Upper limb assisting exoskeleton

Abstract

The utility model relates to the technical field of power assisting equipment, and discloses an upper limb power assisting exoskeleton which comprises a fixing assembly, a binding structure and an exoskeleton structure, the binding structure and the exoskeleton structure are respectively installed on the fixing assembly, and the exoskeleton structure comprises a fixing block, a connecting shaft, a first motor, a connecting arm, a second motor, a small arm and a third motor. The fixing block is provided with a first motor through a fixing plate, the fixing plate is rotatably provided with a mounting plate through a connecting shaft, a second gear is fixedly installed on the connecting shaft, a first gear is fixedly installed on a motor shaft of the first motor, and the first gear and the second gear are meshed with each other. The connecting arm is provided with a small arm through a third motor and a rotating block, the small arm is provided with a screw through a sliding groove, and the screw is provided with a wrist protecting ring and a butterfly nut. By means of the exoskeleton structure, the first motor drives the connecting shaft through the first gear and the second gear, and stable rotation of the shoulder joint is achieved.

Description

Technical Field

[0001] This utility model relates to the field of assistive device technology, and in particular to an upper limb assistive exoskeleton. Background Technology

[0002] An exoskeleton is a device that can be worn on a person to provide protection, additional power or ability, and enhance human function. Exoskeleton devices are mainly used in medical rehabilitation, military, and personal ability enhancement fields. For example, in the medical field, medical staff sometimes need to move patients, and the weight of patients and the strength of medical staff are different. Therefore, upper limb assistive devices are used to help them lift and move patients.

[0003] Existing technologies cannot provide differentiated assistance for the actual force requirements of different joints. Users need to expend extra physical energy to compensate for the lack of mechanical coordination. This not only fails to effectively reduce muscle load, but may also cause chronic injuries to the shoulder, elbow and other parts due to movement compensation, which seriously affects work efficiency and safety and makes it difficult to meet the precision and efficiency requirements of medical rehabilitation or high-intensity work. Utility Model Content

[0004] In view of the above-mentioned problems that existing methods cannot provide differentiated assistance for the actual force requirements of different joints, and users need to expend extra physical strength to compensate for insufficient mechanical coordination, not only can they not effectively reduce muscle load, but they may also cause chronic injuries to the shoulder, elbow and other parts due to movement compensation, which seriously affects work efficiency and safety and makes it difficult to meet the precision and efficiency requirements of medical rehabilitation or high-intensity work, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide an upper limb assistive exoskeleton, which is to address the problem that it cannot provide differentiated assistance for the actual force requirements of different joints. Users need to expend extra physical strength to compensate for the lack of mechanical coordination. Not only can it not effectively reduce muscle load, but it may also cause chronic damage to the shoulder, elbow and other parts due to movement compensation, which seriously affects work efficiency and safety and makes it difficult to meet the precision and efficiency requirements of medical rehabilitation or high-intensity work.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an upper limb assistive exoskeleton, including a fixing component, a restraint structure, and an exoskeleton structure. The restraint structure and the exoskeleton structure are respectively mounted on the fixing component. The exoskeleton structure includes a fixing block, a connecting shaft, a first motor, a connecting arm, a second motor, a forearm, and a third motor. The fixing block is mounted on the first motor via a fixing plate. The fixing plate is rotatably mounted on a mounting plate via the connecting shaft. A second gear is fixedly mounted on the connecting shaft. The first gear is fixedly mounted on the motor shaft of the first motor. The first gear and the second gear mesh with each other. The mounting plate is mounted on the connecting arm via the second motor. The connecting arm is mounted on the forearm via the third motor and the rotating block. The forearm is provided with a screw via a sliding groove. The screw is used to mount a wrist guard and a wing nut.

[0007] As a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the fixing component includes a shoulder strap, a ventilation groove, and shoulder armor. The ventilation groove is disposed on the shoulder strap, and the shoulder armor is symmetrically fixedly installed on the top of the shoulder strap.

[0008] As a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the restraint structure includes a first elastic strap and a second elastic strap. The first elastic strap is fixedly installed on one side of the back strap, and the second elastic strap is fixedly installed on the side of the back strap away from the first elastic strap. A plug is fixedly installed on the first elastic strap, and a buckle adapted to the plug is fixedly installed on the second elastic strap.

[0009] In a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the fixing block is fixedly installed on the top of the shoulder armor, the fixing plate is fixedly installed on both ends of the fixing block, and the first motor is fixedly installed inside the fixing plate.

[0010] In a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the connecting arm is rotatably mounted on the mounting plate, the second motor is fixedly mounted on the end of the mounting plate away from the connecting arm, and the motor shaft of the second motor is fixedly connected to the connecting arm.

[0011] In a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the rotating block is rotatably mounted on the end of the connecting arm away from the second motor, the forearm is fixedly mounted on the rotating block, the third motor is fixedly mounted on the connecting arm, and the motor shaft of the third motor is fixedly connected to the rotating block.

[0012] In a preferred embodiment of the upper limb assistive exoskeleton of this utility model, the slide groove is disposed on the forearm, the screw is slidably disposed in the slide groove, the wrist guard is fixedly installed at one end of the screw, and the wing nut is threadedly installed on the screw.

[0013] The beneficial effects of this utility model are:

[0014] 1. Through the designed exoskeleton structure, the first motor drives the connecting shaft through the first and second gears to achieve stable rotation of the shoulder joint. The second motor directly drives the connecting arm to simulate the flexion and extension of the elbow joint, shortening the power transmission path to reduce energy loss. The third motor drives the forearm through the rotating block to precisely control wrist movement. The three motors work together to provide multi-angle and multi-dimensional assistance support for different joints of the upper limb, covering common movements such as arm raising, elbow flexion, and wrist rotation. This effectively reduces the user's muscle load and is especially suitable for scenarios such as industrial handling and medical rehabilitation that require long-term upper limb work, improving work efficiency and reducing fatigue.

[0015] 2. By adjusting the screw within the groove, the wristband can quickly adapt to the forearm length of different users. Position adjustment can be completed without tools, significantly improving the versatility and wearing efficiency of the exoskeleton. Combined with the manual locking structure of the wing nut, it prevents loosening during exercise, balancing the convenience of adjustment and structural stability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the fixing component of this utility model;

[0019] Figure 3 This is a schematic diagram of the exoskeleton structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the connecting arm of this utility model;

[0021] Figure 5 This is a schematic diagram of the forearm of this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Fixing component; 11. Shoulder strap; 12. Ventilation groove; 13. Shoulder armor; 2. Restraint structure; 21. First elastic strap; 22. Plug; 23. Second elastic strap; 24. Buckle; 3. Exoskeleton structure; 301. Fixing block; 302. Fixing plate; 303. Connecting shaft; 304. Mounting plate; 305. First gear; 306. Second gear; 307. First motor; 308. Connecting arm; 309. Second motor; 310. Rotating block; 311. Forearm; 312. Third motor; 313. Slide groove; 314. Screw; 315. Wristband; 316. Wing nut. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] Example 1

[0026] Refer to attached figure Figure 1 and attached Figure 2 This is the first embodiment of the present invention, which provides an upper limb assistive exoskeleton, including a fixing component 1, a restraint structure 2, and an exoskeleton structure 3. The restraint structure 2 and the exoskeleton structure 3 are respectively installed on the fixing component 1. The fixing component 1 includes a shoulder strap 11, a ventilation groove 12, and a shoulder armor 13. The ventilation groove 12 is disposed on the shoulder strap 11, and the shoulder armor 13 is symmetrically fixedly installed on the top of the shoulder strap 11. The restraint structure 2 includes a first elastic strap 21 and a second elastic strap 23. The first elastic strap 21 is fixedly installed on one side of the shoulder strap 11, and the second elastic strap 23 is fixedly installed on the side of the shoulder strap 11 away from the first elastic strap 21. A plug 22 is fixedly installed on the first elastic strap 21, and a buckle 24 adapted to the plug 22 is fixedly installed on the second elastic strap 23.

[0027] During use, the back strap 11 is worn on the back, and the plug 22 is inserted into the buckle 24 for fixation, thereby putting the back strap 11 on the body. Because the first elastic strap 21 and the second elastic strap 23 are elastic, the first elastic strap 21 and the second elastic strap 23 can bind different body sizes.

[0028] Example 2

[0029] Refer to attached figure Figure 1 - Appendix Figure 5 This is the second embodiment of the present invention, which differs from the first embodiment in that:

[0030] The exoskeleton structure 3 includes a fixing block 301, a connecting shaft 303, a first motor 307, a connecting arm 308, a second motor 309, a forearm 311, and a third motor 312. The fixing block 301 is fixedly installed on the top of the shoulder armor 13. Fixing plates 302 are fixedly installed on both ends of the fixing block 301. The fixing plates 302 are rotatably mounted on the mounting plate 304 via the connecting shaft 303. A second gear 306 is fixedly installed on the connecting shaft 303. The first motor 307 is fixedly installed inside the fixing plate 302. A first gear 305 is fixedly installed on the motor shaft of the first motor 307. The first gear 305 and the second gear 306 mesh with each other. The connecting arm 308 is rotatably mounted on the mounting plate 304. The second motor 309 is fixedly installed on the mounting plate 304 at the end away from the connecting arm 308. The motor shaft of the second motor 309 is fixedly connected to the connecting arm 308. The rotating block 310 is rotatably installed on the end of the connecting arm 308 away from the second motor 309. The forearm 311 is fixedly installed on the rotating block 310. The third motor 312 is fixedly installed on the connecting arm 308, and the motor shaft of the third motor 312 is fixedly connected to the rotating block 310. A sliding groove 313 is provided on the forearm 311. A screw 314 is slidably arranged in the sliding groove 313. A wrist guard ring 315 is fixedly installed on one end of the screw 314. A wing nut 316 is threaded on the screw 314. The wing nut 316 limits and fixes the screw 314.

[0031] During use, when the person puts on the shoulder strap 11, the position of the wristband 315 is adjusted by sliding the screw 314 in the slide groove 313 according to the length of the person's arm. Then, the wing nut 316 is turned to tighten the screw 314 and fix it, thus stabilizing the wristband 315. The person puts their arm through the wristband 315, which supports the arm. The first motor 307 is started, and the motor shaft of the first motor 307 drives the first gear 305 to rotate. The second gear 306 drives the connecting shaft 303 to rotate, which in turn drives the mounting plate 304 to rotate. This starts the second motor 309, which drives the connecting arm 308 to rotate via its motor shaft. The third motor 312 starts the third motor, which drives the rotating block 310 to rotate via its motor shaft, which in turn drives the forearm 311 to rotate. By adjusting the rotation of the first motor 307, the second motor 309, and the third motor 312, the connecting arm 308 and the forearm 311 provide assistance to the arm, thereby saving the operator's upper body strength.

[0032] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An upper limb assistive exoskeleton, characterized in that: The device includes a fixing component (1), a restraint structure (2), and an exoskeleton structure (3). The restraint structure (2) and the exoskeleton structure (3) are respectively mounted on the fixing component (1). The exoskeleton structure (3) includes a fixing block (301), a connecting shaft (303), a first motor (307), a connecting arm (308), a second motor (309), a forearm (311), and a third motor (312). The fixing block (301) mounts the first motor (307) via a fixing plate (302). The fixing plate (302) rotatably mounts a mounting plate (304) via the connecting shaft (303). A second gear (306) is fixedly installed on the (303) motor shaft, and a first gear (305) is fixedly installed on the first motor (307) motor shaft. The first gear (305) and the second gear (306) mesh with each other. The mounting plate (304) installs a connecting arm (308) through the second motor (309). The connecting arm (308) installs a forearm (311) through the third motor (312) and the rotating block (310). The forearm (311) is provided with a screw (314) through the slide groove (313). The screw (314) is equipped with a wrist guard (315) and a wing nut (316).

2. The upper limb assistive exoskeleton according to claim 1, characterized in that: The fixing component (1) includes a shoulder strap (11), a ventilation groove (12), and a shoulder guard (13). The ventilation groove (12) is disposed on the shoulder strap (11), and the shoulder guard (13) is symmetrically fixedly installed on the top of the shoulder strap (11).

3. The upper limb assistive exoskeleton according to claim 1, characterized in that: The restraint structure (2) includes a first elastic strap (21) and a second elastic strap (23). The first elastic strap (21) is fixedly installed on one side of the back strap (11), and the second elastic strap (23) is fixedly installed on the side of the back strap (11) away from the first elastic strap (21). A plug (22) is fixedly installed on the first elastic strap (21), and a buckle (24) that matches the plug (22) is fixedly installed on the second elastic strap (23).

4. The upper limb assistive exoskeleton according to claim 1, characterized in that: The fixing block (301) is fixedly installed on the top of the shoulder armor (13), the fixing plate (302) is fixedly installed on both ends of the fixing block (301), and the first motor (307) is fixedly installed inside the fixing plate (302).

5. The upper limb assistive exoskeleton according to claim 4, characterized in that: The connecting arm (308) is rotatably mounted on the mounting plate (304), and the second motor (309) is fixedly mounted on the end of the mounting plate (304) away from the connecting arm (308). The motor shaft of the second motor (309) is fixedly connected to the connecting arm (308).

6. The upper limb assistive exoskeleton according to claim 5, characterized in that: The rotating block (310) is rotatably mounted on the end of the connecting arm (308) away from the second motor (309), the forearm (311) is fixedly mounted on the rotating block (310), the third motor (312) is fixedly mounted on the connecting arm (308), and the motor shaft of the third motor (312) is fixedly connected to the rotating block (310).

7. The upper limb assistive exoskeleton according to claim 6, characterized in that: The groove (313) is set on the forearm (311), the screw (314) is slidably set in the groove (313), the wrist guard (315) is fixedly installed on one end of the screw (314), and the wing nut (316) is threaded on the screw (314).

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