An upper limb exoskeleton

Abstract

This utility model discloses an upper limb exoskeleton, relating to the field of industrial assistive device structural design technology. The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and an assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism, which is connected to the upper arm fixation. This upper limb exoskeleton provides support and fixation for the user's upper body through the shoulder and waist restraints. To achieve a lightweight design, assist mechanisms are provided on both sides of the shoulder restraint. The rotation of the shoulder rotation mechanism causes the internal tension springs of the assist mechanism to elastically deform and return to their original position, providing mechanical assistance for shoulder movement and ensuring the stability of the assist mechanism. It is adaptable to users of different body types, ensuring flexible movement with multiple degrees of freedom.

Description

Technical Field

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

[0002] Currently, the application scenarios for active exoskeletons, as important devices for assisting human movement, providing support, and aiding, are constantly expanding. Active exoskeleton devices often require complex power systems, sensors, and control systems. The development of these precision components requires significant financial investment, which to some extent limits their widespread application. Active exoskeleton devices typically rely on external energy sources such as batteries to power their systems. However, battery life is limited, and power supply issues may affect the normal operation of the device in certain scenarios. Due to the complex structure of active exoskeletons and the high precision requirements for the coordination between components, repairs are difficult in case of malfunction, requiring specialized technicians and equipment. This undoubtedly increases maintenance costs and time, reducing the efficiency of the device.

[0003] Furthermore, existing active exoskeleton devices also have shortcomings in terms of lightweight design and adaptability. Heavier devices place an additional burden on users, affecting their flexibility and comfort during movement, while poor adaptability makes it difficult for the devices to meet the personalized requirements of users with different body types and needs, limiting the further expansion of their application scenarios.

[0004] Therefore, existing active exoskeleton devices suffer from high equipment costs, reliance on external power sources, and complex maintenance. This invention is suitable for industrial material handling; its lightweight design and high adaptability improve work efficiency, and it is easy to wear without causing movement interference. Utility Model Content

[0005] In view of this, the main objective of this utility model is to provide an upper limb assistive device that solves the problems of existing technologies, such as requiring no power source, being lightweight, having flexible application scenarios, and adapting to users of different body types. To achieve the above objective, the technical solution of this utility model is implemented as follows:

[0006] The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and the assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism. The shoulder rotation mechanism is connected to the upper arm fixation.

[0007] In a preferred embodiment, the shoulder restraint includes: a shoulder strap, a back support, a shoulder adjustment strap, a back adjustment strap, and a connecting buckle;

[0008] In a preferred embodiment, the shoulder straps are fixedly connected to the upper two sides of the back support, one end of the back adjustment strap is fixedly connected to the lower side of the back support, the other end of the back adjustment strap is fixedly connected to the waist restraint, and the back adjustment strap is disconnected in the middle and can be detached and connected by a connecting buckle.

[0009] In a preferred embodiment, one end of the shoulder adjustment strap is fixedly connected to the lower side of each of the two shoulder straps, and the other end of the shoulder adjustment strap is fixedly connected to the waist restraint. The shoulder adjustment strap is disconnected in the middle and can be detached and connected by a connecting buckle.

[0010] In a preferred embodiment, the shoulder restraint and the waist restraint are fixedly connected with straps, the straps including: shoulder straps, waist straps, and abdominal straps;

[0011] In a preferred embodiment, the shoulder straps are fixedly connected to the middle of the two shoulder straps, the middle of the shoulder straps are disconnected and can be detachably connected via shoulder strap buckles, the waist restraints are fixedly connected to both sides of the waist straps, the middle of the waist straps are disconnected and can be detachably connected via waist strap buckles, and the assist mechanism is fixedly connected to the abdominal strap, the middle of the abdominal strap is disconnected and can be detachably connected via abdominal strap buckles.

[0012] In a preferred embodiment, the assist mechanism includes: a fixing part and an energy storage part, wherein the energy storage part is fixedly connected to the fixing part on both sides, the upper end of the fixing part is hinged to the shoulder rotation mechanism, and the lower end of the fixing part is fixedly connected to the waist restraint member;

[0013] In a preferred embodiment, the fixing part includes: a fixing rod and a connecting rod, the upper side of the fixing rod is fixedly connected to the energy storage part, the lower side of the fixing rod is fixedly connected to the waist restraint member, the upper side of the connecting rod is hinged to the shoulder rotation mechanism, and the lower side of the connecting rod is fixedly connected to the energy storage part;

[0014] In a preferred embodiment, the connecting rod includes: a connecting rod and a connecting member, the upper end of the connecting rod and the connecting member are integrally formed, the connecting member includes: a connecting post, a first fixed post and a second fixed post, the upper and lower ends of the connecting post are respectively integrally bent to form one end of the first fixed post and one end of the second fixed post, the first fixed post is hinged to the rotating member, and the side of the second fixed post is integrally formed with the upper side of the connecting rod.

[0015] In a preferred embodiment, the energy storage unit includes: a pull rope, a pull rope ring, an energy storage rod, and an energy storage component. The upper side of the fixed rod and the lower side of the connecting rod are respectively fixedly connected to both sides of the energy storage rod, and the energy storage component is connected inside the energy storage rod.

[0016] In a preferred embodiment, the two ends of the pull rope are fixedly connected to the pull rope loops, one side of the pull rope loop is fixedly connected to the shoulder rotation mechanism, and the other side of the pull rope loop is fixedly connected to the energy storage device.

[0017] In a preferred embodiment, the assist mechanism further includes: a fixing member, a first fixing ring, a second fixing ring, and a limiting ring. The fixing member is respectively disposed on the upper side and the lower side of the energy storage rod, and the two fixing members are fixedly connected to the fixing rod and the connecting rod.

[0018] In a preferred embodiment, the first fixing ring is respectively disposed above and below the two fixing members, and the first fixing ring is integrally formed with the connecting rod;

[0019] In a preferred embodiment, the second fixing ring is respectively disposed above and below the two fixing members, and the second fixing ring is integrally formed with the fixing rod;

[0020] In a preferred embodiment, the limiting ring is respectively disposed above and below the two fixing members, the limiting ring is integrally formed with the energy storage rod, and a pull hole is provided in the center of the limiting ring, through which the pull rope passes and is fixedly connected to the energy storage member.

[0021] In a preferred embodiment, a hinged ball is fixedly connected to the lower side of the fixed rod, the hinged ball is hinged in the hinge seat, and the hinge seat is fixedly connected to the waist restraint member.

[0022] In a preferred embodiment, the shoulder rotation mechanism includes a rotating member hinged to the connecting member;

[0023] In a preferred embodiment, the rotating member includes: a bent portion, an annular portion, and an extension portion, wherein one side of the bent portion and one side of the extension portion are integrally formed on both sides of the annular portion;

[0024] In a preferred embodiment, the bending portion has a through hole, the pull rope ring is fixedly connected to the through hole, the other end of the first fixing post passes through the central through hole of the annular portion and is hinged to the annular portion, the other side of the extension portion is fixedly connected to one side of the telescopic member, and the other side of the telescopic member is telescopically connected to the upper arm fixing member.

[0025] In a preferred embodiment, the telescopic component includes: an outer rod, a telescopic head, a telescopic spring, and a telescopic inner rod. One side of the telescopic inner rod is slidably connected to the inside of the outer rod along one side of the outer rod, and the other side of the telescopic inner rod is fixedly connected to the upper arm fixing component.

[0026] In a preferred embodiment, the upper and lower surfaces of the telescopic inner rod are respectively provided with telescopic grooves, the telescopic head is limited and connected in the telescopic groove, one side of the telescopic spring abuts against the bottom end face of the telescopic groove, and the other side of the telescopic spring abuts against the lower end face of the telescopic head;

[0027] In a preferred embodiment, the outer sleeve is provided with a sliding groove, the sliding groove including a moving groove and a limiting groove, the moving groove being connected to a plurality of the limiting grooves, and the telescopic head being telescopically connected to the limiting groove.

[0028] In a preferred embodiment, the boom fixing component includes: a support housing, a strap, a pad, a boom fixing seat, and a connector. One end of the strap is fixedly connected to each side of the support housing. The pad is fixedly connected to one side of the support housing, and the boom fixing seat is fixedly connected to the other side of the pad. The boom fixing seat and the connector are rotatably connected, and the connector is fixedly connected to the telescopic inner rod.

[0029] In a preferred embodiment, the shoulder rotation mechanism and the assist mechanism are respectively fixedly connected to the outside of the shoulder shell and the assist mechanism shell.

[0030] The upper limb exoskeleton of this utility model has the following beneficial effects:

[0031] The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and an assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism. The shoulder rotation mechanism is connected to the upper arm fixation.

[0032] This upper limb exoskeleton provides support and fixation for the user's upper body through shoulder and waist restraints. To achieve a lightweight design, assistive mechanisms are installed on both sides of the shoulder restraints. The rotation of the shoulder rotation mechanism causes the elastic deformation and reset of the tension springs inside the assistive mechanism, thus assisting shoulder movement through this mechanical motion. To ensure that the assistive mechanism 5 has at least one support point and maintains its stability, the shoulder rotation mechanism 4 is connected to the upper arm fixation component 3, ensuring that the angle of motion and force of the upper arm are effectively transmitted to the shoulder joint. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0034] Figure 1 This is a schematic diagram of the structure of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0035] Figure 2 This is a schematic diagram of the upper limb exoskeleton according to one embodiment of the present disclosure from another angle.

[0036] Figure 3 This is a schematic diagram of the structure of a shoulder restraint member of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0037] Figure 4 This is a schematic diagram of the waist restraint of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0038] Figure 5 This is a schematic diagram of the waist restraint of an upper limb exoskeleton according to one embodiment of the present disclosure from another angle.

[0039] Figure 6 This is a schematic diagram of the assist mechanism and shoulder rotation mechanism of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0040] Figure 7 This is a schematic diagram of the assist mechanism and shoulder rotation mechanism of an upper limb exoskeleton according to an embodiment of the present disclosure, with the shoulder shell and assist mechanism shell removed.

[0041] Figure 8 for Figure 7 A schematic diagram of the structure of an upper limb exoskeleton at point A according to an embodiment of the present disclosure;

[0042] Figure 9 This is a schematic diagram of the structure of the fixation component of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0043] Figure 10 This is a schematic diagram of the connecting rod of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0044] Figure 11 This is a schematic diagram of the rotating component and connecting component of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0045] Figure 12This is a schematic diagram of the rotating component and connecting component of an upper limb exoskeleton according to one embodiment of the present disclosure from another perspective.

[0046] Figure 13 This is a schematic diagram of the structure of the telescopic component of an upper limb exoskeleton according to one embodiment of the present disclosure;

[0047] Figure 14 This is a schematic diagram of the telescopic component of an upper limb exoskeleton according to one embodiment of the present disclosure from another perspective.

[0048] Figure 15 for Figure 14 A schematic diagram of the structure of the telescopic member B of an upper limb exoskeleton according to an embodiment of the present disclosure;

[0049] Figure 16 This is a schematic diagram of the upper arm fixation component of an upper limb exoskeleton according to one embodiment of the present disclosure.

[0050] [Explanation of Key Component Symbols]

[0051] 1. Shoulder restraints;

[0052] 11. Shoulder straps; 12. Back support; 131. Shoulder adjustment straps; 132. Back adjustment straps; 14. Connecting buckles;

[0053] 2. Waist support;

[0054] 3. Boom fixing components;

[0055] 31. Support shell; 32. Straps; 33. Pads; 34. Boom mounting base; 35. Connector;

[0056] 4. Shoulder rotation mechanism;

[0057] 41. Rotating part; 411. Bending part; 4111. Through hole; 412. Annular part; 4121. Through hole; 413. Extension part;

[0058] 42. Connecting parts;

[0059] 421. Connecting post; 422. First fixing post; 423. Second fixing post;

[0060] 5. Supporting organizations;

[0061] 51. Fixing part; 511. Fixing rod; 512. Connecting rod; 5121. Connecting rod;

[0062] 5111, articulated ball; 5112, articulated seat;

[0063] 52. Energy storage unit; 521. Pull rope; 522. Pull rope ring; 523. Energy storage rod; 524. Energy storage component;

[0064] 53. Fastener; 54. First fixing ring; 55. Second fixing ring; 56. Limiting ring;

[0065] 561. Pull hole;

[0066] 6. Girdle; 61. Shoulder girdle; 62. Waist girdle; 63. Abdominal girdle;

[0067] 611. Shoulder strap buckle; 621. Waist strap buckle; 631. Abdominal strap buckle;

[0068] 7. Telescopic components;

[0069] 71. Outer rod; 711. Sliding groove; 7111. Moving groove; 7112. Limiting groove;

[0070] 72. Telescopic head; 73. Telescopic spring; 74. Telescopic inner rod; 741. Telescopic groove;

[0071] 8. Shoulder shell;

[0072] 9. Power mechanism shell. Detailed Implementation

[0073] The following detailed description of an upper limb exoskeleton of the present invention, in conjunction with the accompanying drawings and embodiments thereof, will be provided in further detail.

[0074] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0075] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0076] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0077] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0078] according to Figure 1 — Figure 16As shown, the upper limb exoskeleton includes: a shoulder restraint 1 and a waist restraint 2 for fixing the user's shoulder and waist, an upper arm fixation 3 for fixing the upper arm, a shoulder rotation mechanism 4 for shoulder abduction and adduction, and an assist mechanism 5 for assisting shoulder joint mobility. To achieve a lightweight design while still meeting the user's fixation needs, a waist restraint 2 is adjustablely connected to the underside of the shoulder restraint 1. By adjusting the strap 13 and the connecting buckle 14, the distance between the shoulder restraint 1 and the waist restraint 2 can be further adjusted to meet the fixation needs of users with different body types, allowing the upper limb exoskeleton to better assist the user's shoulder movements. To assist shoulder joint movement, assist mechanisms 5 are provided on both sides of the shoulder restraint 1. These two assist mechanisms 5 ensure that each shoulder has its own independent assist mechanism 5, improving efficiency and allowing each assist mechanism 5 to provide assistance when the force angle and movement trajectory of the left and right shoulders are different. The lower side of the assist mechanism 5 is ball-jointed to the waist restraint 2, ensuring the range of motion of the shoulder in all directions, such as abduction and adduction. It also ensures that the assist mechanism 5 has at least one support point, guaranteeing its stability and preventing it from moving with the shoulder rotation mechanism 4 and thus failing to provide assistance. The upper side of the assist mechanism 5 is fixedly connected to the shoulder rotation mechanism 4. The rotation of the shoulder rotation mechanism 4 drives the elastic deformation and reset of the energy storage component 524 inside the assist mechanism 5, providing assistance to the shoulder movement through mechanical motion. To ensure that the range of motion and force of the upper arm are effectively transmitted to the shoulder joint, the shoulder rotation mechanism 4 is telescopically connected to the upper arm fixation component 3. The telescopic component 7 connects the shoulder rotation mechanism 4 to the upper arm fixation component 3, allowing the shoulder rotation mechanism 4 to extend and retract relative to the upper arm fixation component 3, improving adaptability to users of different body types and ensuring that the relative movement of the upper arm is effectively transmitted to the shoulder rotation mechanism 4. This upper limb exoskeleton provides stable upper body support through shoulder restraints 1 and waist restraints 2. Assist mechanisms 5 are symmetrically distributed on both sides of the shoulders, using an energy storage device 524 to assist the shoulder joint, avoiding reliance on external power. Simultaneously, the telescopic connection between the shoulder rotation mechanism 4 and the upper arm fixation device 3 adapts to users with different arm lengths, ensuring effective transmission of upper arm movement force to the shoulder joint. The overall lightweight design, preferably using an aluminum alloy frame, reduces the burden of exercise.

[0079] To accommodate users of different body types, the shoulder restraint 1 includes: shoulder straps 11 providing shoulder fixation and support, and a back support 12 enhancing shoulder stability and preventing displacement during assistance. The shoulder adjustment straps 131 of the shoulder restraint 1 and the back adjustment straps 132 of the waist restraint 2 are adjustable. The upper sides of the back support 12 are fixedly connected to the upper sides of the shoulder straps 11, and the lower side of the back support 12 is fixedly connected to one end of the back adjustment strap 132. The other end of the back adjustment strap 132 is fixedly connected to the waist restraint 2. The back adjustment strap 132 is disconnected in the middle and can be detached and connected via a connecting buckle 14. The lower sides of the two shoulder straps 11 are fixedly connected to one end of the shoulder adjustment strap 131, and the other end of the shoulder adjustment strap 131 is fixedly connected to the waist restraint 2. The shoulder adjustment strap 131 is disconnected in the middle and can be detached and connected via a connecting buckle 14. By cooperating with the shoulder adjustment strap 131 and the connecting buckle 14, the distance between the shoulder strap 11 and the waist restraint 2 can be adjusted. By cooperating with the back adjustment strap 132 and the connecting buckle 14, the distance between the back support 12 and the waist restraint 2 can be adjusted, thereby adapting to the upper body size of users of different body types and improving the fit and fixation of the garment.

[0080] To further secure the user's upper limbs, straps 6 are fixedly connected to the shoulder restraints 1 and waist restraints 2. The straps 6 include: a shoulder strap 61 for tightening the shoulders and chest; a waist strap 62 for adjusting the tightness of the waist restraints 2; and an abdominal strap 63 for further securing the user's upper body. The shoulder straps 61 are fixedly connected at the middle of the two shoulder straps 11, and are detachable via a shoulder strap buckle 611. Waist straps 62 are fixedly connected to both sides of the waist restraints 2, and are detachable via a waist strap buckle 621. The assist mechanism 5 is fixedly connected to the abdominal strap 63, which is detachable via an abdominal strap buckle 631.

[0081] Shoulder straps 61 are fixedly connected to the two shoulder straps 11, allowing for adjustable distance between the two shoulder straps 11 when worn on the user's upper limb. Support at the user's chest prevents the upper limb exoskeleton from tilting backward due to the weight of other components, ensuring the energy storage element 524 within the assist mechanism 5 can fully extend to provide reset assistance to the shoulder rotation mechanism 4. To further enhance stability, waist straps 2 are also fixedly connected to both sides of the waist restraint 2. These waist straps, with buckles 621, allow for adjustment of the tightness to accommodate different user waist sizes. An abdominal strap 63 is also provided at the abdomen, with both ends fixedly connected to the two assist mechanism housings 9. These multiple straps distribute pressure, reducing the additional load on the shoulder joint caused by the weight of other components. Simultaneously, they ensure the overall center of gravity of the upper limb exoskeleton does not tilt excessively backward towards the user, improving wearing comfort and assist stability. The tightness of the shoulders, abdomen, and waist can be adjusted by pulling the length of the straps and securing them to the connecting buckle 14.

[0082] To secure the assist mechanism 5, the assist mechanism 5 includes: a fixing part 51 that fixes the assist mechanism 5 to the shoulder rotation mechanism 4 and the waist restraint 2, and an energy storage part 52 that provides assistance to the upper limb exoskeleton. The energy storage part 52 is fixedly connected to the fixing part 51 on both sides. The upper end of the fixing part 51 is hinged to the shoulder rotation mechanism 4 to ensure that the shoulder rotation mechanism 4 can rotate relative to the fixing part 51, so that the rotation of the shoulder rotation mechanism 4 can drive the pull rope 521 and the energy storage part 524. The lower end of the fixing part 51 is fixedly connected to the waist restraint 2 to provide support for the assist mechanism 5.

[0083] The fixing part 51 includes a fixing rod 511 connected to the waist restraint 2 and a connecting rod 512 hinged to the rotating part 41 of the shoulder rotation mechanism 4. The upper side of the fixing rod 511 is fixedly connected to the energy storage part 52, and the lower side of the fixing rod 511 is fixedly connected to the waist restraint 2. The upper side of the connecting rod 512 is hinged to the shoulder rotation mechanism 4, and the lower side of the connecting rod 512 is fixedly connected to the energy storage part 52. The combination of the fixing part 51 and the energy storage part 52 constructs the frame of the assist mechanism 5. The fixing part 51 connects to the shoulder rotation mechanism 4 and the waist restraint 2. The energy storage part 52, through an energy storage element 524 (in this specific embodiment, the energy storage element 524 is an elastic tension spring), stores and releases energy, providing mechanical assistance for shoulder movement, avoiding reliance on external energy, and reducing equipment cost and maintenance complexity. The fixed connection between the fixing rod 511 and the connecting rod 512 fixes the two ends of the energy storage part 52 at different positions, forming a stable force-bearing structure. When the shoulder rotation mechanism 4 rotates, the connecting rod 512 drives the pull rope 521 to deform the energy storage component, thereby providing assistance through mechanical motion and ensuring the efficiency and stability of force transmission.

[0084] The connecting rod 512 includes a connecting rod 5121 and a connecting member 42 hinged to the rotating member 41. The upper end of the connecting rod 5121 and the connecting member 42 are integrally formed. The connecting member 42 includes a connecting post 421, a first fixed post 422, and a second fixed post 423. The upper and lower ends of the connecting post 421 are integrally bent to form one end of the first fixed post 422 and one end of the second fixed post 423, respectively. The first fixed post 422 is hinged to the rotating member 41, and the side of the second fixed post 423 is integrally formed with the upper side of the connecting rod 512. When the first fixed post 422 is hinged to the rotating member 41, the connecting post 421 integrally formed on the second fixed post 423. The hinge position of the rotating member 41 and the first fixed post 422, as well as the integrally formed connection of the connecting rod 5121 and the second fixed post 423, are on the same vertical plane. This ensures that when the connecting rod 512 rotates relative to the connecting member 42, the eccentric force of rotation can act perpendicularly on the energy storage unit 52. The hinged design of the connector 42 and the rotating part 41, combined with the elastic deformation of the energy storage part 524, allows the shoulder to move freely in multiple directions (such as abduction and adduction) to adapt to different movement trajectories. At the same time, the pull rope 521 guides the energy storage part 524 to reset, ensuring the continuity of the assist.

[0085] The energy storage unit 52 includes: a pull rope 521 for transmitting shoulder joint rotation, pull rope loops 522 for further securing the two ends of the pull rope 521, an energy storage rod 523 fixedly connected to the fixing unit 51, and an energy storage component 524 for providing assistance to shoulder movement. The energy storage rod 523 is fixedly connected to the upper side of the fixing rod 511 and the lower side of the connecting rod 512 on both sides, respectively. The energy storage component 524 is connected inside the energy storage rod 523. Pull rope loops 522 are fixedly connected to both ends of the pull rope 521. One pull rope loop 522 is fixedly connected to the shoulder rotation mechanism 4, and the other pull rope loop 522 is fixedly connected to the energy storage component 524. The energy storage rod 523 is connected to the fixing rod 511 and the connecting rod 512 on both sides, forming an adjustable elastic structure to adapt to the shoulder movement range of users of different body types, ensuring that the assistive mechanism can work effectively under different movements.

[0086] To further secure the assist mechanism 5, the assist mechanism 5 further includes: a fixing member 53 for fixing and connecting the various rods of the assist mechanism 5; a first fixing ring 54 and a second fixing ring 55 for limiting the fixing member 53; and a limiting ring 56 for the pull rope 521 to pass through. The fixing members 53 are respectively provided on the upper and lower sides of the energy storage rod 523, and the two fixing members 53 fix the fixing rod 511 and the connecting rod 512. The fixing members 53 adopt a left and right split design, and the left half and the right half are fixed by screws to achieve the connection of the connecting rod 512 and the fixing rod 511.

[0087] The first fixing ring 54 is respectively located above and below the two fixing members 51. The first fixing ring 54 is integrally formed with the connecting rod 512, and the connection between the first fixing ring 54 and the connecting rod 512 is stepped, which can further limit the fixing member 53 and prevent it from loosening and slipping due to long-term use. In this specific embodiment, there are two fixing members 53 on the connecting rod 512. This is to fix the energy storage rod 523 from the top and bottom respectively, thereby improving the connection strength between them.

[0088] The second fixing ring 55 is respectively located above and below the two fixing members 51. The second fixing ring 55 is integrally formed with the fixing rod 511, and the connection between the second fixing ring 55 and the fixing rod 511 is stepped. This can further limit the fixing member 53 and prevent it from loosening and slipping due to long-term use. In this specific embodiment, there are two fixing members 53 on the fixing rod 511. This is to fix the energy storage rod 523 from the top and bottom respectively, thereby improving the connection strength between them.

[0089] The limiting ring 56 is respectively located above and below the two fixing members 51. The limiting ring 56 is integrally formed with the energy storage rod 523. The center of the limiting ring 56 has a pull hole 561, and the pull rope 521 passes through the pull hole 561 and is fixedly connected to the energy storage member 524.

[0090] The fixing member 53 secures the connecting rod 512 and the fixing rod 511 to the energy storage rod 523 respectively. The connecting rod 512 fixes the assist mechanism 5 to the shoulder rotation mechanism 4, ensuring the connection strength and the stability of the movement trajectory of the pull rope 521 and the energy storage member 524. The fixing rod 511 connects the assist mechanism 5 to the waist restraint member 2, providing support while further improving the flexibility of the assist mechanism 5 relative to shoulder movement through the ball joint connection, avoiding restriction of shoulder movement. The first fixing ring 54, the second fixing ring 55, and the limiting ring 56 limit the connecting rod 512, the energy storage rod 53, and the fixing rod 511, ensuring that the assist mechanism 5 maintains a stable structural shape during movement and avoiding the impact of shaking on the assist effect. In addition, the modular components also reduce maintenance complexity.

[0091] In order to provide assistance through the components within the assist mechanism 5, the assist mechanism 5 also includes: a pull rope loop 523 that serves to fix and connect the two ends of the pull rope 521.

[0092] The upper side of the pull rope 521 is hinged to the shoulder rotation mechanism 4, and the lower side of the pull rope 521 passes through the central pull hole 561 of the limiting ring 56 and is fixedly connected to the energy storage component 524. The pull rope 521, together with the shoulder rotation mechanism 4 and the energy storage component 524, converts the rotational motion of the shoulder joint into the elastic deformation of the energy storage component 524, providing mechanical assistance. The central pull hole 561 of the limiting ring 56 guides the pull rope 521 to make vertical movements, avoiding jamming caused by skewness and avoiding wear on the pull rope 521.

[0093] To facilitate the connection of the two ends of the pull cord 521 to the energy storage component 524 and the shoulder rotation mechanism 4, pull cord loops 522 are connected to the upper and lower sides of the pull cord 521, respectively. The upper pull cord loop 522 is connected to the shoulder rotation mechanism 4, and the lower pull cord loop 522 is connected to one side of the energy storage component 524. The other side of the energy storage component 524 is fixedly connected to the bottom of the energy storage rod 523. The energy storage component 524 is built into the energy storage rod 523, protecting the core component and simplifying the external structure. The connection design between the pull cord 521 and the energy storage component 524 allows the pull cord 521 to pull the energy storage component 524 when the shoulder rotates. The elastic restoring force of the energy storage component 524 provides assistance for shoulder movement, thereby reducing the load on the user's shoulder muscles.

[0094] To allow for greater freedom of movement in the assistive mechanism 5, a hinge ball 5111 is fixedly connected to the lower side of the fixed rod 511. The hinge ball 5111 is hinged within the hinge seat 5112, which is fixedly connected to the waist restraint member 2. This ensures sufficient support for the lower side of the assistive mechanism 5 while maintaining a large range of motion, making both the elastic deformation and reset process of the energy storage member 524 more stable and efficient. The hinge ball 5111 on the lower side of the fixed rod 511 is hinged to the hinge seat 5112, allowing the assistive mechanism 5 to rotate freely in multiple directions, adapting to various angles of shoulder movement such as abduction and adduction, preventing the mechanism's movement from being restricted and affecting the user's actions. Furthermore, it reduces interference from the assistive mechanism 5 on shoulder movement, allowing for more flexible and natural user movements.

[0095] To enable the shoulder to rotate while connected to the assist mechanism 5, the shoulder rotation mechanism 4 includes a rotating component 41 that drives the assist mechanism 5 and a connecting component 42 that is fixedly connected to the assist mechanism 5. The rotating component 41 is rotatably connected to the connecting component 42. The rotatable connection between the rotating component 41 and the connecting component 42 enables the shoulder to rotate. At the same time, through the connection between the bent part 411 and the pull rope ring 522, the shoulder rotation synchronously drives the energy storage component 524 of the assist mechanism 5 to work.

[0096] The rotating member 41 includes: a bent portion 411 connected to the pull rope 521, an annular portion 412 that rotatably connects to the connecting member 42, and an extension portion 413 connected to the telescopic member 7. The annular portion 412 has one side of the bent portion 411 and one side of the extension portion 413 integrally formed on both sides.

[0097] The connector 42 includes a connecting post 421, a first fixing post 422, and a second fixing post 423. The upper and lower ends of the connecting post 421 are integrally bent to form one end of the first fixing post 422 and one end of the second fixing post 423, respectively. The other end of the first fixing post 422 passes through the central through hole 4121 of the annular part 412 and is fixedly connected to the nut. The outer wall of the first fixing post 422 and the interior of the central through hole 4121 can rotate relative to each other.

[0098] To secure the pull ring rod 57 to the bend 411, a through hole 4111 is provided in the bend 4111, and the pull rope ring 522 is fixedly connected to the through hole 4111. The side of the second fixing post 423 is integrally formed with the upper side of the connecting rod 512. The other side of the extension 413 is fixedly connected to one side of the telescopic member 7, and the other side of the telescopic member 7 is telescopically connected to the upper arm fixing member 3. The connection between the extension 413 and the telescopic member 7 ensures that the force of the upper arm movement can be effectively transmitted to the shoulder rotation mechanism 4, and then the assist mechanism 5 provides support, improving the efficiency and accuracy of force transmission.

[0099] To make the distance between the shoulder rotation mechanism 4 and the upper arm fixing member 3 adjustable, the telescopic member 7 includes: an outer sleeve rod 71 threadedly fixed to one side of the extension 413; a telescopic head 72 that serves as a limit; a telescopic spring 73 inside the telescopic inner rod 74; and a telescopic inner rod 74 slidably connected inside the outer sleeve rod 71. One side of the telescopic inner rod 74 is slidably connected to the inside of the outer sleeve rod 71 along one side, and the other side of the telescopic inner rod 74 is fixedly connected to the upper arm fixing member 3. The sliding structure of the telescopic inner rod 74 and the outer sleeve rod 71 adjusts the distance between the shoulder rotation mechanism 4 and the upper arm fixing member 3 to accommodate users with different arm lengths.

[0100] To ensure that the telescopic component 7 can be fixed at the required length when it is extended, the upper and lower surfaces of the telescopic inner rod 74 are respectively provided with telescopic grooves 741. The telescopic head 72 is limited and connected in the telescopic groove 741. Of course, in order to install the telescopic head 72 in the telescopic groove 741, in this specific embodiment, the surfaces of the telescopic inner rod 74 on both sides of the telescopic groove 741 are respectively provided with upper and lower covers. The upper and lower covers are snapped onto the telescopic inner rod 74 by buckles. The upper and lower covers are also provided with slots corresponding to the telescopic grooves 714. The size of the slots matches the telescopic head 72 to ensure that the telescopic head 72 can pass through and that the outer wall of the telescopic head 72 can slide inside the slots. One side of the telescopic spring 73 abuts against the bottom end face of the inner surface of the telescopic groove 741, and the other side of the telescopic spring 73 abuts against the lower end face of the telescopic head 72.

[0101] To enable the telescopic inner rod 74 to extend and retract within the outer rod 71, a sliding groove 711 is provided on the outer rod 71. The sliding groove 711 includes a moving groove 7111 for the telescopic head 72 to move and a limiting groove 7112 for the telescopic head 72 to be positioned. Multiple limiting grooves 7112 are connected to the moving groove 7111, and the telescopic member 72 can be telescopically connected within the limiting groove 7112. When the telescopic inner rod 74 slides to a suitable position, the telescopic head 72, under the action of the telescopic spring 73, engages with the limiting groove 7112, thus fixing its length. The telescopic member 7112 allows the distance between the shoulder rotation mechanism 4 and the upper arm fixing member 3 to be adjusted according to the user's arm length, adapting to users of different body types and avoiding discomfort or functional limitations caused by differences in arm length. The cooperation between the telescopic spring 73 and the limiting groove 7112 provides a buffering effect while adjusting the distance, ensuring a smooth extension and retraction process. Furthermore, the multiple limiting grooves 7112 can fix different extension lengths to meet the needs of different usage scenarios.

[0102] To further improve flexibility and force transmission through the rotatable connection of the upper arm fixation component 3, the upper arm fixation component 3 includes: a support housing 31 acting as a connector 35; an elastic strap 32 with stretching and contraction functions; and a soft pad 33 to enhance wearing comfort. An upper arm fixation seat 34 is fixedly connected to the support housing 31, and a connector 35 is fixedly connected to a section of the telescopic inner rod 74. One end of the strap is fixedly connected to each side of the support housing 31, the soft pad 33 is fixedly connected to one side of the support housing 31, and the upper arm fixation seat 34 is fixedly connected to the other side of the soft pad 33. The upper arm fixation seat 34 and the connector 35 are rotatably connected, and the connector 35 is fixedly connected to the telescopic inner rod 74. The support housing 31 and the soft pad 33 distribute pressure on the upper arm, avoiding localized compression. The strap 32 enables quick donning, while the soft pad 33 enhances long-term wearing comfort. The upper arm fixing component 3 is rotatably connected to the connector 35 via the upper arm fixing seat 34, allowing the upper arm to rotate within a certain range. In conjunction with the shoulder rotation mechanism 4, it further enhances the freedom of upper limb movement and reduces activity restriction.

[0103] To enhance the protection of the shoulder rotation mechanism 4 and the assist mechanism 5, a shoulder housing 8 and an assist mechanism housing 9 are respectively fixedly connected to the outside of the shoulder rotation mechanism 4 and the assist mechanism 5. The shoulder housing 8 and the assist mechanism housing 9 can effectively block external impacts, protect vulnerable parts such as the energy storage component 524 and the pull rope 521, and prevent dust and debris from entering the mechanism, thus reducing the risk of mechanical failure.

[0104] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. An upper limb exoskeleton, characterized in that, include: The shoulder restraint (1), waist restraint (2), upper arm fixation (3), shoulder rotation mechanism (4) and assist mechanism (5) are provided. The lower side of the shoulder restraint (1) is connected to the waist restraint (2). The assist mechanism (5) is provided below the shoulder restraint (1). The lower end of the assist mechanism (5) is fixedly connected to the waist restraint (2). The upper side of the assist mechanism (5) is fixedly connected to the shoulder rotation mechanism (4). The shoulder rotation mechanism (4) is connected to the upper arm fixation (3).

2. The upper limb exoskeleton according to claim 1, characterized in that, The shoulder restraint (1) includes: shoulder strap (11), back support (12), shoulder adjustment strap (131), back adjustment strap (132) and connecting buckle (14). The back support (12) is fixedly connected to the shoulder straps (11) on both sides of the upper side, and the back support (12) is fixedly connected to one end of the back adjustment strap (132) on the lower side. The back adjustment strap (132) is fixedly connected to the waist restraint (2) on the other end. The back adjustment strap (132) is disconnected in the middle and can be detached and connected by a connecting buckle (14). The two shoulder straps (11) are respectively fixedly connected to one end of the shoulder adjustment strap (131) on the lower side, and the other end of the shoulder adjustment strap (131) is fixedly connected to the waist restraint (2). The shoulder adjustment strap (131) is disconnected in the middle and can be detached and connected by a connecting buckle (14).

3. The upper limb exoskeleton according to claim 2, characterized in that, The shoulder restraint (1) and the waist restraint (2) are fixedly connected with straps (6), the straps (6) including: shoulder straps (61), waist straps (62) and abdominal straps (63); The shoulder straps (11) are fixedly connected to the shoulder straps (61) at the middle. The shoulder straps (61) are disconnected at the middle and can be detached and connected through the shoulder strap buckle (611). The waist restraint (2) is fixedly connected to the waist straps (62) on both sides. The waist straps (62) are disconnected at the middle and can be detached and connected through the waist strap buckle (621). The assist mechanism (5) is fixedly connected to the abdominal straps (63). The abdominal straps (63) are disconnected at the middle and can be detached and connected through the abdominal strap buckle (631).

4. The upper limb exoskeleton according to claim 3, characterized in that, The assist mechanism (5) includes a fixing part (51) and an energy storage part (52). The energy storage part (52) is fixedly connected to the fixing part (51) on both sides. The upper end of the fixing part (51) is hinged to the shoulder rotation mechanism (4). The lower end of the fixing part (51) is fixedly connected to the waist restraint member (2). The fixing part (51) includes a fixing rod (511) and a connecting rod (512). The upper side of the fixing rod (511) is fixedly connected to the energy storage part (52), and the lower side of the fixing rod (511) is fixedly connected to the waist restraint member (2). The upper side of the connecting rod (512) is hinged to the shoulder rotation mechanism (4), and the lower side of the connecting rod (512) is fixedly connected to the energy storage part (52). The connecting rod (512) includes a connecting rod (5121) and a connector (42). The upper end of the connecting rod (5121) and the connector (42) are integrally formed. The connector (42) includes a connecting post (421), a first fixing post (422), and a second fixing post (423). The upper and lower ends of the connecting post (421) are integrally bent to form one end of the first fixing post (422) and one end of the second fixing post (423). The first fixing post (422) is hinged to a rotating member (41). The side of the second fixing post (423) is integrally formed with the upper side of the connecting rod (512). The energy storage unit (52) includes: a pull rope (521), a pull rope ring (522), an energy storage rod (523), and an energy storage component (524). The energy storage rod (523) is fixedly connected to the upper side of the fixed rod (511) and the lower side of the connecting rod (512) on both sides respectively. The energy storage component (524) is connected inside the energy storage rod (523). The two ends of the pull rope (521) are fixedly connected to the pull rope ring (522), one side of the pull rope ring (522) is fixedly connected to the shoulder rotation mechanism (4), and the other side of the pull rope ring (522) is fixedly connected to the energy storage device (524).

5. The upper limb exoskeleton according to claim 4, characterized in that, The assist mechanism (5) further includes: a fixing member (53), a first fixing ring (54), a second fixing ring (55) and a limiting ring (56). The fixing member (53) is respectively provided on the upper and lower sides of the energy storage rod (523). The two fixing members (53) are fixedly connected to the fixing rod (511) and the connecting rod (512). The first fixing ring (54) is respectively located above and below the two fixing members (53), and the first fixing ring (54) is integrally formed with the connecting rod (512); The second fixing ring (55) is respectively provided above and below the two fixing members (53), and the second fixing ring (55) is integrally formed with the fixing rod (511); The limiting ring (56) is respectively located above and below the two fixing members (53). The limiting ring (56) is integrally formed with the energy storage rod (523). A pull hole (561) is provided in the center of the limiting ring (56). The pull rope (521) passes through the pull hole (561) and is fixedly connected to the energy storage member (524).

6. The upper limb exoskeleton according to claim 5, characterized in that, A hinge ball (5111) is fixedly connected to the lower side of the fixed rod (5111). The hinge ball (5111) is hinged in the hinge seat (5112). The hinge seat (5112) is fixedly connected to the waist restraint member (2).

7. The upper limb exoskeleton according to claim 6, characterized in that, The shoulder rotation mechanism (4) includes: a rotating member (41) hinged to the connecting member (42); The rotating component (41) includes: a bent portion (411), an annular portion (412) and an extension portion (413), wherein the annular portion (412) is integrally formed on one side of the bent portion (411) and one side of the extension portion (413); The bending part (411) has a through hole (4111), the pull rope ring (522) is fixedly connected to the through hole (4111), the other end of the first fixing post (422) passes through the central through hole (4121) of the annular part (412) and is hinged to the annular part (412), the other side of the extension part (413) is fixedly connected to one side of the telescopic member (7), and the other side of the telescopic member (7) is telescopically connected to the upper arm fixing member (3).

8. The upper limb exoskeleton according to claim 7, characterized in that, The telescopic component (7) includes: an outer rod (71), a telescopic head (72), a telescopic spring (73), and a telescopic inner rod (74). One side of the telescopic inner rod (74) is slidably connected to the inside of the outer rod (71) along one side of the outer rod (71), and the other side of the telescopic inner rod (74) is fixedly connected to the upper arm fixing component (3). The upper and lower surfaces of the telescopic inner rod (74) are respectively provided with telescopic grooves (741), the telescopic head (72) is limited and connected in the telescopic groove (741), one side of the telescopic spring (73) abuts against the bottom end face of the telescopic groove (741), and the other side of the telescopic spring (73) abuts against the lower end face of the telescopic head (72). The outer sleeve rod (71) is provided with a sliding groove (711), which includes a moving groove (7111) and a limiting groove (7112). The moving groove (7111) is connected to a plurality of the limiting grooves (7112), and the telescopic head (72) is telescopically connected to the limiting groove (7112).

9. The upper limb exoskeleton according to claim 8, characterized in that, The boom fixing component (3) includes: a support housing (31), a strap (32), a soft pad (33), a boom fixing seat (34), and a connector (35). The support housing (31) is fixedly connected to one end of the strap (32) on both sides. The soft pad (33) is fixedly connected to one side of the support housing (31). The other side of the soft pad (33) is fixedly connected to the boom fixing seat (34). The boom fixing seat (34) and the connector (35) are rotatably connected. The connector (35) and the telescopic inner rod (74) are fixedly connected.

10. The upper limb exoskeleton according to any one of claims 1-9, characterized in that, The shoulder rotation mechanism (4) and the assist mechanism (5) are respectively fixedly connected to the shoulder shell (8) and the assist mechanism shell (9).

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