A dual-mode active and passive upper limb assistive exoskeleton

Abstract

This invention discloses a dual-mode (active and passive) dual-arm upper limb assistive exoskeleton. In the left or right arm assistive exoskeleton of this invention, the lower end of the mounting plate forms a rotating joint with a fixed base on a support vest via a waist support rod, and the upper end forms a rotating joint with a connecting piece via a back support rod. One end of the shoulder support block is fixed to the arm support rod, and the other end is connected to the active slider via a steel wire rope. The middle part forms a rotating joint with the connecting piece and is driven by a motor. The active and passive sliders, both forming sliding joints with the mounting plate, are connected to the mounting plate via tension and compression springs, respectively. A roller at one end of a V-shaped rotating component is located directly above a protrusion on the active slider, and the roller at the other end forms a rolling friction pair with a sliding inclined plate on the mounting plate. The middle part is hinged to the passive slider and connected via a torsion spring. This invention achieves arm assistance through both active motor assistance and passive spring-energy-storage assistance.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically relating to a dual-mode active and passive dual-arm upper limb assistive exoskeleton. Background Technology

[0002] In recent years, with the aging of my country's agricultural workforce becoming increasingly prominent, muscle fatigue caused by prolonged use of handheld equipment during the harvesting of cash crops such as camellia oleifera has become increasingly significant, seriously affecting harvesting efficiency and threatening the health of workers. Therefore, there is an urgent need for an upper limb assistive exoskeleton device to assist workers' arms and alleviate muscle fatigue. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technology and propose a dual-mode active and passive upper limb assistive exoskeleton.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This utility model discloses a dual-mode active and passive upper limb assistive exoskeleton, comprising a left arm assistive exoskeleton, a right arm assistive exoskeleton, and a support vest. The structure of the left arm assistive exoskeleton is identical to that of the right arm assistive exoskeleton, and the left and right arm assistive exoskeletons are symmetrically arranged on both sides of the support vest. Both the left and right arm assistive exoskeletons consist of an arm support mechanism, an assist mechanism, and a waist support mechanism.

[0006] The arm support mechanism includes an upper arc-shaped support plate, a lower arc-shaped support plate, an arm support rod, a shoulder support block, a connector, and a back support rod. The upper end of the back support rod and the connector form a rotating pair with a vertically aligned rotation axis. The middle part of the shoulder support block and the connector form a rotating pair with a horizontally aligned rotation axis. Both are driven to rotate by a motor, and a torque sensor is installed on the output shaft of the motor. The motor is controlled by a controller, and the signal output terminal of the torque sensor is connected to the controller. One end of the arm support rod is fixed to one end of the shoulder support block, and the other end is fixed to a connector block integrally formed on the outer wall of the lower arc-shaped support plate. The inner ends of the upper arc-shaped support plate and the inner ends of the lower arc-shaped support plate form a sliding pair in the circumferential direction. Slots are provided at the outer ends of both the lower and upper arc-shaped support plates.

[0007] The lumbar support mechanism includes a lumbar support rod and a fixed base. The fixed base is fixed to the lower end of the support vest. The lower end of the lumbar support rod and the fixed base form a rotating pair with a vertically aligned rotation axis. The assist mechanism includes a mounting plate, a passive slider, an active slider, and a V-shaped rotating component. The upper and lower ends of the vertically aligned mounting plate are fixed to the lower end of the back support rod and the upper end of the lumbar support rod. The passive slider and the active slider are spaced apart and both form a vertical sliding pair with the mounting plate. A sliding plate is fixed on the mounting plate on the side of the passive slider away from the active slider. The lower end of the active slider is connected to the mounting plate via a tension spring, and the upper end is connected to the end of the shoulder support block away from the arm support rod via a steel wire rope. An integrally formed protrusion is provided on the side of the active slider near the guide rail. The upper end of the passive slider is connected to the mounting plate via a compression spring. The middle part of the V-shaped rotating component is hinged to the passive slider and connected via a torsion spring. Rollers are hinged to both ends of the V-shaped rotating component. One roller forms a rolling friction pair with the sliding plate, and the other roller is located directly above the protrusion.

[0008] Preferably, the outer wall of the upper arc-shaped support plate is fixed with a plurality of parallel and spaced arc-shaped sliders, and the inner wall of the lower arc-shaped support plate is provided with a plurality of parallel and spaced arc-shaped grooves. The cross-sections of the arc-shaped sliders and the arc-shaped grooves are both L-shaped, and each arc-shaped slider and an arc-shaped groove form a sliding pair.

[0009] Preferably, the mounting plate is fixed with vertically arranged guide rails and slide rails, and the passive slider and the active slider form sliding pairs with the guide rails and slide rails respectively.

[0010] Preferably, the fixed base is located on the outside of the support vest, and the fixed base is provided with an integrally formed arc-shaped plate. The inner side of the support vest is provided with an arc-shaped fixing plate that is aligned with the arc-shaped plate and arranged coaxially. Multiple pairs of circular holes are provided at a distance from each other at the same end of the arc-shaped plate and the arc-shaped fixing plate. Each pair of circular holes is fixed to a pair of through holes at the corresponding position of the support vest by bolts and nuts.

[0011] More preferably, the arc angle of both the arc-shaped plate and the arc-shaped fixing plate is 60°.

[0012] Preferably, in the initial state, in both the left and right arm-assisted exoskeletons, the rollers near the active slider do not contact the corresponding protrusions, and the arm support rod and the back support rod are at a 135° angle.

[0013] This utility model has the following beneficial effects:

[0014] This invention provides two types of assistance: active motor assistance and passive spring-energy-storage assistance. It enables arm-assisted work, reducing arm load, alleviating muscle fatigue, and improving work efficiency. Specifically, after wearing the exoskeleton, the arms rotate downwards to pick up harvesting tools. Then, the left and right arms repeatedly lift and rotate downwards, driving the harvesting tools to perform harvesting work. During the downward rotation or upward lifting of the left and right arms, the compression springs in the corresponding assistance mechanisms are in a compressed state, and the tension springs are in a stretched state. The compression springs generate a reverse force that, through the passive slider, V-shaped rotating component, and rollers in contact with the active slider, causes the active slider to pull the steel cable downwards. Simultaneously, the reverse force generated by the tension springs also causes the active slider to pull the steel cable downwards. This allows the steel cable to support the left and right arms through the shoulder support block, arm support rod, and corresponding upper and lower arc-shaped support plates, generating an upward torque on the left and right arms. This provides passive assistance when the left and right arms are lifted. During the right arm raising process, when the torque sensor detects that the torque is above the threshold, the controller controls the motor to drive the shoulder support block to rotate the arm support rod upwards. This causes the left and right arms to be actively assisted by the corresponding arm support rods through the upper and lower arc-shaped support plates, providing active assistance to the left and right arms. This adapts to different work intensity scenarios, reducing arm load, alleviating muscle fatigue, and improving work efficiency. The two rotating joints designed for the back support rod and shoulder support block with the connecting parts can accommodate both raising and lowering movements during work and normal arm inward and outward movements when not working. The lower end of the waist support rod and the fixed base form a rotating joint with a vertically aligned rotation axis, ensuring freedom of movement for the waist when not working. Furthermore, some of the force acting on the arm is sequentially transmitted to the waist through the arm support mechanism, the assistance mechanism, and the waist support mechanism, further reducing arm load, alleviating muscle fatigue, and improving work efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the arm support mechanism in this utility model;

[0017] Figure 3 This is a schematic diagram of the upper arc-shaped support plate, the lower arc-shaped support plate, and part of the arm support rod in this utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the shoulder support block, connector, part of the arm support rod, and part of the back support rod in this utility model;

[0019] Figure 5 This is a schematic diagram of the waist support mechanism of this utility model;

[0020] Figure 6 This is a schematic diagram of the assist mechanism in this utility model;

[0021] Figure 7 for Figure 6 Enlarged view of part A in the middle. Detailed Implementation

[0022] The present invention will now be further described with reference to the accompanying drawings.

[0023] like Figure 1 As shown, this utility model discloses a dual-mode active and passive upper limb assistive exoskeleton, including a left arm assistive exoskeleton 1, a right arm assistive exoskeleton 2, and a support vest 3.

[0024] The left arm-assisted exoskeleton 1 includes an arm support mechanism, an assist mechanism, and a lumbar support mechanism; such as Figure 2 , Figure 3 and Figure 4 As shown, the arm support mechanism includes an upper arc-shaped support plate 4, a lower arc-shaped support plate 5, an arm support rod 6, a shoulder support block 7, a connector, and a back support rod 8. The upper end of the back support rod 8 and the connector form a rotating pair with a vertically aligned rotation axis. The middle part of the shoulder support block 7 and the connector form a rotating pair with a horizontally aligned rotation axis. Both are driven by a motor, and a torque sensor is installed on the output shaft of the motor. The motor is controlled by a controller and does not have a brake. The signal output terminal of the torque sensor is connected to the controller. The two rotating pairs of the back support rod 8 and the shoulder support block 7 with the connector can accommodate both the lifting and lowering movements during operation and the normal inward and outward abduction movements of the arm during non-operational periods. One end of the arm support rod 6 is fixed to one end of the shoulder support block 7, and the other end is fixed to a connector block located on the outer wall of the lower arc-shaped support plate 5 and integrally formed. Figure 3 As shown; the inner end of the upper arc-shaped support plate 4 and the inner end of the lower arc-shaped support plate 5 form a sliding pair in the circumferential direction to accommodate arms of different thicknesses. The outer ends of both the lower arc-shaped support plate 5 and the upper arc-shaped support plate 4 are provided with slots for inserting straps to secure the arm; as shown... Figure 5 As shown, the lumbar support mechanism includes a lumbar support rod 9 and a fixed base 10. The fixed base 10 is fixed to the lower end of the support vest 3. The lower end of the lumbar support rod 9 and the fixed base 10 form a rotating joint with the rotation center axis vertically set, ensuring the freedom of movement of the human waist when not in operation; Figure 6 and Figure 7As shown, the assist mechanism includes a mounting plate 12, a passive slider 15, an active slider 17, and a V-shaped rotating component 19. The upper and lower ends of the vertically arranged mounting plate 12 are fixed to the lower end of the back support rod 8 and the upper end of the waist support rod 9. Vertically arranged guide rails and slide rails 14 are fixed on the mounting plate 12, and a sliding plate 16 is fixed on the side of the guide rail away from the slide rail 14. The passive slider 15 and the active slider 17 form sliding pairs with the guide rails and slide rails 14, respectively, and the lower end of the active slider 17 is connected by a tensioning mechanism. Spring 18 is connected to mounting plate 12, and its upper end is connected to the shoulder support block 7 away from arm support rod 6 by a steel wire rope. Active slider 17 has an integrally formed protrusion on the side near the guide rail. The upper end of passive slider 15 is connected to mounting plate 12 by compression spring 13. The middle part of V-shaped rotating part 19 is hinged to passive slider 15 and connected by torsion spring. Both ends of V-shaped rotating part 19 are hinged with rollers, and one roller forms a rolling friction pair with sliding plate 16, while the other roller is located directly above the protrusion.

[0025] The structure of the left arm assist exoskeleton 1 is the same as that of the right arm assist exoskeleton 2, and the left arm assist exoskeleton 1 and the right arm assist exoskeleton 2 are symmetrically arranged on both sides of the support vest 3.

[0026] In a preferred embodiment, the outer wall of the upper arc-shaped support plate 4 is fixed with a plurality of parallel and spaced arc-shaped sliders, and the inner wall of the lower arc-shaped support plate 5 is provided with a plurality of parallel and spaced arc-shaped grooves. The cross-sections of the arc-shaped sliders and the arc-shaped grooves are both L-shaped, and each arc-shaped slider and an arc-shaped groove form a sliding pair.

[0027] As a preferred embodiment, the fixed base 10 is located on the outside of the support vest 3, and the fixed base 10 is provided with an integrally formed arc-shaped plate. The inner side of the support vest 3 is provided with an arc-shaped fixing plate 11 that is aligned with the arc-shaped plate and arranged coaxially. Multiple pairs of circular holes are provided at the same end of the arc-shaped plate and the arc-shaped fixing plate 11. Each pair of circular holes is fixed to a pair of through holes at the corresponding position of the support vest 3 by bolts and nuts.

[0028] More preferably, the arc angle of both the arc plate and the arc fixing plate 11 is 60°, which can conform to the curve of the human waist and ensure better wearing comfort.

[0029] The working principle of this utility model, a dual-mode active and passive upper limb assistive exoskeleton, is as follows:

[0030] In the initial state, in the left arm assist exoskeleton 1 and the right arm assist exoskeleton 2, the rollers near the active slider 17 do not contact the corresponding protrusions, and the arm support rod 6 and the back support rod 8 are at a 135° angle.

[0031] In use, first put on the support vest 3, raise the left and right arms so that the upper arc plate 4 and lower arc plate 5 of the left arm assist exoskeleton 1 are put on the left arm, and the upper arc plate 4 and lower arc plate 5 of the right arm assist exoskeleton 2 are put on the right arm. The slots on each upper arc plate 4 and the corresponding slots on the lower arc plate 5 are fixed by straps. Then, the left and right arms rotate downward to pick up the harvesting tools. Then, the left and right arms repeatedly raise and rotate downward to drive the harvesting tools to carry out harvesting work.

[0032] During the downward rotation of the left or right arm, the upper arc-shaped support plate 4, lower arc-shaped support plate 5, and arm support rod 6 on the left arm assist exoskeleton 1 or right arm assist exoskeleton 2 drive the shoulder support block 7 to rotate. The shoulder support block 7 pulls the active slider 17 upward via a steel wire rope, stretching the tension spring 18. The protrusion on the active slider 17 contacts the corresponding roller, and through the V-shaped rotating component 19, drives the passive slider 15 upward. The passive slider 15 drives the compression spring 13 to compress, and through the V-shaped rotating component 19, drives the roller in contact with the sliding plate 16 to roll upward along the sliding plate 16. The compression spring 13 generates a reverse force through the passive slider 15, the V-shaped rotating component 19, and... The rollers in contact with the protrusions cause the active slider 17 to pull the steel wire rope downwards. At the same time, the reverse force generated by the tension spring 18 also causes the active slider 17 to pull the steel wire rope downwards. This causes the steel wire rope to support the left or right arm through the shoulder support block 7, the arm support rod 6, and the corresponding upper arc-shaped support plate 4 and lower arc-shaped support plate 5, generating an upward torque on the left or right arm and providing passive assistance when the left and right arms are raised. During the raising of the left and right arms, the compression spring 13 pushes the passive slider 15 to move downwards. The passive slider 15 drives the rollers in contact with the sliding plate 16 to roll downwards along the sliding plate 16 through the V-shaped rotating part 19. The tension spring 18 pulls the active slider 17 downwards.

[0033] Furthermore, under the passive assistance of the corresponding compression spring 13 and the corresponding tension spring 18, when the torque sensor detects that the torque is above the threshold, the motor actively assists the left and right arms in the upward lifting motion. The active assistance process is as follows: on the left arm assist exoskeleton 1 and the right arm assist exoskeleton 2, the controller controls the motor to drive the shoulder support block 7 to rotate the arm support rod 6 upward. The left and right arms are driven upward by the arm support rod 6 through the upper arc-shaped support plate 4 and the lower arc-shaped support plate 5, thus achieving active assistance to the left and right arms. When the left and right arms rotate downward, the torque detected by the torque sensor will be less than the threshold, and the controller controls the motor to stop.

Claims

1. A dual-mode (active and passive) bi-arm upper limb assistive exoskeleton, comprising a left arm assistive exoskeleton, a right arm assistive exoskeleton, and a supporting vest, wherein the structure of the left arm assistive exoskeleton is identical to that of the right arm assistive exoskeleton, and the left and right arm assistive exoskeletons are symmetrically arranged on both sides of the supporting vest, characterized in that: Both the left and right arm assisted exoskeletons consist of an arm support mechanism, an assist mechanism, and a waist support mechanism. The arm support mechanism includes an upper arc-shaped support plate, a lower arc-shaped support plate, an arm support rod, a shoulder support block, a connector, and a back support rod. The upper end of the back support rod and the connector form a rotating pair with a vertically aligned rotation axis. The middle part of the shoulder support block and the connector form a rotating pair with a horizontally aligned rotation axis. Both are driven to rotate by a motor, and a torque sensor is installed on the output shaft of the motor. The motor is controlled by a controller, and the signal output terminal of the torque sensor is connected to the controller. One end of the arm support rod is fixed to one end of the shoulder support block, and the other end is fixed to a connector block integrally formed on the outer wall of the lower arc-shaped support plate. The inner ends of the upper and lower arc-shaped support plates form a sliding pair in the circumferential direction. Slots are provided at the outer ends of both the lower and upper arc-shaped support plates. The lumbar support mechanism includes a lumbar support rod and a fixed base. The fixed base is fixed to the lower end of the support vest. The lower end of the lumbar support rod and the fixed base form a rotating pair with a vertically aligned rotation axis. The assist mechanism includes a mounting plate, a passive slider, an active slider, and a V-shaped rotating component. The upper and lower ends of the vertically aligned mounting plate are fixed to the lower end of the back support rod and the upper end of the lumbar support rod. The passive slider and the active slider are spaced apart and both form a vertical sliding pair with the mounting plate. A sliding plate is fixed on the mounting plate on the side of the passive slider away from the active slider. The lower end of the active slider is connected to the mounting plate via a tension spring, and the upper end is connected to the end of the shoulder support block away from the arm support rod via a steel wire rope. An integrally formed protrusion is provided on the side of the active slider near the guide rail. The upper end of the passive slider is connected to the mounting plate via a compression spring. The middle part of the V-shaped rotating component is hinged to the passive slider and connected via a torsion spring. Rollers are hinged to both ends of the V-shaped rotating component. One roller forms a rolling friction pair with the sliding plate, and the other roller is located directly above the protrusion.

2. The active and passive dual-mode dual-arm upper limb assistive exoskeleton according to claim 1, characterized in that: The outer wall of the upper arc-shaped support plate is fixed with a plurality of parallel and spaced arc-shaped sliders, and the inner wall of the lower arc-shaped support plate is provided with a plurality of parallel and spaced arc-shaped grooves. The cross-sections of the arc-shaped sliders and the arc-shaped grooves are both L-shaped, and each arc-shaped slider and an arc-shaped groove form a sliding pair.

3. The active and passive dual-mode dual-arm upper limb assistive exoskeleton according to claim 1, characterized in that: The mounting plate is fixed with vertically spaced guide rails and slide rails, and the passive slider and the active slider form sliding pairs with the guide rails and slide rails respectively.

4. The active and passive dual-mode dual-arm upper limb assistive exoskeleton according to claim 1, characterized in that: The fixed base is located on the outside of the support vest, and the fixed base is provided with an integrally formed arc-shaped plate. The inner side of the support vest is provided with an arc-shaped fixing plate that is aligned with the arc-shaped plate and arranged coaxially. Multiple pairs of circular holes are arranged at intervals at the same end of the arc-shaped plate and the arc-shaped fixing plate. Each pair of circular holes is fixed with a pair of through holes at the corresponding position of the support vest by bolts and nuts.

5. The active and passive dual-mode dual-arm upper limb assistive exoskeleton according to claim 4, characterized in that: The arc angle of both the arc-shaped plate and the arc-shaped fixing plate is 60°.

6. The active and passive dual-mode dual-arm upper limb assistive exoskeleton according to claim 1, characterized in that: In the initial state, in both the left and right arm-assisted exoskeletons, the rollers near the active sliders do not contact the corresponding protrusions, and the arm support rods and back support rods are at a 135° angle.

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