembly, disassembly and maintenance.

[0042] As Figure 1As shown, there are two sliding members 50, which are respectively arranged in parallel at intervals on both sides of the hollow carrier 10 and are respectively located outside the cavity 11; wherein, the extending direction of the sliding groove 51 has an included angle with the reciprocating movement direction of the telescopic rod 32.

[0043] By setting that the extending direction of the sliding groove 51 has an included angle with the reciprocating movement direction of the telescopic rod 32, the sliding groove 51 can reliably bear at least part of the force transmitted during the reciprocating movement of the telescopic rod 32, thereby not only ensuring the reliable constraint on the movement of the hydraulic drive cylinder 31 in the cavity 11, but also effectively bearing the hydraulic drive cylinder 31.

[0044] As Figure 1 and Figure 2 shown, the upper limb assisting device further includes a large arm connecting ring 60, and the hollow carrier 10 is fixedly fitted with the human large arm through the large arm connecting ring 60; the large arm connecting ring 60 is detachably and fixedly arranged on the hollow carrier 10 and is sleeved outside the human large arm.

[0045] By setting the large arm connecting ring 60, the reliable fixation of the hollow carrier 10 on the human large arm is realized with a simple structure.

[0046] As Figure 1 and Figure 2 shown, the large arm connecting ring 60 is made of an elastic material and has a notch 61 in the circumferential direction, so that the internal dimension of the large arm connecting ring 60 is variable; the upper limb assisting device further includes a first buffer pad, the first buffer pad is made of a flexible material, and the first buffer pad is fixedly pasted on the inner wall of the large arm connecting ring 60 for buffering the load between the large arm connecting ring 60 and the human large arm; there are multiple large arm connecting rings 60, and the multiple large arm connecting rings 60 are distributed in parallel at intervals along the extending direction of the hollow carrier 10 and respectively avoid the human elbow.

[0047] By setting the first buffer pad, the wearing comfort is improved; by setting that the multiple large arm connecting rings 60 are distributed in parallel at intervals along the extending direction of the hollow carrier 10 and respectively avoid the human elbow, the upper limb of the wearer can move flexibly, thereby improving the use convenience.

[0048] As Figure 1 and Figure 2 shown, the upper limb assisting device further includes a small arm connecting ring 70 and a sliding block 80; the sliding block 80 is slidably arranged on the hollow movable frame 20 to slide along the hollow movable frame 20; the small arm connecting ring 70 is detachably and fixedly arranged on the sliding block 80 and is sleeved outside the human small arm.

[0049] With such a setting, the reliable fixation of the hollow movable frame 20 on the human small arm is realized with a simple structure, which is convenient for subsequent assembly, disassembly and maintenance.

[0050] As Figure 1 andFigure 2 As shown, the forearm connecting ring 70 is made of an elastic material and has a notch 71 in the circumferential direction, so that the internal dimension of the forearm connecting ring 70 can be changed; the upper limb assisting device further includes a second buffer pad, which is made of a flexible material and is fixedly adhered to the inner wall of the forearm connecting ring 70 for buffering the load between the forearm connecting ring 70 and the human forearm; taking a sliding block 80 and a forearm connecting ring 70 provided on the sliding block 80 as a set of forearm connecting components, there are multiple sets of forearm connecting components, and the forearm connecting rings 70 in the multiple sets of forearm connecting components are arranged in parallel; the hollow movable frame 20 includes a hollow triangular frame 21 and a main body bearing frame 22, the main body bearing frame 22 is a Z-shaped structure, and the Z-shaped structure includes a first section 221, a second section 222 and a third section 223 connected in sequence; the first section 221 and the third section 223 are arranged in parallel and are respectively perpendicular to the second section 222; the first angle 211 of the hollow triangular frame 21 is detachably connected to the first section 221, one end of the first section 221 is rotatably connected to the hollow bearing frame 10 through a rotating shaft, the second angle 212 of the hollow triangular frame 21 is rotatably connected to the rotating shaft, and the third angle 213 of the hollow triangular frame 21 is rotatably connected to the telescopic rod 32 of the assisting component 30; the sliding blocks 80 in the multiple sets of forearm connecting components are respectively slidably arranged on the third section 223; the connection between the first section 221 and the second section 222 is used to accommodate the human elbow, and the connection between the third section 223 and the second section 222 is chamfered to avoid the human elbow and the human forearm.

[0051] By setting the second buffer pad, the wearing comfort is improved; by setting the main body bearing frame 22 as a Z-shaped structure, which includes a first section 221, a second section 222 and a third section 223 connected in sequence, while ensuring the reliable transmission of force, the structure of the main body bearing frame 22 is simplified, which is convenient for processing and forming; by setting the connection between the first section 221 and the second section 222 to accommodate the human elbow and the connection between the third section 223 and the second section 222 to be chamfered, the upper limb of the wearer can move flexibly, thereby improving the use convenience.

[0052] Now, the specific working process and principle of the present invention will be described in detail as follows:

[0053] ​When the utility model is in use, first, the hollow bearing frame 10 and the hollow movable frame 20 are fixed on the wearer's arm through the large arm connecting ring 60 and the small arm connecting ring 70. The hollow bearing frame 10 is fixed at the position of the wearer's large arm (upper arm position), and the hollow movable frame 20 is fixed at the position of the wearer's small arm. By rotating the hollow movable frame 20 on the hollow bearing frame 10, the bending degree of the user's (i.e., the wearer's) arm is adjusted; when the user needs to carry heavy objects or perform muscle training, the hydraulic drive cylinder 31 is controlled to work, and the hydraulic drive cylinder 31 drives the telescopic rod 32 to perform telescopic movement, thereby controlling the hollow movable frame 20 to rotate, and further enabling the overall bending and stretching of the user's arm to assist the user in carrying heavy objects or training the arm muscles.

[0054] In summary, the utility model provides an upper limb assisting device. By setting the hollow bearing frame 10 and the hollow movable frame 20, on the premise that the strength and stiffness meet the actual use requirements, the overall weight of the upper limb assisting device is effectively reduced. Furthermore, when the wearer wears it for a long time, the burden and pressure on the upper limb are effectively reduced, and the wearing comfort is improved; by setting the shoulder bearing assembly 40, the human shoulder can effectively bear the shoulder bearing assembly 40 and the hollow bearing frame 10. As a result, the gravity of the upper limb assisting device is not entirely applied to the human large arm and small arm, and most of the gravity can be applied to the shoulder with higher load-bearing capacity. Thus, the distribution of the application position of the overall gravity of the upper limb assisting device is reasonable, which not only reduces the burden and pressure on the upper limb when the wearer wears it for a long time, improves the wearing comfort, but also enables the upper limb of the wearer to move flexibly, thereby improving the use convenience; the upper limb assisting device proposed by the utility model can automatically control the bending of the wearer's arm and can assist the wearer in carrying heavy objects or training the arm muscles; the structure of the utility model is simple and the work is reliable, which is suitable for large-scale popularization and use; in addition, the upper limb assisting device proposed by the utility model can also be applied to the fire fighting operation in the mine, effectively reducing the impact of the gravity load of the pipeline and the internal fluid on the upper limb of the firefighter, and at the same time effectively reducing the adverse impact of the recoil force generated by the fluid jet in the pipe on the firefighter, enabling the firefighter to adjust the position and upper arm posture in real time according to the situation, reducing the risk of muscle strain or fatigue of the firefighter, and meeting the requirements of emergency, safety and durability for the fire fighting operation in the coal mine.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience in description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the protection scope of the present invention; the orientation terms "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0058] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above-mentioned", etc. can be used here to describe the spatial positional relationships between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0059] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statement, the above words have no special meanings. Therefore, they should not be construed as limiting the protection scope of the present invention.

[0060] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An upper limb assistive device, characterized in that, Comprising: A hollow carrier (10) having a cavity (11) inside; the hollow carrier (10) is adapted to the human upper arm; A hollow movable frame (20) movably connected to one end of the hollow carrier (10) and adapted to the human forearm; A boosting component (30) adjustably arranged in the cavity (11) of the hollow carrier (10) and connected to the hollow movable frame (20) to drive the hollow movable frame (20) to move relative to the hollow carrier (10); A shoulder bearing component (40) adjustably arranged at the other end of the hollow carrier (10) for cooperating with the human shoulder to enable the human shoulder to bear the shoulder bearing component (40) and the hollow carrier (10); Wherein, the boosting component (30) drives the hollow movable frame (20) to move to boost the movement of the human forearm relative to the human upper arm.

2. The upper limb assisting device according to claim 1, wherein The shoulder bearing component (40) includes a connecting member (41) and a shoulder restraint (42); one end of the connecting member (41) is detachably and fixedly connected to the other end of the hollow carrier (10), and the other end is rotatably connected to the shoulder restraint (42); the surface of the shoulder restraint (42) facing the human shoulder has a limiting groove (421), the size of the limiting groove (421) is adapted to the human shoulder, and the inner wall of the limiting groove (421) is in limiting cooperation with the human shoulder to enable the human shoulder to bear the shoulder restraint (42).

3. The upper limb assisting device according to claim 2, wherein, The shoulder bearing component (40) further includes a flexible pad made of a flexible material; the flexible pad is detachably and fixedly arranged on the inner wall of the limiting groove (421) and abuts against the human shoulder for buffering the load between the shoulder restraint (42) and the human shoulder.

4. The upper limb assisting device according to claim 1, characterized in that The boosting component (30) includes a hydraulic drive cylinder (31) and a telescopic rod (32) fixedly arranged on the reciprocating piston of the hydraulic drive cylinder (31); the hydraulic drive cylinder (31) is used to drive the telescopic rod (32) to reciprocate; the telescopic rod (32) is connected to the hollow movable frame (20) to drive the hollow movable frame (20) to move; the end of the hydraulic drive cylinder (31) away from the telescopic rod (32) is rotatably connected to the inner wall of the cavity (11); the upper limb boosting device further includes a sliding member (50) rotatably arranged in the cavity (11) or on the hollow carrier (10), the sliding member (50) has a sliding groove (51), and the sliding groove (51) is in sliding cooperation with the outside of the end of the hydraulic drive cylinder (31) close to the telescopic rod (32) to restrict the movement of the hydraulic drive cylinder (31) in the cavity (11).

5. The upper limb assistance device according to claim 4, wherein, The hollow movable frame (20) includes a hollow triangular frame (21) and a main body bearing frame (22). The first angle (211) of the hollow triangular frame (21) is detachably connected to the main body bearing frame (22). One end of the main body bearing frame (22) is rotatably connected to the hollow bearing frame (10) through a rotating shaft. The second angle (212) of the hollow triangular frame (21) is rotatably connected to the rotating shaft. The third angle (213) of the hollow triangular frame (21) is rotatably connected to the telescopic rod (32).

6. The upper limb assistance device according to claim 4, wherein There are two sliding members (50), which are respectively arranged in parallel at intervals on both sides of the hollow bearing frame (10) and are respectively located outside the cavity (11). Among them, the extending direction of the sliding groove (51) has an included angle with the reciprocating movement direction of the telescopic rod (32).

7. The upper limb assisting device according to claim 1, wherein, The upper limb assisting device further includes a large arm connecting ring (60). The hollow bearing frame (10) is fixedly matched with the human large arm through the large arm connecting ring (60). The large arm connecting ring (60) is detachably and fixedly arranged on the hollow bearing frame (10) and is sleeved outside the human large arm.

8. The upper limb assisting device according to claim 7, characterized in that The large arm connecting ring (60) is made of an elastic material and has a circumferential notch (61) so that the internal dimension of the large arm connecting ring (60) can be changed. The upper limb assisting device further includes a first buffer pad. The first buffer pad is made of a flexible material and is adhesively fixed on the inner wall of the large arm connecting ring (60) for buffering the load between the large arm connecting ring (60) and the human large arm. There are multiple large arm connecting rings (60). The multiple large arm connecting rings (60) are arranged in parallel at intervals along the extending direction of the hollow bearing frame (10) and respectively avoid the human elbow.

9. The upper limb assisting device according to claim 1, wherein The upper limb assisting device further includes a small arm connecting ring (70) and a sliding block (80). The sliding block (80) is slidably arranged on the hollow movable frame (20) to slide along the hollow movable frame (20). The small arm connecting ring (70) is detachably and fixedly arranged on the sliding block (80) and is sleeved outside the human small arm.

10. The upper limb assisting device according to claim 9, characterized in that The small arm connecting ring (70) is made of an elastic material and has a circumferential notch (71) so that the internal dimension of the small arm connecting ring (70) can be changed. The upper limb assisting device further includes a second buffer pad. The second buffer pad is made of a flexible material and is adhesively fixed on the inner wall of the small arm connecting ring (70) for buffering the load between the small arm connecting ring (70) and the human small arm. Taking one sliding block (80) and one small arm connecting ring (70) arranged on the sliding block (80) as a set of small arm connecting components, there are multiple sets of small arm connecting components, and the small arm connecting rings (70) in the multiple sets of small arm connecting components are arranged in parallel. The hollow movable frame (20) includes a hollow triangular frame (21) and a main body bearing frame (22). The main body bearing frame (22) is a Z-shaped structure, and the Z-shaped structure includes a first section (221), a second section (222), and a third section (223) that are connected in sequence. The first section (221) is arranged parallel to the third section (223) and is perpendicular to the second section (222) respectively. The first corner (211) of the hollow triangular frame (21) is detachably connected to the first section (221). One end of the first section (221) is rotatably connected to the hollow bearing frame (10) through a rotating shaft. The second corner (212) of the hollow triangular frame (21) is rotatably connected to the rotating shaft. The third corner (213) of the hollow triangular frame (21) is rotatably connected to the telescopic rod (32) of the boosting assembly (30). The sliding blocks (80) in multiple groups of the small arm connection assemblies are respectively slidably arranged on the third section (223). The connection between the first section (221) and the second section (222) is used to accommodate the human elbow. The connection between the third section (223) and the second section (222) is chamfered to avoid the human elbow and the human forearm.

Images