Shoulder two-degree-of-freedom upper limb lifting assisting exoskeleton

Abstract

The utility model relates to a shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton. In order to overcome the defects in the prior art, the shoulder two-degree-of-freedom upper limb lifting assisting exoskeleton comprises a body fixing assembly, two energy storage supporting boxes and two upper arm fixing assemblies, the two energy storage supporting boxes are fixed to a body strap, the two upper arm fixing assemblies are fixed to the upper arms of a user, and the two upper arm fixing assemblies are fixed to the lower arms of the user. The upper arm fixing assembly comprises an upper arm supporting piece and an upper arm binding piece, an arm rod is hinged to the upper arm supporting piece, the lower end of the arm rod is directly or indirectly connected to the adjacent energy storage supporting box, an elastic body is arranged in the energy storage supporting box, an upper rotating seat is arranged at the top of the energy storage supporting box, and a lower rotating seat is arranged at the bottom of the upper rotating seat. The outer side of the shoulder joint piece is hinged to the upper rotating base through a transverse shaft, and the lower end of the arm rod is indirectly connected to the adjacent energy storage supporting box through the shoulder joint piece. According to the shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton, left and right arm opening and closing are not limited, and application and popularization of the upper limb lifting power-assisted exoskeleton are facilitated.

Description

Technical Field

[0001] This utility model relates to a shoulder-supporting exoskeleton with dual degrees of freedom for upper limb lifting. Background Technology

[0002] In some fields of work, such as automobile manufacturing, wall painting, and construction, workers are required to frequently raise and lower their arms. This high-intensity, frequent raising and lowering of the arms can easily cause upper limb muscle fatigue and injury, and may even affect the health of bones and joints, as well as reduce work efficiency.

[0003] Exoskeletons, as wearable assistive devices, organically combine human intelligence with the physical capabilities of the exoskeleton to enhance human function. The mechanical structure of the exoskeleton is the foundation of the entire system. Integrated with the human body, it provides support and load-bearing capacity while also transmitting motion and force. Motion coupling exists between the human and the exoskeleton, and the rationality of its structural design and the matching of human-machine dimensions directly affect its functional effectiveness. Upper limb exoskeletons are primarily worn on the upper limbs to provide assistance during lifting and carrying. Mechanical exoskeletons can assist the wearer in limb movements, effectively providing support and assistance to the body, and reducing muscle and joint injuries.

[0004] Upper limb exoskeleton assistive products are divided into active upper limb exoskeletons and passive upper limb exoskeletons based on the presence or absence of an external power source. Compared with active upper limb exoskeletons, passive upper limb exoskeletons do not require any external energy source. They only utilize the elastic potential energy passively stored during the movement of the human upper limb to achieve assisted movement. Through reasonable structural arrangement and elastic elements, energy consumption is reduced to achieve the effect of assisting the human upper limb movement. They have the advantages of simple and reliable structure, light weight and low cost, making them more suitable for daily use by normal people and with a broader application prospect.

[0005] Announcement No. CN 210525089 U, authorized on May 15, 2020, discloses an adjustable back-mounted upper limb assistive exoskeleton device, including a waist assembly, a back assembly, a shoulder assembly, and an elbow assembly. The shoulder assembly features shoulder ramps symmetrically arranged on both sides of the back assembly. The lower ends of the shoulder ramps are hinged to the back assembly. A shoulder crossbar is provided between the two shoulder ramps, with its two ends hinged to the upper ends of the shoulder ramps. The shoulder crossbar includes a first shoulder crossbar and a second shoulder crossbar that are slidably connected relative to each other. A connecting member is also included, sleeved on the outside of the first and second shoulder crossbars and detachably connected to them. In this device, a shoulder transition piece is rotatably fixed to the short side of the L-shaped shoulder ramp, and the shoulder transition piece is rotatably connected to a shoulder circumferential piece. However, after wearing this adjustable back upper limb assistive exoskeleton device, the user's arms can only be placed in front of the body and cannot be opened or closed to the sides, which is inconvenient to use. In addition, the structure is complicated, and all the weight of the device falls on the user's waist through the waist component.

[0006] US Patent No. US2020 / 0261298 A1, published on August 20, 2020, discloses a wearable device for assisting muscle strength, comprising: a main body extending vertically along the wearer's torso; a fastening mechanism extending along the wearer's upper arm and disposed on the lower surface of the upper arm; a connecting mechanism connected at both ends to the fastening mechanism and the main body, respectively, so as to be movable relative to the main body; and a support mechanism movably connected to one end of the connecting mechanism, the other end of the connecting mechanism being connected to the main body, providing support for the connecting mechanism and being movable relative to it. This wearable device has a relatively simple structure and does not place a heavy burden on the waist, but it also suffers from limited freedom of movement, restricted arm movement, and inconvenience in use.

[0007] Because of the high mobility of the human upper limbs, most existing upper limb support exoskeletons only provide one degree of freedom in the shoulder, and the human body cannot adapt well to the exoskeleton. In addition, when there are special work situations, one arm needs to perform highly flexible and complex operations, while the other arm needs to provide continuous support. Summary of the Invention

[0008] The technical problem to be solved by this invention is how to overcome the above-mentioned defects of the prior art and provide a shoulder dual-degree-of-freedom upper limb support exoskeleton.

[0009] To solve the aforementioned technical problems, this shoulder-mounted dual-degree-of-freedom upper limb lifting assistive exoskeleton includes a torso fixation component, two energy storage support boxes 1, and two upper arm fixation components. The torso fixation component includes a back strap 2 and a torso harness. The two energy storage support boxes 1 are respectively fixed to the torso harness. The two upper arm fixation components are respectively fixed to the user's upper arm. Each upper arm fixation component includes an upper arm support 3 and an upper arm binding 4. The upper arm support is hinged to an arm bar 5, the lower end of which is directly or indirectly connected to an adjacent energy storage support box 1. An elastic body 6 is provided inside each energy storage support box 1. When the user's arm falls, the elastic body 6 deforms under force to store energy; when the user's arm is raised, the elastic body 6 rebounds and releases energy, providing assistance. The exoskeleton is characterized by further including a shoulder joint 7. The top is equipped with an upper rotating seat 8. The outer side of the shoulder joint 7 is hinged to the upper rotating seat 8 via a horizontal shaft 9. The lower end of the arm 5 is fixed to the shoulder joint 7 and indirectly connected to the adjacent energy storage support box 1 via the shoulder joint 7. The lower end of the elastic body 6 is fixed inside the energy storage support box 1, and the upper end of the elastic body 6 is connected to the inner side of the shoulder joint 7 via a pull rope 10. The arm 5, shoulder joint 7, pull rope 10, and elastic body 6 form a lever-type energy storage mechanism. The body strap includes a waist belt 11, with lower rotating seats 12 on both sides of the rear of the waist belt 11. The lower end of the energy storage support box 1 is rotatably fixed to the lower rotating seat 12. The axis of the upper rotating seat 8 is parallel to the axis of the lower rotating seat 12 and is located outside the axis of the lower rotating seat 12. Note: The upper arm is the part of the arm from the shoulder to the elbow - Sogou Encyclopedia.

[0010] Existing upper limb assistive exoskeletons either restrict the user's arms to the chest—such as the back-adjustable upper limb assistive exoskeleton described in CN 210525089 U—and cannot open or close the arms to the left or right.

[0011] US Patent 2020 / 0261298 A1 discloses a wearable device for assisting muscle strength. Considering the need for left-right arm opening and closing, the device includes a vertical hinge axis—see its specification appendix. Figure 2 The vertical hinge axes 130 and 140 are still restricted when the user's arm opens and closes to the left and right.

[0012] After careful study, the inventors discovered the following reason: In a horizontal projection, if the user's spine 25 and shoulder joint 26 are both considered as hinge points, and the vertical hinge axes 130 / 140 in the wearable device for assisting muscle strength disclosed in US2020 / 0261298 A1 are also considered as hinge points, the user's spine 25 and shoulder joint 26 form a side 27, the user's shoulder joint 26 and the vertical hinge axis 130 / 140 form a side 28, and the vertical hinge axis 130 / 140 and the user's spine 25 form a side 29. These three sides (27, 28, 29) and the three hinge points (25, 26, 130 / 140) form a triangular mechanism in a horizontal projection. As is well known, a triangular mechanism is structurally stable with zero degrees of freedom. Figure 7 As shown, the user's ability to open and close their arms is still limited.

[0013] In this invention, the axis lines of the upper and lower rotating seats are offset to the left and right. In a horizontal projection, the user's spine 25 can be considered a hinge point, the user's shoulder joint 26 can be considered a hinge point, and the upper rotating seat 8 and lower rotating seat 12 each constitute a hinge point. The axis lines of these four hinge points are all vertical. The user's spine 25 and the user's shoulder joint 26 form a side 27, the user's shoulder joint 26 and the upper rotating seat 8 form a side 30, the energy storage support box 1 forms a side 31, and the lower rotating seat 12 and the user's spine 25 form a side 32. These four sides (27, 30, 31, 32) and the four hinge points (25, 26, 8, 12) form a quadrilateral mechanism in a horizontal projection. The user's arm can open and close to the left and right without being affected. Figure 8 As shown. Of course, when in use, the user's arm falls, the elastomer deforms under force to store energy, and when the user's arm is raised, the elastomer rebounds and releases energy, providing assistance just like a conventional upper limb support exoskeleton.

[0014] This design increases the user's freedom of movement when opening and closing their arms, meeting the requirements of high upper limb mobility.

[0015] As an optimization, the upper rotating seat 8 includes a connecting block 81, an upper bearing 82, and a rotating sleeve 83. The energy storage support box 1 extends outward into a slot, and the connecting block is inserted into the corresponding slot. The connecting block 81 has a cylinder 84, the upper bearing 82 is sleeved on the cylinder 84, and the rotating sleeve 83 is sleeved on the upper bearing 82. The rotating sleeve 83 has a lug 85 with a through hole. The lower outer corner of the shoulder joint 7 extends a protruding plate 71 with a through hole, and the through hole on the protruding plate 71 is opposite to that on the lug 85. The horizontal shaft 9 passes through the through hole of the protruding plate 71 and the lug 85, thereby hinged the shoulder joint 7 to the upper rotating seat 8. This design is simple, robust, and lightweight.

[0016] As an optimization, the lower part of the shoulder joint 7 is provided with a slot 72, and the side walls of the slot 72 are respectively provided with elongated slot-shaped guide holes 73, and an adjusting block 74 is provided. The adjusting block 74 is provided with a threaded through hole. The inner side wall of the shoulder joint 7 is provided with a through hole, and an adjusting screw 75 is rotatably fixed in the through hole. The adjusting block 74 is provided with a corresponding lower extension plate 76, and the lower extension plate 76 is provided with a pin hole 77. A second horizontal shaft 78 is inserted into the pin hole 77. The two ends of the second horizontal shaft 78 are respectively inserted through the elongated slot-shaped guide holes 73 on both sides of the shoulder joint 7. Twisting the adjusting screw 75 can drive the adjusting block 74 and the second horizontal shaft 78 to move left and right in the elongated slot-shaped guide hole 73. One end of the pull rope 10 is fixed to the energy storage support box 1, and the other end passes upward around the second horizontal shaft 78 and is connected downward to the upper end of the elastic body 6.

[0017] With this design, turning the adjusting screw can move the adjusting block left and right, thereby adjusting the distance between the connection point of the pull rope and the shoulder joint and the center line of the horizontal axis on the upper rotating seat. If the shoulder joint is regarded as a lever mechanism, adjusting this distance is equivalent to adjusting the length of the lever arm of the elastic body, thus achieving the effect of adjusting the elastic torque.

[0018] As an optimization, the lower rotating seat 12 includes a connector 121, a lower bearing 122, and a bearing seat 123. The bearing seat 123 is connected to the belt 11 via a waist plate 124. The lower bearing 122 is fixed inside the bearing seat 123. The lower part of the connector 121 is fixed to the inner ring of the lower bearing 122, and the upper part of the connector 121 is directly or indirectly connected to the lower end of the energy storage support box 1. This design results in a simple structure and smooth rotation.

[0019] As an optimization, the energy storage support box 1 includes a front back panel 13 and a rear back panel 14, which are interlocked to form an installation space. A vertical groove 15 is provided on the inner wall of the front back panel 13 or the rear back panel 14. An adjusting rod 16 is connected to the upper part of the connector 121. The adjusting rod 16 passes through the vertical groove 15. A pin hole 77 is opened on the side wall of the vertical groove 15, and a locking pin 17 passes through the pin hole 77. Multiple locking holes 23 are opened on the side wall of the adjusting rod 16 near the locking pin 17. A side window 18 is provided on one side. The outer end of a latch 17 is hinged to one end of a control switch block 19. The middle section of the control switch block 19 is hinged to the energy storage support box 1 on both sides of the side window 18 and is equipped with a return torsion spring 20. Pressing the other end of the control switch block 19 can drive the latch 17 out of the latch hole 23, release the control switch block 19, and the return torsion spring 20 rebounds, which can drive the control switch block 19 to selectively engage one of the front ends of the latch 17 into the latch hole 23, thereby adjusting the distance between the upper rotating seat 8 and the lower rotating seat 12. This design has a simple structure, and the length of the energy storage support box is adjustable to meet the requirements of users of different heights.

[0020] As an optimization, the shoulder joint 7 is connected to the adjacent shoulder strap 2 by a connecting rope or strap 21, preferably a nylon rope or strap. This design makes it more secure.

[0021] As an optimization, the arm 5 includes an inner tube 51 and an outer tube 52. The shoulder joint 7 has an upwardly protruding portion 22 on its inner side. The lower end of the outer tube 52 is fitted onto this protruding portion 22. The upper end of the inner tube 51 is fixed to the upper arm support 3, and the lower part of the inner tube 51 is inserted into the outer tube 52. The lower part of the inner tube 51 has a locking pin 53 with a spherical outer end face and a return spring 54. Multiple evenly distributed locking holes 55 are opened on the same side of the outer tube 52, and all the locking holes 55 on the outer tube 52 are connected through a long slot 56. The outer end of the locking pin 53 can move within the long slot 56 and can be selectively locked into any locking hole 55 to lock the length of the arm. This design facilitates adjustment of the arm length.

[0022] Compared with the prior art, the beneficial effects of this application are as follows: by setting a waist belt and back strap, it is convenient to wear the exoskeleton and can prevent the exoskeleton from falling off; by setting a support component, it can provide support for the waist and back of the exoskeleton; since the length of the energy storage support box is adjustable, the energy storage support box can be adjusted for wearers of different heights, improving the adaptability of the exoskeleton; and the upper and lower rotating seats are respectively set at the upper and lower ends of the energy storage support box, so that the shoulder joints can have sufficient freedom relative to the energy storage support box, and the wearer can open and close his / her arms without restriction, which is conducive to the wearer's flexible work.

[0023] By configuring an arm bar, one end of which is connected to a shoulder joint, and the other end is fitted with an upper arm fixing component, the upper arm fixing component is fixed to the wearer's upper arm, allowing the arm bar to support the wearer's upper arm. The arm bar and shoulder joint also cooperate to form a lever structure with the fulcrum located above the energy storage support box. The elastomer provides the main lifting assistance for the exoskeleton. The elastomer acts on the shoulder joint. When the wearer presses down on their arm, the arm bar presses down and the shoulder joint rises, causing the elastomer to deform under tension and store energy. When the wearer lifts their arm, the elastomer contracts under the action of elasticity, pulling the shoulder joint through the pull rope, causing the arm bar to rise to provide lifting assistance. Since the two assist devices are independent of each other, the exoskeleton can provide independent assistance to both arms.

[0024] This utility model features a dual-degree-of-freedom upper limb support exoskeleton that allows for unrestricted left and right arm movement, enabling the wearer to work flexibly. It solves the problem of limited movement in existing upper limb support exoskeletons, expands its applicability, and promotes the widespread application of upper limb support exoskeletons. Attached Figure Description

[0025] The following description, in conjunction with the accompanying drawings, further illustrates the present invention: a dual-degree-of-freedom shoulder-supporting exoskeleton for upper limb lifting assistance.

[0026] Figure 1 This is a frontal three-dimensional structural diagram of the shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton.

[0027] Figure 2 This is a frontal three-dimensional structural diagram of the shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton (with the front back plate 13 of the left energy storage support box 1 removed);

[0028] Figure 3 yes Figure 1 , 2 Exploded view of the middle shoulder joint and upper rotating seat;

[0029] Figure 4 yes Figure 1 , 2 Exploded view of the lower rotating seat and energy storage support box (the figure also shows the upper arm fixing assembly, arm rod, shoulder joint and upper rotating seat energy storage support box);

[0030] Figure 5 yes Figure 1 , 2 Exploded view of the mid-arm bar (the upper arm fixation assembly and shoulder joint are also shown in the figure);

[0031] Figure 6 This is a schematic diagram of the three-dimensional structure of the back of this shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton;

[0032] Figure 7 This is a top view of the wearable device for assisting muscle strength as described in the background art, in use.

[0033] Figure 8 This is a top-view structural diagram of the shoulder-mounted dual-degree-of-freedom upper limb lifting assist exoskeleton in use.

[0034] In the diagram: 1 is the energy storage support box, 2 is the shoulder strap, 3 is the upper arm support, 4 is the upper arm binding, 5 is the arm rod, 51 is the inner tube, 52 is the outer tube, 53 is the locking pin, 54 is the return spring, 55 is the elongated slot, 6 is the elastic body, 7 is the shoulder joint, 71 is the protruding plate, 72 is the hollow slot, 73 is the elongated slotted guide hole, 74 is the adjusting block, 75 is the adjusting screw, 76 is the lower extension plate, 77 is the pin hole, 78 is the second horizontal shaft, 79 is the protrusion, 8 is the upper rotating seat, 81 is the connecting block, and 82 is the upper bearing. 83 is a rotating sleeve, 84 is a cylinder, 85 is a lug, 9 is a horizontal shaft, 10 is a pull rope, 11 is a waist belt, 12 is a lower rotating seat, 121 is a connector, 122 is a lower bearing, 123 is a bearing seat, 124 is a waist plate, 13 is a front back plate, 14 is a rear back plate, 15 is a vertical slide, 16 is an adjusting waist rod, 17 is a locking pin, 18 is a side window, 19 is a control switch block, 20 is a reset torsion spring, 21 is a connecting rope or belt, 22 is a locking hole, 23 is the first fixing post, and 24 is the second fixing post.

[0035] 25 represents the user's spine, 26 represents the user's shoulder joint, 130 / 140 represents the vertical hinge axis, 27 represents the edge formed by the line connecting the user's spine 25 and the user's shoulder joint 26, 28 represents the edge formed by the line connecting the user's shoulder joint 26 and the vertical hinge axis 130 / 140, and 29 represents the edge formed by the line connecting the vertical hinge axis 130 / 140 and the user's spine 25.

[0036] 30 is the edge formed by the line connecting the user's shoulder joint 26 and the upper rotating seat 8, 31 is the edge formed by the energy storage support box 1, and 32 is the edge formed by the line connecting the lower rotating seat 12 and the user's shoulder joint 26. Detailed Implementation

[0037] Implementation method one: such as Figure 1-6As shown, this shoulder-mounted dual-degree-of-freedom upper limb lifting assistive exoskeleton includes a body fixation component, two energy storage support boxes 1, and two upper arm fixation components. The body fixation component includes a back strap 2 and a body harness. The two energy storage support boxes 1 are respectively fixed to the body harness. The two upper arm fixation components are respectively fixed to the user's upper arm. Each upper arm fixation component includes an upper arm support 3 and an upper arm binding 4. The upper arm support 3 is hinged to an arm bar 5, the lower end of which is directly or indirectly connected to an adjacent energy storage support box 1. An elastic body 6 is provided inside each energy storage support box 1. When the user's arm falls, the elastic body 6 deforms under force to store energy; when the user's arm is raised, the elastic body 6 rebounds and releases energy, providing assistance. Its distinguishing feature is that it also includes a shoulder joint 7. The top of the energy storage support box 1... An upper rotating seat 8 is provided. The outer side of the shoulder joint 7 is hinged to the upper rotating seat 8 via a horizontal shaft 9. The lower end of the arm 5 is fixed to the shoulder joint 7 and indirectly connected to the adjacent energy storage support box 1 via the shoulder joint 7. The lower end of the elastic body 6 is fixed inside the energy storage support box 1. The upper end of the elastic body 6 is connected to the inner side of the shoulder joint 7 via a pull rope 10. The arm 5, shoulder joint 7, pull rope 10, and elastic body 6 form a lever-type energy storage mechanism. The body belt includes a waist belt 11. Lower rotating seats 12 are respectively provided on both sides of the rear of the waist belt 11. The lower end of the energy storage support box 1 is rotatably fixed to the lower rotating seat 12. The axis of the upper rotating seat 8 is parallel to the axis of the lower rotating seat 12 and is located outside the axis of the lower rotating seat 12.

[0038] The upper rotating seat 8 includes a connecting block 81, an upper bearing 82, and a rotating sleeve 83. The energy storage support box 1 extends outward into a slot. The connecting block is inserted into the relevant slot. A cylinder 84 is provided on the connecting block 81. The upper bearing 82 is sleeved on the cylinder 84. The rotating sleeve 83 is sleeved on the upper bearing 82. The rotating sleeve 83 is provided with a lug 85 with a through hole. A protruding plate 71 with a through hole extends from the lower outer corner of the shoulder joint 7. The through hole on the protruding plate 71 is opposite to that on the lug 85. The horizontal shaft 9 passes through the through hole opposite to that on the protruding plate 71 and the lug 85, thereby hinged the shoulder joint 7 to the upper rotating seat 8.

[0039] The lower part of the shoulder joint 7 is provided with a slot 72. The side walls of the slot 72 are respectively provided with elongated slot-shaped guide holes 73 and an adjusting block 74. The adjusting block 74 is provided with a threaded through hole. The inner side wall of the shoulder joint 7 is provided with a through hole (not shown in the figure). An adjusting screw 75 is rotatably fixed in the through hole. The adjusting block 74 is provided with a corresponding lower extension plate 76. The lower extension plate 76 is provided with a pin hole 77. A second horizontal shaft 78 is inserted into the pin hole 77. The two ends of the second horizontal shaft 78 are respectively inserted from the elongated slot-shaped guide holes 73 on both sides of the shoulder joint 7. Twisting the adjusting screw 75 can drive the adjusting block 74 and the second horizontal shaft 78 to move left and right in the elongated slot-shaped guide hole 73. The elastic body 6 is preferably annular. The lower end of the elastic body 6 is sleeved on the first fixed post 23 on the energy storage support box 1. One end of the pull rope 10 is fixed to the second fixed column 24 of the energy storage support box 1, and the other end passes upward around the second horizontal axis 78 and is connected downward to the top of the elastic body 6.

[0040] The lower rotating seat 12 includes a connector 121, a lower bearing 122, and a bearing seat 123. The bearing seat 123 is connected to the belt 11 via a waist plate 124. The lower bearing 122 is fixed inside the bearing seat 123. The lower part of the connector 121 is fixed to the inner ring of the lower bearing 122. The upper part of the connector 121 is directly or indirectly connected to the lower end of the energy storage support box 1.

[0041] The energy storage support box 1 includes a front back panel 13 and a rear back panel 14, which are interlocked to form an installation space. A vertical groove 15 is provided on the inner wall of either the front back panel 13 or the rear back panel 14. An adjusting rod 16 is connected to the upper part of the connector 121. The adjusting rod 16 passes through the vertical groove 15. A pin hole 77 is opened on the side wall of the vertical groove 15, and a locking pin 17 passes through the pin hole 77. Multiple locking holes 22 are opened on the side wall of the adjusting rod 16 near the locking pin 17. A side window is provided on one side of the energy storage support box 1. 18. The outer end of the locking pin 17 is hinged to one end of a control switch block 19. The control switch block 19 is installed inside the side window 18, and its middle section is hinged to the energy storage support box 1 on both sides of the side window 18. It is equipped with a reset torsion spring 20. Pressing the other end of the control switch block 19 can drive the locking pin 17 out of the locking hole 22, release the control switch block 19, and the reset torsion spring 20 rebounds, which can drive the control switch block 19 to selectively lock the front end of the locking pin 17 into the locking hole 22, thereby adjusting the distance between the upper rotating seat 8 and the lower rotating seat 12.

[0042] The shoulder joint 7 is connected to the adjacent shoulder strap 2 by a connecting rope or strap 21.

[0043] The arm 5 includes an inner tube 51 and an outer tube 52. The inner side of the shoulder joint 7 is provided with an upwardly sloping protrusion 79. The lower end of the outer tube 52 is fitted onto the protrusion 79. The upper end of the inner tube 51 is fixed to the upper arm support 3. The lower part of the inner tube 51 is inserted into the outer tube 52. The lower part of the inner tube 51 is provided with a locking pin 53. The outer end face of the locking pin 53 is spherical and equipped with a return spring 54. Multiple evenly distributed locking holes 22 are opened on the same side of the outer tube 52. All the locking holes 22 on the outer tube 52 are connected through a long slot 55. The outer end of the locking pin 53 can move within the long slot 55 and can be locked into any locking hole 22 to lock the length of the arm.

Claims

1. A shoulder double-freedom upper limb lifting-assisted exoskeleton, comprising a body fixing assembly, two energy storage support boxes (1) and two upper arm fixing assemblies, the body fixing assembly comprising a back strap (2) and a body strap, the two energy storage support boxes (1) being fixed on the body strap respectively, and the two upper arm fixing assemblies being fixed on the upper arms of a user respectively, the upper arm fixing assembly comprising an upper arm support (3) and an upper arm binding member (4), the upper arm support being hinged with an arm rod (5), the lower end of the arm rod (5) being directly or indirectly connected to the adjacent energy storage support box (1), and an elastic body (6) being arranged in the energy storage support box (1), the elastic body (6) being deformed to store energy when the user's arm falls, and the elastic body (6) rebounding to release energy when the user's arm is lifted, thereby providing assistance, characterized in that: It also includes shoulder joint (7), the energy storage support box (1) top is equipped with the upper rotating seat (8), the shoulder joint (7) outside is hinged on the upper rotating seat (8) through the horizontal shaft (9), the arm lever (5) lower end is fixed on the shoulder joint (7), is indirectly connected on adjacent energy storage support box (1) through the shoulder joint (7), the elastic body (6) lower end is fixed in the energy storage support box (1), the elastic body (6) upper end is connected between the inside of shoulder joint (7) through the pull rope (10), arm lever (5), shoulder joint (7), pull rope (10) and elastic body (6) form a lever type energy storage mechanism, the body harness includes waistband (11), the waistband (11) rear both sides are equipped with lower rotating seat (12) respectively, the energy storage support box (1) lower end is rotatably fixed in lower rotating seat (12), the axis of the upper rotating seat (8) is parallel to the axis of lower rotating seat (12), and is located on the outside of the axis of lower rotating seat (12).

2. The shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton according to claim 1, characterized in that: The upper rotating seat (8) includes connecting block (81), upper bearing (82) and rotating sleeve (83), the energy storage support box (1) extends out the slot outward, the connecting block is inserted into the relevant slot, the connecting block (81) is equipped with cylinder (84), the upper bearing (82) is sleeved on the cylinder (84), the rotating sleeve (83) is sleeved on the upper bearing (82), the rotating sleeve (83) is equipped with lug (85) with hole, the shoulder joint (7) outside lower corner extends out lug (71) with hole, the lug (71) is opposite to the hole in the lug (85), the horizontal shaft (9) is arranged in the hole opposite to the lug (71) and the lug (85) together, so as to hinge the shoulder joint (7) on the upper rotating seat (8).

3. The shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton according to claim 2, characterized in that: The shoulder joint (7) lower part is equipped with the empty slot (72), the long slot-shaped guide hole (73) is opened on the sidewall of the empty slot (72) two sides respectively, and is equipped with an adjusting block (74), the adjusting block (74) is opened with threaded hole, the inside wall of the shoulder joint (7) is opened with hole, the adjusting screw rod (75) is rotatably fixed in the hole, the adjusting block (74) is equipped with opposite lower extension plate (76), the pin hole (77) is opened on the lower extension plate (76), the second horizontal shaft (78) is arranged in the pin hole (77), the second horizontal shaft (78) both ends are respectively from the long slot-shaped guide hole (73) of the two sides of the shoulder joint (7) and are arranged out, the adjusting screw rod (75) is twisted, can drive the adjusting block (74) and the second horizontal shaft (78) on it move left and right in the long slot-shaped guide hole (73), the pull rope (10) one end is fixed on the energy storage support box (1), the other end is upwards after rotating around the second horizontal shaft (78), is connected to the upper end of the elastic body (6) downward.

4. The shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton according to claim 1, characterized in that: The lower rotating seat (12) comprises a connecting piece (121), a lower bearing (122) and a bearing seat (123), the bearing seat (123) is connected with the waistband (11) through a waist plate (124), the lower bearing (122) is fixed in the bearing seat (123), the lower part of the connecting piece (121) is fixed on the inner ring of the lower bearing (122), and the upper part of the connecting piece (121) is connected with the lower end of the energy storage support box (1) directly or indirectly.

5. The shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton according to claim 4, characterized in that: The energy storage support box (1) comprises a front back plate (13) and a rear back plate (14), the two are buckled with each other to form an installation space, a vertical sliding groove (15) is arranged on the inner wall of the front back plate (13) or the rear back plate (14), the upper part of the connecting piece (121) is connected with an adjusting waist rod (16), the adjusting waist rod (16) is arranged in the vertical sliding groove (15), a pin hole (77) is formed in the side wall of the vertical sliding groove (15), a pin (17) is arranged in the pin hole (77), a plurality of clamping holes (23) are formed in the side wall of the adjusting waist rod (16) close to the pin (17), a side window (18) is arranged on one side of the energy storage support box (1), the outer end of the pin (17) is hinged to one end of a control switch block (19), the middle segment of the control switch block (19) is hinged to the energy storage support box (1) on the two sides of the side window (18) and is provided with a reset torsional spring (20), the other end of the control switch block (19) is pressed, the pin (17) is driven to exit the clamping hole (23), the control switch block (19) is released, the reset torsional spring (20) rebounds, the control switch block (19) is driven, the front end of the pin (17) is selectively clamped into the clamping hole (23), so that the distance between the upper rotating seat (8) and the lower rotating seat (12) is adjusted.

6. The shoulder dual-degree-of-freedom upper limb lifting assist exoskeleton according to claim 1, characterized in that: The shoulder joint (7) is connected with the adjacent shoulder strap (2) through a connecting rope or a connecting belt (21).

7. The shoulder dual-DOF upper-limb lifting-assist exoskeleton according to any one of claims 1 to 5, characterized in that: The arm rod (5) comprises an inner tube (51) and an outer tube (52), the inner side of the shoulder joint (7) is provided with an upward inclined protruding portion (22), the lower end of the outer tube (52) is sleeved on the protruding portion (22), the upper end of the inner tube (51) is fixed on the large arm support (3), the lower part of the inner tube (51) is inserted into the outer tube (52), the lower part of the inner tube (51) is provided with a pin (53), the outer end surface of the pin (53) is a spherical surface and is provided with a reset spring (54), a plurality of clamping holes (55) are uniformly arranged on the same side of the outer tube (52), the clamping holes (55) on the outer tube (52) are communicated through long slot holes (56), the outer end of the pin (53) can move in the long slot hole (56) and is selectively clamped in any clamping hole (55), so that the length of the arm rod (5) is locked.

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