Hand loading mechanism capable of being used for exoskeleton robot

Abstract

According to the hand loading mechanism capable of being used for the exoskeleton robot, an upper loading assembly and a lower loading assembly are arranged on the upper side and the lower side of a base correspondingly, and first prisms are fixedly connected to the top face and the bottom face of the base correspondingly; the upper load assembly and the lower load assembly each comprise a load rod, a second prism and a limiting sleeve, the load rods and the second prisms are perpendicular to each other, the ends of the load rods are fixedly connected with one ends of the second prisms, and the other ends of the second prisms of the upper load assembly are coaxially and rotationally connected to the end faces of the first prisms on the top face of the base. The other end of the second prism of the lower load assembly is coaxially and rotatably connected to the first prism end face of the bottom face of the base. The second prisms are sleeved with limiting sleeves, the shapes of through holes of the limiting sleeves are matched with the shapes of the second prisms, magnets are arranged in the base, and when the limiting sleeves are attracted by the magnets, the limiting sleeves can be arranged on the corresponding second prisms and the corresponding first prisms in a sleeving mode at the same time. The hand loading mechanism has the advantages of high applicability and high flexibility.

Description

Technical Field

[0001] The utility model belongs to the field of exoskeleton robots, and in particular relates to a hand loading mechanism that can be used for exoskeleton robots. Background Art

[0002] Upper-limb exoskeleton robots can assist the upper limb joints and enhance their mobility. They have broad application value in logistics, industry, and the military. For example, they assist personnel with various tasks such as handling, installation, and maintenance, improving efficiency and reducing fatigue. The hand load mechanism of an upper-limb exoskeleton robot can be used to carry external loads, preventing the weight of the cargo from directly impacting the human hand, reducing wrist fatigue, and eliminating shear forces on the forearm or wrist, making it comfortable to wear and enhancing the robot's assistance effectiveness.

[0003] However, the hand load mechanism of existing exoskeleton robots is mostly a fixed device, and the human hand is usually restricted and cannot assist in grasping goods. It is only suitable for specific scenarios and loads of objects of specific shapes, and has poor applicability and flexibility.

[0004] For example, the upper limb multi-joint active assisted exoskeleton with load conduction function (CN 113799100 A) of Maibao Intelligent Technology (Suzhou) Co., Ltd. has a fixed hand load mechanism that is only suitable for loads in specific scenarios and has poor adaptability. In addition, the hand cannot participate in the action of grasping goods and can only carry objects of a specific shape. If the fixed device is unstable in carrying objects of this shape, there is a risk of the goods falling. Utility Model Content

[0005] In view of the defects of the existing exoskeleton robot hand loading mechanism in the background technology, the utility model provides a hand loading mechanism that can be used for an exoskeleton robot, which has the advantages of strong applicability and high flexibility.

[0006] Disclosed is a hand load mechanism for an exoskeleton robot, comprising a base, an upper load assembly, a lower load assembly, and a first prism. The upper load assembly and the lower load assembly are disposed on upper and lower sides of the base, respectively, i.e., the upper load assembly is located above the base, and the lower load assembly is located below the base. The first prism is fixedly connected to the top and bottom surfaces of the base, respectively.

[0007] The upper load assembly and the lower load assembly each include a load rod, a second prism, and a limit sleeve. The load rod and the second prism are arranged perpendicular to each other. The end of the load rod is fixedly connected to one end of the second prism via a connecting piece. The other end of the second prism of the upper load assembly is rotatably connected to the end face of the first prism on the top surface of the base via a rotating shaft coaxially. The other end of the second prism of the lower load assembly is rotatably connected to the end face of the first prism on the bottom surface of the base via a rotating shaft coaxially. In this way, the load rod of the upper load assembly and the load rod of the lower load assembly can each swing around the base. By changing the relative position of the two load assemblies, the hand load mechanism can perform different load actions to adapt to different load scenarios.

[0008] The second prism is covered with a limiting sleeve, and the shape of the through hole of the limiting sleeve matches the shape of the second prism. Of course, the bottom surface of the first prism and the bottom surface of the second prism are the same in shape and size. The height of the limiting sleeve is greater than the height of the first prism and smaller than the height of the second prism. The limiting sleeve is made of a metal material such as iron and nickel that can be attracted by a magnet. A magnet is provided inside the base. When the limiting sleeve is attracted by the magnet and approaches the base, that is, when the limiting sleeve is magnetically moved to fit the corresponding surface of the base, the limiting sleeve can be simultaneously covered on the corresponding second prism and the corresponding first prism. Since the first prism is fixed relative to the base, the rotation of the second prism can be limited by the limiting sleeve, so that the two load rods cannot swing and keep their relative positions fixed, that is, the two load components of the hand loading mechanism have a position locking function to maintain a relatively fixed load action and avoid shaking of the two load components when carrying heavy objects.

[0009] Furthermore, the hand load mechanism that can be used for the exoskeleton robot also includes a connecting rod, one end of which is fixedly connected to the side of the base. Through the connecting rod, the hand load mechanism can be installed on the power arm of the exoskeleton robot.

[0010] The specific usage and loading scenarios of the above-mentioned hand loading mechanism are as follows:

[0011] After the hand load mechanism is installed on the power-assisting arm of the upper limb power-assisting exoskeleton robot through the connecting rod, when the two limit sleeves are moved away from the base and only covered on the corresponding second prism, the position locking function of the upper load component and the lower load component is released, and the angle position can be swung around the base to adjust the position to make various load actions to suit different load scenarios. It has high applicability. After the load action is adjusted, the two limit sleeves are moved again to make them slide to fit the corresponding surface of the base and at the same time covered on the corresponding second prism and the corresponding first prism to realize the position locking function of the two load components, so that the load action can be maintained, and the magnetic attraction of the limit sleeve by the magnet in the base can ensure that the limit sleeve does not slip.

[0012] For example, when the load rod of the upper load assembly is adjusted to be parallel to the connecting rod and the load rod of the lower load assembly is adjusted to be perpendicular to the connecting rod, the cargo is carried on the lower load assembly, forming a loading mode with the palm facing inward. At the same time, the fingers can also assist in grasping the cargo, which can assist in grasping objects of different shapes. It is highly flexible and suitable for cargo handling scenarios.

[0013] When the load rod of the upper load assembly is adjusted to be perpendicular to the connecting rod and the load rod of the lower load assembly is adjusted to be parallel to the connecting rod, the cargo is carried on the upper load assembly, which can form a loading mode with the palm facing up. When the palm holds the load rod of the upper load assembly, the fingers also assist in grasping the cargo, which can assist in grasping objects of different shapes and has high flexibility. This loading action is suitable for lifting cargo scenarios.

[0014] Preferably, the end of the load rod is rotatably connected to a load support. Specifically, a rotation hole is provided on the end surface of the load rod, and one end of the load support is installed in the rotation hole through a rotating shaft and a sleeve. A through hole is provided on the load support, and the loaded object can be tied to the through hole of the load support by a rope. The load support can also be used to increase the load supporting surface. The rotation connection of the load support can adapt to different load postures, including flat or oblique cargo.

[0015] Preferably, a V-shaped support is fixedly mounted on the load rod of the upper load assembly. In a cargo lifting scenario, the V-shaped support can be used to carry objects of different shapes.

[0016] Preferably, the lower load assembly also includes a grip rod arranged perpendicular to its load rod, and the lower end of the grip rod is sleeved on the load rod of the lower load assembly through a slide, so that the grip rod can move along the direction of the corresponding load rod. In the cargo handling scenario, the grip rod is held with the palm facing inward to adjust the contact length between the object and the load rod of the lower load assembly to flexibly adapt to cargo of different sizes.

[0017] Through the above technical solution, the utility model has at least the following beneficial effects:

[0018] The hand load mechanism that can be used for exoskeleton robots described in the present application has strong applicability and flexibility. Its upper load component and lower load component can each swing around the base to adjust the angle to a specific position. After the relative positions of the two load components and the base are fixed through the position locking function, various load actions can be performed to adapt to different load scenarios; and the hand load mechanism of the present application also has high flexibility under different load actions, and can use fingers to assist in grasping objects of various shapes, thereby increasing load stability and reducing the risk of cargo falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a schematic diagram of the overall structure of the hand load mechanism that can be used for an exoskeleton robot as described in an embodiment of the present application. In the figure, the hand load mechanism is in a load action in a cargo handling scenario;

[0020] Figure 2 A schematic diagram of the hand load mechanism described in an embodiment of the present application when its position locking function is released;

[0021] Figure 3 This is the loading action of the hand loading mechanism in the cargo lifting scenario described in the embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of the hand load mechanism described in the application embodiment being installed on the upper limb assist exoskeleton robot assist arm. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0024] In the description of this application, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship are only used for illustrative purposes and cannot be understood as limiting this patent; if there are terms such as "first", "second", etc., they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the said features. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0025] In the description of the utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0026] refer to Figures 1 to 3A hand load mechanism that can be used for an exoskeleton robot includes an upper load component 1, a lower load component 2, a base 3, a first prism 4, and a connecting rod 5. The upper load component 1 and the lower load component 2 are respectively arranged on the upper and lower sides of the base 3, that is, the upper load component 1 is located above the base 3, and the lower load component 2 is located below the base 3. The top and bottom surfaces of the base 3 are respectively fixedly connected to the first prism 4.

[0027] The upper load assembly 1 and the lower load assembly 2 respectively include a load rod 1201, a second prism 1202 and a limit sleeve 1203. The load rod 1201 and the second prism 1202 are arranged perpendicular to each other. The end of the load rod 1201 is fixedly connected to one end of the second prism 1202 through a connecting member 6. The other end of the second prism 1202 of the upper load assembly 1 is connected to the end face of the first prism 4 on the top surface of the base 3 by coaxial rotation of the rotating shaft. The other end of the second prism 1202 of the lower load assembly 2 is connected to the end face of the first prism 4 on the bottom surface of the base 3 by coaxial rotation of the rotating shaft. In this way, the load rod 1201 of the upper load assembly 1 and the load rod 1201 of the lower load assembly 2 can both swing around the base 3 respectively. By changing the relative positions of the two load assemblies, the hand load mechanism can perform different load actions to adapt to different load scenarios.

[0028] The second prism 1202 is covered with a limiting sleeve 1203, and the shape of the through hole of the limiting sleeve 1203 matches the shape of the second prism 1202. Of course, the bottom surface of the first prism 4 and the bottom surface of the second prism 1202 are of the same shape and size. The height of the limiting sleeve 1203 is greater than the height of the first prism 4 and less than the height of the second prism 1202. The limiting sleeve 1203 is made of a metal material such as iron and nickel that can be attracted by a magnet. A magnet is provided inside the base 3. When the limiting sleeve 1203 is attracted by the magnet and approaches the base 3, that is, the limiting sleeve 1203 is in a closed position. When 03 is magnetically moved to fit the corresponding surface of the base 3, the limiting sleeve 1203 can be simultaneously placed on the corresponding second prism 1202 and the corresponding first prism 4. Since the first prism 4 is fixed relative to the base 3, the limiting sleeve 1203 can limit the rotation of the second prism 1202, so that the two load rods 1201 cannot swing and maintain a fixed relative position, that is, the two load components of the hand load mechanism have a position locking function to maintain a relatively fixed load action and avoid the two load components from shaking when carrying heavy objects.

[0029] One end of the connecting rod 5 is fixedly connected to the side surface of the base 3 , and the hand load mechanism can be installed on the power arm of the exoskeleton robot through the connecting rod 5 .

[0030] The specific usage and loading scenarios of the above-mentioned hand loading mechanism are as follows:

[0031] refer to Figure 4 After the hand load mechanism is installed on the power arm of the upper limb power-assist exoskeleton robot through the connecting rod 5, refer to Figure 2 When the two limit sleeves 1203 are moved away from the base 3 and only on the corresponding second prism 1202, the position locking function of the upper load component 1 and the lower load component 2 is released, and the angle position can be adjusted around the base 3 to make various load actions to suit different load scenarios. It has high applicability. After the load action is adjusted, refer to Figure 1 , move the two limit sleeves 1203 again, so that they slide to fit the corresponding surfaces of the base 3 and at the same time are sleeved on the corresponding second prism 1202 and the corresponding first prism 4 to realize the position locking function of the two load components, so that the load action can be maintained, and the magnet in the base 3 magnetically attracts the limit sleeve 1203 to ensure that the limit sleeve 1203 does not slip.

[0032] For example: Reference Figure 1 When the load rod 1201 of the upper load assembly 1 is adjusted to be parallel to the connecting rod 5 and the load rod 1201 of the lower load assembly 2 is adjusted to be perpendicular to the connecting rod 5, the cargo is carried on the lower load assembly 2, which can form a loading mode with the palm facing inward. At the same time, the fingers can also assist in grasping the cargo, which can assist in grasping objects of different shapes with high flexibility. This loading action is suitable for cargo handling scenarios;

[0033] refer to Figure 3 When the load rod 1201 of the upper load component 1 is adjusted to be perpendicular to the connecting rod 5 and the load rod 1201 of the lower load component 2 is adjusted to be parallel to the connecting rod 5, the cargo is carried on the upper load component 1, and a loading mode with the palm facing up can be formed. When the palm holds the load rod 1201 of the upper load component 1, the fingers also assist in grasping the cargo, which can assist in grasping objects of different shapes and has high flexibility. This loading action is suitable for lifting cargo scenarios.

[0034] In this specific embodiment:

[0035] refer to Figure 1 or Figure 2 The end of the load rod 1201 is rotatably connected to a load support 1204. Specifically, a rotation hole is provided on the end surface of the load rod 1201. One end of the load support 1204 is installed in the rotation hole through a rotating shaft and a sleeve. A through hole is provided on the load support 1204. The loaded object can be tied to the through hole of the load support 1204 with a rope. The load support 1204 can also be used to increase the load supporting surface. The rotation connection of the load support 1204 can adapt to different load postures, including flat or oblique cargo.

[0036] refer to Figure 1 or Figure 2A V-shaped support 105 is fixedly installed on the load rod 1201 of the upper load assembly 1. In the cargo lifting scenario, the V-shaped support 105 can be used to carry objects of different shapes.

[0037] refer to Figure 1 or Figure 2 The lower load component 2 also includes a grip rod 205 arranged perpendicular to its load rod 1201. The lower end of the grip rod 205 is sleeved on the load rod 1201 of the lower load component 2 through a slide cylinder 206, so that the grip rod 205 can move along the direction of the corresponding load rod 1201. In the cargo transport scenario, the grip rod 205 is held with the palm facing inward to adjust the contact length between the object and the load rod 1201 of the lower load component 2 to flexibly adapt to cargo of different sizes.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Based on the present invention and the above description, relevant personnel can make various changes and modifications without departing from the technical idea of ​​the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hand load mechanism that can be used for an exoskeleton robot, characterized in that: The invention comprises an upper load component (1), a lower load component (2), a base (3) and a first prism (4), wherein the upper load component (1) and the lower load component (2) are respectively arranged on the upper and lower sides of the base (3), and the top surface and the bottom surface of the base (3) are respectively fixedly connected to the first prism (4); The upper load assembly (1) and the lower load assembly (2) each comprise a load rod (1201), a second prism (1202) and a limiting sleeve (1203), the load rod (1201) and the second prism (1202) being arranged perpendicular to each other, the end of the load rod (1201) being fixedly connected to one end of the second prism (1202), the other end of the second prism (1202) of the upper load assembly (1) being coaxially rotatably connected to the end face of the first prism (4) on the top face of the base (3), and the other end of the second prism (1202) of the lower load assembly (2) being coaxially rotatably connected to the end face of the first prism (4) on the bottom face of the base (3); A limiting sleeve (1203) is sleeved on the second prism (1202), the shape of the through hole of the limiting sleeve (1203) matches the shape of the second prism (1202), a magnet is provided inside the base (3), and when the limiting sleeve (1203) is attracted by the magnet and approaches the base (3), the limiting sleeve (1203) can be sleeved on the corresponding second prism (1202) and the corresponding first prism (4) at the same time.

2. The hand load mechanism for an exoskeleton robot according to claim 1, characterized in that: It also includes a connecting rod (5), one end of which is fixedly connected to the side surface of the base (3).

3. A hand load mechanism for an exoskeleton robot according to claim 1 or 2, characterized in that: The end of the load rod (1201) is rotatably connected to a load support member (1204), and a through hole is provided on the load support member (1204).

4. A hand load mechanism for an exoskeleton robot according to claim 1 or 2, characterized in that: A V-shaped support member (105) is fixedly mounted on the load rod (1201) of the upper load assembly (1).

5. The hand load mechanism for an exoskeleton robot according to claim 1 or 2, characterized in that: The lower load assembly (2) further comprises a gripping rod (205) arranged perpendicularly to its load rod (1201); the lower end of the gripping rod (205) is sleeved on the load rod (1201) of the lower load assembly (2) via a slide cylinder (206), so that the gripping rod (205) can move along the direction corresponding to the load rod (1201).

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