Upper limb exoskeleton power assisting device

Abstract

The utility model discloses an upper limb exoskeleton power assisting device which relates to the technical field of exoskeletons and comprises a waist support, a first rotating rod and a fixing rod, the first rotating rod is rotatably connected to the two ends of the top of the waist support in the length direction of the waist support, and a supporting mechanism is arranged at the top of the first rotating rod and comprises a rotating plate rotatably connected to the top of the first rotating rod. One side wall of the end, away from the first rotating rod, of the rotating plate is rotationally connected with a supporting arm. According to the utility model, through the interaction of the piston cylinder and the telescopic air rod, when the arm of a user is lifted, the piston rod slides in the piston cylinder, so that the telescopic air rod is pushed to extend out, additional supporting force is provided for the arm, and meanwhile, the telescopic degree of the telescopic air rod can be adjusted according to the lifting angle of the arm; therefore, the device can automatically adapt to different lifting heights and forces, and the endurance problem and the motor fault problem when a motor is used for driving assistance are avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton technical field, concretely is a kind of upper limb exoskeleton power assisting device. BACKGROUND

[0002] Exoskeleton is a wearable mechanical device, aims at enhancing the strength of human body, endurance or providing additional protection, they usually interact with users through sensors, actuators and control systems to respond to the action or intention of user, exoskeleton has wide application in medical rehabilitation, military, industry, sports and other fields, can provide additional power support for user, reduce physical burden, improve work efficiency and safety.

[0003] The existing exoskeleton device is relatively single in function, mainly relies on motor drive to realize power assisting effect, however, this design has some problems, first, the exoskeleton driven by motor may need to replace corresponding accessories to adapt to different work requirements when carrying out different operations, which increases the complexity and cost of use, second, most of the existing exoskeleton devices cannot automatically adjust the power assisting degree according to the motion amplitude of user, leading to possibly unable to provide optimal power assisting effect in actual use.

[0004] Therefore, the present application is proposed. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of upper limb exoskeleton power assisting device to solve the problems raised in the above background.

[0006] To solve the above technical problems, the utility model provides a kind of upper limb exoskeleton power assisting device, including waist support, rotating rod one and fixed rod, rotating rod one is rotationally connected to the both ends of waist support top along its length direction, the top of rotating rod one is equipped with support mechanism, support mechanism includes rotating plate rotationally connected to the top of rotating rod one, one side wall on the end of rotating plate away from rotating rod one is rotationally connected with support arm, the side wall on the end of rotating plate away from support arm away from wrist guard is fixed with fixed plate, the side wall on the end of rotating rod one away from wrist guard is equipped with piston cylinder;

[0007] The piston rod slides on the top end of the piston cylinder and is arranged towards the outer arc wall of the fixed plate, the corrugated hose is fixed on the bottom end of the piston cylinder, the corrugated hose penetrates through the rotating rod and is connected with the telescopic air rod, one end of the telescopic air rod is rotationally connected to the outer side wall of the rotating rod, the other end of the telescopic air rod is rotationally connected to the side wall of the supporting arm, the wrist guard slides on the side wall of the supporting arm away from the rotating plate, the fixed plate is spiral-shaped, the pressing plate is fixed on the top of the piston rod, the pressing plate abuts against the outer arc wall of the fixed plate, the limit ring slides on the top end and the bottom end of the outer arc wall of the piston cylinder, the limit ring is fixed on the rotating rod one, the rotating rod two is fixed on the middle part of the outer arc wall of the piston cylinder, the baffle is fixed on the side wall of the rotating plate away from the rotating rod one, and the baffle is arranged towards the supporting arm.

[0008] Further, the rotating rod two is rotationally arranged in the rotating rod one away from the piston cylinder, the channel one is vertically arranged at the center of the top of the rotating rod one, the recess one is arranged on the side wall of the rotating plate close to the rotating rod one, the fixed lug one is rotationally arranged in the recess one, the rotating shaft one is fixed on the bottom of the fixed lug one and rotationally arranged in the channel one, the rotating groove is arranged on the side wall of the rotating plate close to the rotating rod one, the rotating rod two is rotationally arranged in the rotating groove away from the piston cylinder and fixedly connected with the rotating shaft one, the storage groove one is arranged on the bottom end of the side wall of the rotating rod one close to the piston cylinder, the corrugated hose fixed on the bottom of the piston cylinder penetrates through the storage groove one and is connected with the end of the telescopic air rod, the inside of the telescopic air rod is communicated with the inside of the piston cylinder through the corrugated hose, the rotating block is fixed on the end of the telescopic air rod away from the rotating rod one and rotationally arranged on the side wall of the supporting arm.

[0009] Further, the sliding groove one is arranged on the side wall of the supporting arm close to the rotating rod one, the length direction of the sliding groove one is consistent with the length direction of the supporting arm, the rack is fixed on the side wall of the sliding groove one along the width direction of the supporting arm, the gear is meshingly connected on one side of the rack, the rotating disc is fixed on the side wall of the gear away from the sliding groove one, the rotating disc is located outside the sliding groove one, the fixed ring is rotationally arranged on the outer arc wall of the rotating disc, the fixed ring can slide on the outer side wall of the supporting arm along the length direction of the supporting arm, the limit block one is fixed on the side wall of the rotating disc away from the gear in a coaxial mode, and the limit block two is fixed on the outer edge of the side wall of the rotating disc away from the gear.

[0010] Further, the recess two is arranged on the outer arc wall of the limit block one at the position along the circumferential direction of the limit block one, the limit block two is arranged in the recess two, the coil spring is sleeved outside the limit block one, the bends are fixed on the two ends of the coil spring, the length directions of the bends are perpendicular to the axial direction of the coil spring and are arranged towards the inside of the coil spring, the fixed rod is fixed on the center of the top of the waist support, the guard plate is fixed on the end of the fixed rod away from the waist support, the storage grooves are arranged on the center of the side walls of the two ends of the waist support, and the fixed belts are arranged in the storage grooves.

[0011] Compared with the prior art, the utility model has the advantages of:

[0012] 1、Through the interaction of the piston cylinder and the telescopic air rod, when the user's arm is lifted, the piston rod will slide in the piston cylinder, thereby pushing the telescopic air rod to extend, providing additional support force for the arm, and since the telescopic degree of the telescopic air rod can be adjusted according to the lifting angle of the arm, the device can automatically adapt to different lifting height and intensity, avoiding the problems of endurance and motor failure when using motor to drive power assistance.

[0013] 2、By adjusting the initial rotation angle of the fixed plate, the application scene of the exoskeleton can be changed, that is, when the included angle between the fixed plate and the rotating rod one is large, it is suitable for lifting operation, and when the included angle between the fixed plate and the rotating rod one is small, it is suitable for carrying operation, so that the device is more widely applied. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structure diagram of a support mechanism in an upper limb exoskeleton power assisting device Figure 1 ;

[0015] Figure 2 It is a structure diagram of a support mechanism in an upper limb exoskeleton power assisting device Figure 1 ;

[0016] Figure 3 It is an internal structure diagram of a support arm in an upper limb exoskeleton power assisting device

[0017] Figure 4 It is an internal structure explosion diagram of a fixed ring in an upper limb exoskeleton power assisting device

[0018] Figure 5 It is a whole structure diagram of an upper limb exoskeleton power assisting device from the rear view angle

[0019] Figure 6 It is a whole structure diagram of an upper limb exoskeleton power assisting device from the front view angle

[0020] In the figure:

[0021] 10, waist support; 11, rotating rod one; 12, guard plate; 13, rotating plate; 14, support arm; 15, wrist guard; 16, baffle; 17, fixed rod; 18, fixed belt

[0022] 20, fixed plate; 21, pressing plate; 22, piston rod; 23, piston cylinder; 24, limiting ring

[0023] 25, rotating rod two; 26, telescopic air rod; 27, rotating block

[0024] 30, fixed ring; 31, rotating disc; 32, limiting block one; 33, limiting block two; 34, coil spring; 35, gear; 36, rack DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0026] Please refer to the drawings of the embodiments of the utility model Figure 1 to the drawings of the embodiments of the utility model Figure 6 The utility model provides a kind of upper limb exoskeleton power assisting device: including waist support 10, rotating rod one 11 and fixed rod 17, rotating rod one 11 is connected in rotation on the top of waist support 10 along the length direction of its both ends, the top of rotating rod one 11 is equipped with support mechanism, support mechanism includes rotating plate 13 connected in rotation on the top of rotating rod one 11, one side wall on the end of rotating plate 13 away from rotating rod one 11 is connected in rotation with support arm 14, the end of rotating plate 13 away from support arm 14 on one side wall away from wrist guard 15 is fixed with fixed plate 20, the side wall of rotating rod one 11 away from wrist guard 15 is equipped with piston cylinder 23;

[0027] Piston cylinder 23 top end has piston rod 22 and is arranged towards the outer arc wall of fixed plate 20, piston cylinder 23 bottom end is fixed with corrugated hose, corrugated hose penetrates rotating rod one 11 and is connected with telescopic air rod 26, one end of telescopic air rod 26 is connected in rotation on the outer side wall of rotating rod one 11, the other end of telescopic air rod 26 is connected in rotation on the side wall of support arm 14;

[0028] The end of support arm 14 away from rotating plate 13 on one side wall away from rotating plate 13 is slid with wrist guard 15, the fixed plate 20 is spiral, the top of piston rod 22 is fixed with pressing plate 21, and the outer arc wall of pressing plate 21 and fixed plate 20 is abutted, the top and bottom of the outer arc wall of piston cylinder 23 are slid with limit ring 24, and the both ends of limit ring 24 are fixed on rotating rod one 11, and the middle part of the outer arc wall of piston cylinder 23 is fixed with rotating rod two 25, and the side wall of rotating plate 13 away from rotating rod one 11 is fixed with baffle 16, and baffle 16 is arranged towards support arm 14;

[0029] The end of rotating rod two 25 away from piston cylinder 23 is rotated in rotating rod one 11, and the center of the top of rotating rod one 11 is vertically provided with channel one, and the side wall of rotating plate 13 close to rotating rod one 11 is provided with recess one, and fixed ear seat one is rotated in recess one, and the bottom of fixed ear seat is fixed with rotating shaft one, and rotating shaft one is rotated in channel one, and the center of the side wall of rotating rod one 11 close to piston cylinder 23 is provided with rotating groove, and the end of rotating rod two 25 away from piston cylinder 23 is rotated in rotating groove and rotating rod two 25 is fixedly connected with rotating shaft one;

[0030] The rotating rod one 11 is provided with a storage groove one on the side wall of the bottom end of the piston cylinder 23, the corrugated hose fixed to the bottom of the piston cylinder 23 penetrates through the storage groove one and is connected to the end of the telescopic air rod 26, the inside of the telescopic air rod 26 is communicated with the inside of the piston cylinder 23 through the corrugated hose, the end of the telescopic air rod 26 away from the rotating rod one 11 is fixed with a rotating block 27, and the rotating block 27 rotates on the side wall of the supporting arm 14.

[0031] It should be noted that the waist support 10 is fixed on the waist of the user through the fixing belt 18 to provide a stable support basis for the user, the rotating rod one 11 is rotatably connected at both ends along the length direction on the top of the waist support 10, allowing the user to rotate the waist in a large amplitude, the rotating plate 13 is rotatably connected with the top of the rotating rod one 11, allowing the user to rotate the shoulder in a small amplitude, and the supporting arm 14 is rotatably connected with the end away from the rotating rod one 11 of the rotating plate 13, forming a variable support structure.

[0032] The fixed plate 20 is spiral-shaped, and the initial rotation angle thereof can be adjusted to adapt to different application scenarios, one end of the telescopic air rod 26 is rotatably connected to the rotating rod one 11, and the other end is rotatably connected to the supporting arm 14, and the piston rod 22, the piston cylinder 23 and the corrugated hose form an air pressure transmission system, and inert gas is filled in the piston cylinder 23, the telescopic air rod 26 and the corrugated hose.

[0033] When the user performs an upper limb action such as lifting, the arm drives the supporting arm 14 to rotate relative to the rotating plate 13, the rotation of the supporting arm 14 drives the fixed plate 20 to compress the pressing plate 21 and then compress the piston rod 22, the piston rod 22 drives the gas in the piston cylinder 23 into the telescopic air rod 26 to drive the telescopic air rod 26 to extend, thereby providing support force for the arm, and the inner arc wall of the piston cylinder 23 has a larger cross-sectional radius than the telescopic air rod 26, so the telescopic air rod 26 has a larger stroke than the retracting stroke of the pressing plate 21.

[0034] The baffle 16 is used for preventing the support mechanism from being triggered when the lifting action is not performed, that is, when lifting, the rotation of the supporting arm 14 first abuts against the baffle 16, and if the supporting arm 14 continues to rotate, the rotating plate 13 is driven to rotate and then the piston rod 22 and the piston cylinder 23 are triggered, and the rotating plate 13 and the fixed lug one can rotate relative to each other along the width direction of the rotating rod one 11.

[0035] Please refer to the accompanying drawings Figure 1 to the accompanying drawings Figure 6 The utility model provides a technical scheme: the supporting arm 14 is provided with a sliding groove one on the side wall close to the rotating rod one 11, the length direction of the sliding groove one is consistent with the length direction of the supporting arm 14, the sliding groove one is fixed with a rack 36 along the side wall in the width direction of the supporting arm 14, one side of the rack 36 is engaged with a gear 35, and the gear 35 is fixed with a rotating disc 31 on the side wall away from the sliding groove one.

[0036] The rotating disc 31 is located outside the chute, a fixed ring 30 is rotatably arranged on the outer arc wall of the rotating disc 31, the fixed ring 30 is slidably arranged on the outer side wall of the support arm 14 along the length direction of the support arm 14, a limiting block one 32 is coaxially arranged on the side wall of the rotating disc 31 away from the gear 35, and a limiting block two 33 is arranged on the outer edge of the side wall of the rotating disc 31 away from the gear 35;

[0037] A groove two is formed in the circumferential position of the outer arc wall of the limiting block one 32, the limiting block two 33 is arranged in the groove two, a coil spring 34 is arranged on the outer side of the limiting block one 32, and the two ends of the coil spring 34 are fixedly provided with elbows, the length direction of the elbow is perpendicular to the axial direction of the coil spring 34 and is arranged towards the inner side of the coil spring 34;

[0038] The fixed rod 17 is fixed to the center of the top of the waist support 10, the end of the fixed rod 17 away from the waist support 10 is fixedly provided with the protective plate 12, the center of the side wall of the waist support 10 is provided with a storage groove, and the storage groove is provided with the fixed belt 18.

[0039] It should be noted that the limiting block one 32 is cylindrical, the groove one can be regarded as a groove body dug in the circumferential position of the outer arc wall, and the two ends of the coil spring 34 extend towards the inside and the extension direction of the elbow is perpendicular to the axial direction of the coil spring 34;

[0040] Since the two ends of the coil spring 34 are away from each other and abut against the inner side walls of the two ends of the groove one, when the limiting block one 32 is actively rotated, the groove one on the limiting block one 32 abuts against the elbow and drives the coil spring 34 to move, during this period, since the groove one abuts against the inner bending surface of the elbow close to the coil spring 34, the coil spring 34 presents a “folding” state when subjected to the force of the inner bending surface, that is, the coil spring 34 has a tendency to contract inward, and thus the radius of the coil spring 34 slightly decreases, the friction between the coil spring 34 and the fixed ring 30 is reduced, and thus the gear 35 can be normally rotated;

[0041] In a specific embodiment of the present embodiment, the longitudinal section of the limiting block two 33 is a fan ring, the cross-sectional size of the limiting block two 33 is smaller than the cross-sectional size of the groove one, and thus an activity space is provided for the coil spring 34, since the two ends of the coil spring 34 are close to each other and abut against the outer side walls of the two ends of the limiting block two 33, when the gear 35 drives the limiting block two 33 to be actively rotated, the limiting block two 33 abuts against the elbow and drives the coil spring 34 to move, during this period, since the groove one abuts against the outer bending surface of the elbow away from the coil spring 34, the coil spring 34 presents an “expanding” state when subjected to the force of the outer bending surface, that is, the coil spring 34 has a tendency to expand outward, and thus the radius of the coil spring 34 slightly increases, and thus the contact area and the contact force between the coil spring 34 and the fixed ring 30 are increased, the friction is increased, and thus the gear 35 is difficult to rotate or even cannot rotate;

[0042] During the period of fixed ring 30 sliding on the support arm 14 side wall, the fixed ring 30 itself cannot rotate, and then the user can adjust the position of the wrist guard 15 according to the specific use scene and their own habits.

[0043] Working principle:

[0044] When the user performs upper limb action such as lifting, the arm will drive the support arm 14 to rotate relative to the rotating plate 13, the rotation of the support arm 14 drives the fixed plate 20 to compress the pressing plate 21 and then compresses the piston rod 22, the piston rod 22 will drive the gas in the piston cylinder 23 into the telescopic gas rod 26 to drive the telescopic gas rod 26 to extend, providing support force for the arm, here the inner arc wall cross section radius of the piston cylinder 23 is greater than the cross section radius of the telescopic gas rod 26, so the stroke of the telescopic gas rod 26 extending is greater than the stroke of the pressing plate 21 retracting;

[0045] The baffle 16 is used to prevent the support mechanism from being triggered when not performing lifting action, that is, when lifting, the rotation of the support arm 14 will first abut with the baffle 16, if the support arm 14 continues to rotate, it will drive the rotating plate 13 to rotate and then trigger the piston rod 22 and the piston cylinder 23, the rotating plate 13 and the fixed lug can rotate relative to each other along the width direction of the rotating rod 1.

Claims

1. An upper limb exoskeleton assisting device, comprising a waist support (10), a rotating rod I (11) and a fixed rod (17), the rotating rod I (11) being rotatably connected to the top of the waist support (10) at both ends along the length direction thereof, characterized in that: The top of the rotating rod one (11) is provided with a support mechanism, the support mechanism comprises a rotating plate (13) rotatably connected to the top of the rotating rod one (11), one side wall of the end of the rotating plate (13) away from the rotating rod one (11) is rotatably connected with a support arm (14), a fixed plate (20) is fixed to one end of the elbow pad (15) on one side wall of the rotating plate (13) away from the support arm (14), and a piston cylinder (23) is arranged on one side wall of the rotating rod one (11) away from the elbow pad (15). The top end of the piston cylinder (23) is slidably provided with a piston rod (22) and is arranged towards the outer arc wall of the fixed plate (20), the bottom end of the piston cylinder (23) is fixedly provided with a corrugated hose, the corrugated hose penetrates through the rotating rod one (11) and is connected with a telescopic air rod (26), one end of the telescopic air rod (26) is rotatably connected to the outer side wall of the rotating rod one (11), and the other end of the telescopic air rod (26) is rotatably connected to the side wall of the support arm (14).

2. The upper limb exoskeleton assisting device according to claim 1, characterized in that: The end of the support arm (14) away from the rotating plate (13) is slidably provided with the elbow pad (15) on one side wall of the rotating plate (13), the fixed plate (20) is spiral-shaped, the top of the piston rod (22) is fixedly provided with a pressing plate (21), the pressing plate (21) abuts against the outer arc wall of the fixed plate (20), the top end and the bottom end of the outer arc wall of the piston cylinder (23) are slidably provided with a limiting ring (24), the limiting ring (24) is fixedly arranged at the rotating rod one (11) at both ends, the outer arc wall of the piston cylinder (23) is fixedly provided with a rotating rod two (25), the side wall of the rotating plate (13) away from the rotating rod one (11) is fixedly provided with a baffle (16), and the baffle (16) is arranged towards the support arm (14).

3. The upper extremity exoskeleton assistive device of claim 2, wherein: The end of the rotating rod two (25) away from the piston cylinder (23) is rotatably arranged in the rotating rod one (11), a channel one is vertically arranged at the center of the top of the rotating rod one (11), a groove one is arranged on the side wall of the rotating plate (13) close to the rotating rod one (11), a fixed ear seat one is rotatably arranged in the groove one, a rotating shaft one is fixedly arranged at the bottom of the fixed ear seat one, the rotating shaft one is rotatably arranged in the channel one, a rotating groove is arranged at the center of the side wall of the rotating rod one (11) close to the piston cylinder (23), and the end of the rotating rod two (25) away from the piston cylinder (23) is rotatably arranged in the rotating groove and the rotating rod two (25) is fixedly connected with the rotating shaft one.

4. The upper extremity exoskeleton assistive device of claim 1, wherein: The side wall of the rotating rod one (11) close to the piston cylinder (23) is provided with a storage groove one at the bottom end, the corrugated hose fixedly arranged at the bottom of the piston cylinder (23) penetrates through the storage groove one and is connected with the end of the telescopic air rod (26), the inside of the telescopic air rod (26) and the inside of the piston cylinder (23) are communicated through the corrugated hose, the end of the telescopic air rod (26) away from the rotating rod one (11) is fixedly provided with a rotating block (27), and the rotating block (27) is rotatably arranged on the side wall of the support arm (14).

5. The upper extremity exoskeleton assistance device according to claim 1, wherein: The support arm (14) is provided with a sliding groove I near one side wall of the rotating rod I (11), the length direction of the sliding groove I is consistent with the length direction of the support arm (14), a gear rack (36) is fixed to one side wall of the support arm (14) in the width direction of the support arm (14), one side of the gear rack (36) is engagedly connected with a gear (35), and the gear (35) is fixed with a rotating disc (31) on the side wall away from the sliding groove I.

6. The upper limb exoskeleton assistance device according to claim 5, characterized in that: The rotating disc (31) is located outside the sliding groove I, a fixed ring (30) is rotatably arranged on the outer arc wall of the rotating disc (31), the fixed ring (30) can slide on the outer side wall of the support arm (14) in the length direction of the support arm (14), a limiting block I (32) is coaxially fixed on the side wall of the rotating disc (31) away from the gear (35), and a limiting block II (33) is fixed on the outer edge of the side wall of the rotating disc (31) away from the gear (35).

7. The upper extremity exoskeleton assistance device according to claim 6, characterized in that: The outer arc wall of the limiting block I (32) is provided with a groove II at the position in the circumferential direction of the limiting block I (32), the limiting block II (33) is arranged in the groove II, a coil spring (34) is arranged outside the limiting block I (32), and the two ends of the coil spring (34) are fixed with elbows, the length directions of the elbows are perpendicular to the axial direction of the coil spring (34) and are arranged towards the inside of the coil spring (34).

8. The upper extremity exoskeleton assistance device according to claim 1, wherein: The fixed rod (17) is fixed at the center of the top of the waist support (10), one end of the fixed rod (17) away from the waist support (10) is fixed with a protective plate (12), and the center of the side wall of each end of the waist support (10) is provided with a storage groove, and the storage groove is provided with a fixing belt (18).

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