Upper limb exoskeleton assisting mechanism

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to an upper limb exoskeleton assisting mechanism, a joint assembly is arranged at the tail end of an upper arm supporting piece, and a power assembly used for driving a front arm lifting plate is installed in the joint assembly; the auxiliary side plate and one side of the installation pressing block are detachably locked and assembled at the tail end of the upper arm supporting piece through a bolt, and the other end of the installation pressing block extends downwards to form an installation side plate. The power assembly is mounted in the mounting bin between the mounting side plate and the auxiliary side plate; the power assembly comprises a transmission plate, and the front arm lifting plate is detachably assembled on the transmission plate. According to the power assisting mechanism, the double-supporting structure provides stable supporting and connection for the power assembly, and the overall operation stability of the power assisting mechanism is improved; through modular detachable fast-assembly connection, it is ensured that the joint assembly can be used by users with various arm lengths, the adaptation of the assistant mechanism to the unused people is improved, the overall use scene is expanded, and the wearing and using comfort is improved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton robot technology, specifically to an upper limb exoskeleton assistive mechanism. Background Technology

[0002] Currently, research in the field of exoskeletons both domestically and internationally mainly focuses on three areas: individual soldier exoskeletons, medical rehabilitation exoskeletons, and industrial assistive exoskeletons. In practical product implementation, exoskeleton devices are primarily used in two areas: amplification exoskeletons and assistive exoskeletons used in the medical field. Based on whether they have external drive, they can be divided into powered and passive exoskeletons. Powered exoskeletons are equipped with a power supply and drive motors, enhancing the user's strength by applying external driving force to the joints.

[0003] However, traditional exoskeletons provide assistance at the joints, resulting in relatively small torque and a flimsy overall support structure. They rely solely on pivots as joint nodes for drive and connection, requiring both upper and lower arm connections and power functions, which is quite complex. Furthermore, they are not well-suited for users with different upper limb and joint sizes. Utility Model Content

[0004] The purpose of this utility model is to provide a power assist structure that is simple in structure, can be quickly disassembled and assembled, and has strong adaptability.

[0005] To achieve the above objectives, this utility model provides the following technical solution;

[0006] An upper limb exoskeleton assistive mechanism includes an upper arm support and a forearm lifting plate; the upper arm support is provided with a joint assembly at its end, and a power component for driving the forearm lifting plate is installed inside the joint assembly.

[0007] The joint assembly includes a mounting block and an auxiliary side plate. The end of the upper arm support is bolted to detachably lock the auxiliary side plate to one side of the mounting block. The other end of the mounting block extends downward to form a mounting side plate. The power assembly is installed in the mounting compartment between the mounting side plate and the auxiliary side plate. The power assembly includes a transmission plate, and the forearm lifting plate is detachably mounted on the transmission plate.

[0008] During the assistance process, the upper arm support is fixedly worn on the user's upper arm, and the forearm lifting plate is fixedly worn on the user's upper forearm; the power component is installed at the end of the upper arm support through the joint component, and the transmission plate of the power component rotates, thereby driving the forearm lifting plate to complete the assistance to the user's upper limb.

[0009] Furthermore, the power assembly also includes a drive motor disposed on the outside of the mounting side plate and a reducer disposed in the mounting compartment; the actuator end of the drive motor passes through the auxiliary side plate and is connected to the reducer; one end of the reducer is fixed to the inside of the auxiliary side plate, and the output shaft of the reducer is mounted on the inside of the mounting side plate using a bearing; the transmission plate is fixed on the output shaft;

[0010] Furthermore, the auxiliary side plate includes a central connecting plate, with an upper side plate and a lower side plate vertically arranged at both ends of the central connecting plate; the upper side plate is bolted to the mounting pressure block at the end of the upper arm support; the inner side of the lower side plate is used to install bearings;

[0011] Furthermore, the upper arm support and the forearm lifting plate are both provided with strap buckles on their back ends.

[0012] Furthermore, the front end face of the upper arm support is provided with a bonding plate;

[0013] Furthermore, the bonding plate is a rectangular plate with an arc.

[0014] Furthermore, the upper arm support is also provided with weight-reducing holes;

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] In practical use, the upper arm support is fixed to the user's forearm and is used to connect and drive the movement of the joint assembly and the power assembly as a whole. The mounting side plate and auxiliary side plate on the mounting block form a double support structure, which allows the load and weight of the forearm lifting plate to be evenly distributed on the joint assembly and the power assembly, making the overall support structure more stable. It also provides a reserved installation compartment for the power assembly, which is convenient for the installation of the power assembly. The mounting block and auxiliary side plate adopt a detachable design, which allows users to select and replace the size of the mounting block and auxiliary side plate as needed, expanding the range of adaptation to the upper limb size of different users. The installation position of the power assembly can also be adjusted more comfortably.

[0017] This invention features a dual-support structure that provides stable support and connection for the power component, ensuring the overall structural strength of the joint component and improving the overall operational stability of the assistive mechanism. Through modular and detachable quick-connection, the joint component can be used by users with various arm lengths, improving the adaptability of the assistive mechanism to different user groups, expanding the overall usage scenarios, and enhancing wearing comfort. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2This is a schematic diagram of the present invention from an oblique upward view;

[0020] Figure 3 This is a side view of the present invention; Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] refer to Figure 1-3 As shown, an upper limb exoskeleton assistive mechanism includes an upper arm support 1 and a forearm lifting plate 3; the upper arm support 1 is provided with a joint assembly 2 at its end, and a power assembly 4 for driving the forearm lifting plate 3 is installed inside the joint assembly 2.

[0023] The joint assembly 2 includes a mounting block 21 and an auxiliary side plate 23. The end of the upper arm support 1 is bolted to detachably lock the auxiliary side plate 23 to one side of the mounting block 21. The other end of the mounting block 21 extends downward to form a mounting side plate 22. The power assembly 4 is installed in the mounting compartment 25 between the mounting side plate 22 and the auxiliary side plate 23. The power assembly 4 includes a transmission plate 43, and the forearm lifting plate 3 is detachably mounted on the transmission plate 43.

[0024] During the assistance process, the upper arm support 1 is fixedly worn on the user's upper arm, and the forearm lifting plate 3 is fixedly worn on the user's upper forearm; the power component 4 is installed at the end of the upper arm support 1 through the joint component 2, and the transmission plate 43 of the power component 4 rotates, thereby driving the forearm lifting plate 3 to complete the assistance to the user's upper limb.

[0025] In practical use, the upper arm support 1 is fixed to the user's upper forearm and is used to connect and drive the joint assembly 2 and the power assembly 4 as a whole. The mounting side plate 22 and the auxiliary side plate 23 on the mounting block 21 form a double support structure, which allows the load and weight of the forearm lifting plate 3 to be evenly distributed on the joint assembly 2 and the power assembly 4, making the overall support structure more stable. It also provides a mounting compartment 25 for the power assembly 4, which is convenient for the installation of the power assembly 4. The mounting block 21 and the auxiliary side plate 23 are detachable. Users can select and replace the size of the mounting block 21 and the auxiliary side plate 23 as needed, expanding the range of adaptation to the upper limb size of different users. The installation position of the power assembly 4 can also be adjusted for more comfort.

[0026] This upper limb exoskeleton assistive mechanism features a dual-support structure that provides stable support and connection for the power components, ensuring the overall structural strength of the joint components and improving the overall operational stability of the assistive mechanism. Through modular and detachable quick-connection, the joint components can be used by users with various arm lengths, improving the adaptability of the assistive mechanism to different user groups, expanding the overall application scenarios, and enhancing wearing comfort.

[0027] In this embodiment, the power assembly 4 further includes a drive motor 41 disposed on the outside of the mounting side plate 22, and a reducer 42 disposed in the mounting compartment 25; the actuating end of the drive motor 41 passes through the auxiliary side plate 23 and is connected to the reducer 42; one end of the reducer 42 is fixed to the inside of the auxiliary side plate 23, and the output shaft 421 of the reducer 42 is mounted on the inside of the mounting side plate 22 using a bearing 24; the transmission plate 43 is fixed on the output shaft 421.

[0028] The drive motor 41 is a precisely controllable stepper motor. The power of the drive motor 41 is transmitted to the reducer 42, and the torque is amplified by the reducer 42. The torque is then transmitted to the transmission plate 43, which drives the forearm lifting plate 3 to move. Under the premise of outputting the same torque, the cost is reasonably controlled. The cost of using a stepper motor for control is low, and only some common main control chips on the market are needed for precise control.

[0029] In this embodiment, the auxiliary side plate 23 includes a central connecting plate 232, with an upper side plate 233 and a lower side plate 231 vertically arranged at both ends of the central connecting plate 232. The upper side plate 233 is bolted to the mounting block 21 at the end of the upper arm support 1. The inner side of the lower side plate 231 is used to install the bearing 24. Using the central connecting plate 232 as the intermediate connecting part can effectively avoid the installation position, reduce the space occupied by the installation part, and at the same time maximize the space of the installation compartment 25.

[0030] In this embodiment, the dorsal end faces of the upper arm support 1 and the forearm lifting plate 3 are provided with strap buckles 5; the strap buckles 5 are used for elastic straps to pass through and bind and fix the user's upper limb to the upper limb support 1 and the forearm lifting plate 3, thereby improving the efficiency of connection and wearing.

[0031] In this embodiment, the front end face of the upper arm support 1 is provided with a fitting plate 11; in this embodiment, the fitting plate 11 is a rectangular plate with an arc; the rectangular plate with an arc can better fit the user's upper limb forearm and improve the stability of the wearing and binding.

[0032] In this embodiment, the upper arm support 1 is also provided with weight reduction holes 12; without affecting the overall structural strength, the weight reduction design is carried out to reduce the user's burden.

[0033] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the scope defined by the spirit of this utility model.

Claims

1. An upper limb exoskeleton assistive mechanism, characterized in that, It includes an upper arm support (1) and a forearm lifting plate (3); the upper arm support (1) is provided with a joint assembly (2) at its end, and a power assembly (4) for driving the forearm lifting plate (3) is installed inside the joint assembly (2). The joint assembly (2) includes a mounting block (21) and an auxiliary side plate (23). The end of the upper arm support (1) is bolted to detachably lock the auxiliary side plate (23) to one side of the mounting block (21). The other end of the mounting block (21) extends downward to form a mounting side plate (22). The power assembly (4) is installed in the mounting compartment (25) between the mounting side plate (22) and the auxiliary side plate (23). The power assembly (4) includes a transmission plate (43). The forearm lifting plate (3) is detachably mounted on the transmission plate (43). During the assistance process, the upper arm support (1) is fixedly worn on the upper arm of the user, and the forearm lifting plate (3) is fixedly worn on the forearm of the user; the power component (4) is installed at the end of the upper arm support (1) through the joint component (2), and the transmission plate (43) of the power component (4) rotates, thereby driving the forearm lifting plate (3) to complete the assistance to the user's upper limb.

2. The upper limb exoskeleton assistive mechanism according to claim 1, characterized in that, The power assembly (4) also includes a drive motor (41) disposed on the outside of the mounting side plate (22) and a reducer (42) disposed in the mounting compartment (25); the actuator end of the drive motor (41) passes through the auxiliary side plate (23) and connects to the reducer (42); one end of the reducer (42) is fixed to the inside of the auxiliary side plate (23), and the output shaft (421) of the reducer (42) is mounted on the inside of the mounting side plate (22) using a bearing (24); the transmission plate (43) is fixed on the output shaft (421).

3. The upper limb exoskeleton assistive mechanism according to claim 1, characterized in that, The auxiliary side plate (23) includes a middle connecting plate (232), and the two ends of the middle connecting plate (232) are respectively vertically provided with an upper side plate (233) and a lower side plate (231); the end of the upper arm support (1) is bolted to lock the upper side plate (233) to the mounting block (21); the inner side of the lower side plate (231) is used to install the bearing (24).

4. The upper limb exoskeleton assistive mechanism according to claim 2, characterized in that, Both the upper arm support (1) and the forearm lifting plate (3) are provided with strap buckles (5) on their back ends.

5. The upper limb exoskeleton assistive mechanism according to claim 1, characterized in that, The front end face of the upper arm support (1) is provided with a bonding plate (11).

6. The upper limb exoskeleton assistive mechanism according to claim 5, characterized in that, The bonding plate (11) is a rectangular plate with an arc.

7. The upper limb exoskeleton assistive mechanism according to claim 1, characterized in that, The upper arm support (1) is also provided with a weight reduction hole (12).

Images