Passive adjustable upper limb exoskeleton

Abstract

This utility model discloses a passive adjustable upper limb exoskeleton, belonging to the field of exoskeleton technology. It includes a back strap, a waist belt, and two arm straps. The waist belt has two vertical adjustment rods, the upper ends of which are rotatably connected to two shoulder rotating blocks. A horizontal adjustment rod is connected to each shoulder rotating block and is fixedly connected to the arm straps. Each shoulder rotating block has a groove containing a slider, on which a fixed pulley rotates. The vertical adjustment rods have elastic elements, one end of which is fixedly connected to a cable, and the other end of the cable passes over the fixed pulley and is fixedly connected to a rotating shaft. The advantages of this design are: the vertical adjustment rods can adjust the height of the shoulder rotating blocks, and the horizontal adjustment rods can adjust the left and right positions of the arm straps, allowing for flexible size adjustment to accommodate different user heights and arm spans; the sliders can adjust the distance between the fixed pulley and the rotating shaft, changing the amount of assistance provided by the elastic element and the cable, thus improving the exoskeleton's versatility in various scenarios such as lifting and carrying.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a passive adjustable upper limb exoskeleton. Background Technology

[0002] An exoskeleton is a man-made mechanical device, also known as a "wearable robot," that mimics the skeletal and joint structures of the human body and integrates with it for use. Once worn, it assists or enhances the user's limb movements, helping them perform actions such as walking and lifting weights. Based on their energy utilization method, exoskeleton robots can be divided into passive / non-external exoskeleton robots and active / active exoskeleton robots. Passive systems do not require external power and rely primarily on energy storage components such as springs for propulsion; while active systems require external power to drive the robot's movement.

[0003] Currently, in work scenarios such as industrial assembly, logistics handling, and construction, where workers need to perform lifting, carrying, and assembly tasks for extended periods, their upper limbs are prone to muscle fatigue due to continuous load. Long-term work can also lead to occupational diseases such as upper limb muscle strain and frozen shoulder, reducing work efficiency, increasing the risk of accidents, and affecting the physical and mental health of workers.

[0004] However, existing passive upper limb exoskeletons have problems such as the inability to adjust the size, making them unsuitable for different workers' height and weight differences; in addition, the energy storage components have poor matching performance, and cannot adjust the amount of assistance according to the load requirements of different tasks, resulting in some workers receiving insufficient or excessive assistance, affecting work comfort and safety. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by this utility model is: how to adjust the size and assist of the exoskeleton, and improve the versatility of the device.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a passive adjustable upper limb exoskeleton, comprising a back strap, a waist belt, and two sets of arm straps, wherein the back strap and the waist belt are fixedly connected, and the two arm straps are respectively located on the left and right sides of the back strap; the waist belt has two vertical adjustment rods near the left and right sides at the rear, the lower ends of the two vertical adjustment rods are rotatably connected to the waist belt, and the upper ends are rotatably connected to two shoulder rotating blocks through horizontally set rotating shafts; each of the two shoulder rotating blocks is provided with a horizontal adjustment rod, wherein the length direction of the horizontal adjustment rod is perpendicular to the central axis of the rotating shaft, one end of the horizontal adjustment rod is fixedly connected to the shoulder rotating block, and the other end is fixedly connected to an arm strap; The shoulder rotating block is also provided with a sliding groove, which is parallel to the horizontal adjusting rod and extends away from the arm belt. A slider is slidably provided in the sliding groove, and a fixed pulley is rotatably provided on the slider. Each vertical adjusting rod is provided with an elastic element for energy storage. The elastic element is fixedly connected to one end of the cable, and the other end of the cable is fixedly connected to the rotating shaft after passing over the fixed pulley.

[0007] The beneficial effects of this solution are as follows: the vertical adjustment rod can adjust the height of the shoulder rotating block, and the horizontal adjustment rod can adjust the left and right position of the arm strap. The size adjustment is flexible and can adapt to the height and arm span of different users, ensuring adaptability and comfort; the slider can adjust the distance between the fixed pulley and the rotating shaft, change the amount of assistance provided by the elastic element and the cable, and improve the versatility of the exoskeleton in different scenarios such as lifting and carrying.

[0008] Preferably, a threaded rod is rotatably provided inside the slide groove, the central axis of the threaded rod is parallel to the length direction of the slide groove, one end of the threaded rod passes through the slide groove and extends out of the shoulder rotating block, and a knob is fixedly provided thereon; the slider is sleeved on the threaded rod and threadedly connected to the threaded rod; and the slider can move along the length direction of the slide groove under the drive of the threaded rod.

[0009] The advantages of adopting the above preferred solution are: the rotating threaded rod drives the slider to move left and right, the structure is simple; and the thread has a certain self-locking property, so the slider is not easy to move naturally due to shaking.

[0010] Preferably, the vertical adjustment rod includes an inner cylinder and an outer cylinder. The upper end of the outer cylinder is rotatably connected to the shoulder rotating block via a rotating shaft. The inner cylinder slides inside the outer cylinder, and the lower end of the inner cylinder extends out of the outer cylinder and is fixedly provided with a ball head. A base is fixedly provided on the waist belt, and the ball head rotates within the base to form a ball hinge. The side wall of the outer cylinder is provided with a plurality of positioning holes along the central axis, and the side wall of the inner cylinder is provided with a plurality of limiting holes that cooperate with the positioning holes along the central axis. The positioning holes and limiting holes cooperate with each other and are fixedly connected by positioning pins.

[0011] The advantages of adopting the above-mentioned preferred solution are: the lower end of the vertical adjustment rod can rotate freely through the ball head, adapting to the extension movement of the human arm; the relative sliding of the inner and outer cylinders facilitates the adjustment of the overall length, adapting to the height of different users.

[0012] Preferably, a housing is fixedly provided on the side wall of the outer cylinder, and a protrusion is provided inside the housing; the elastic element is located inside the housing and one end is fixedly connected to the protrusion, and the other end is fixedly connected to the lower end of the cable; the upper end of the cable extends out from the upper side of the housing, passes over the fixed pulley, and is fixedly connected to the rotating shaft.

[0013] The advantages of adopting the above preferred solution are: the housing protects the elastic element and extends its service life; and the appearance is more beautiful and simple.

[0014] Preferably, the elastic element is a tension spring.

[0015] The advantages of adopting the above-mentioned preferred solution are: high tension spring strength, rapid rebound, and long service life.

[0016] Preferably, the lateral adjustment rod is a telescopic rod.

[0017] The advantages of adopting the above preferred solution are: the telescopic pole is manually adjustable to accommodate the arm span length of different users.

[0018] Preferably, the shoulder straps, waist belt, and armbands are made of flexible materials.

[0019] The advantages of adopting the above-mentioned preferred solution are: while achieving reliable binding of the human body, it can effectively reduce the pressure during wearing, improve the comfort during use, and avoid discomfort to the skin or muscles caused by wearing for a long time. Attached Figure Description

[0020] Appendix Figure 1 This is a schematic diagram of the overall design of this utility model; Appendix Figure 2 This is a schematic diagram of the housing of this utility model; Appendix Figure 3 This is a schematic diagram of the vertical adjustment rod of this utility model; Appendix Figure 4 This is a schematic diagram of the shoulder rotating block of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Shoulder strap; 2. Waist belt; 3. Arm strap; 4. Vertical adjustment rod; 5. Rotating shaft; 6. Shoulder rotating block; 7. Lateral adjustment rod; 8. Slide groove; 9. Slider; 10. Fixed pulley; 11. Elastic element; 12. Cable; 13. Threaded rod; 14. Knob; 15. Housing; 16. Protrusion; 401. Outer cylinder; 402. Inner cylinder; 403. Ball head; 404. Base; 405. Positioning hole; 406. Limiting hole; 407. Positioning pin. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0023] Example 1 like Figures 1 to 4 As shown, a passive adjustable upper limb exoskeleton includes a back strap 1, a waist belt 2, and two sets of arm straps 3. The back strap 1 and waist belt 2 are fixedly connected, and the two arm straps 3 are located on the left and right sides of the back strap 1, respectively. The waist belt 2 has two vertical adjustment rods 4 near the left and right sides at the rear (corresponding to the back position). The lower ends of the two vertical adjustment rods 4 are rotatably connected to the waist belt 2, and their upper ends are rotatably connected to two shoulder rotating blocks 6 through horizontally set rotating shafts 5. Each of the two shoulder rotating blocks 6 is provided with a horizontal adjustment rod 7. The length direction of the horizontal adjustment rod 7 is perpendicular to the central axis of the rotating shaft 5. One end of the horizontal adjustment rod 7 is fixedly connected to the shoulder rotating block 6, and the other end is fixedly connected to an arm strap 3. The shoulder rotating block 6 is also provided with a sliding groove 8, which is parallel to the horizontal adjusting rod 7 and extends away from the arm belt 3. A slider 9 is slidably provided in the sliding groove 8, and a fixed pulley 10 is rotatably provided on the slider 9. Each vertical adjusting rod 4 is provided with an elastic element 11 for energy storage. The elastic element 11 is fixedly connected to one end of the cable 12, and the other end of the cable 12 passes around the fixed pulley 10 and is fixedly connected to the rotating shaft 5.

[0024] In this embodiment, the user first adjusts the height of the vertical adjustment rod 4 so that the height of the shoulder rotating block 6 corresponds to the user's shoulder. Then, the user adjusts the vertical adjustment rod 4 so that the position of the arm strap 3 corresponds to the user's upper arm. Then, the user puts on the back strap 1, waist belt 2 and two sets of arm straps 3. This can adapt to different users' heights and arm spans, ensuring fit and comfort.

[0025] When the user moves their arms up and down, the armband 3 drives the horizontal adjustment rod 7, which in turn drives the shoulder rotating block 6 to rotate around the pivot 5. When the user moves their arms forward and backward, the lower end of the vertical adjustment rod 4 rotates on the waistband 2 to accommodate the user's arm swings in different directions.

[0026] More specifically, the pivot 5 serves as the fulcrum of motion. When the user's arm moves downward to pick up an item, it drives the shoulder rotating block 6 to move around the pivot 5. The side of the shoulder rotating block 6 away from the arm strap 3 tilts upward, thereby driving the cable 12. The cable 12 pulls the elastic element 11 to store potential energy, preparing for the arm's upward movement. When the user's arm moves upward to lift the item, the elastic element 11 releases the stored potential energy, providing a reverse torque to assist the user's upward movement. This solution can match the reciprocating intermittent lifting motion of the upper limb with the energy storage / release process, achieving continuous and stable assist output, reducing muscle load, and delaying work fatigue.

[0027] Among them, the cable 12 is an elastic rope. Through the deformation buffer of the elastic element 11 and the force transmission adjustment of the cable 12, the impact on the joints during upper limb movement is reduced, and the shoulder and elbow joints are protected.

[0028] Among them, the fixed pulley 10 can be adjusted laterally along the slide 8. The farther the fixed pulley 10 is from the rotating shaft 5, the tighter the cable 12 is. When the shoulder rotating block 6 rotates around the rotating shaft 5, the cable 12 can pull the elastic element 11 for more stroke and store more potential energy, thereby changing the amount of assistance that the elastic element 11 and the cable 12 can provide, and improving the versatility of the exoskeleton in different scenarios such as lifting and carrying.

[0029] Based on this embodiment, the slider 9 slides within the slide groove 8, with the upper and lower sides of the slider 9 fitting against the two inner sides of the slide groove 8. Several through holes can be sequentially opened along the length direction on the side wall of the slide groove 8, and screw holes or pin holes can be opened on the slider 9. Screws or positioning pins are used to pass through a certain through hole and be inserted into the screw hole or pin hole of the slider 9 to fix the position of the slider 9.

[0030] Example 2 like Figure 4 As shown, based on embodiment 1, a threaded rod 13 is rotatably provided inside the slide groove 8. The central axis of the threaded rod 13 is parallel to the length direction of the slide groove 8. One end of the threaded rod 13, away from the rotating shaft 5, passes through the slide groove 8 and extends out of the shoulder rotating block 6, and is fixedly provided with a knob 14. The slider 9 is sleeved on the threaded rod 13 and threadedly connected to the threaded rod 13. The slider 9 can move along the length direction of the slide groove 8 under the drive of the threaded rod 13.

[0031] In this embodiment, the upper and lower sides of the slider 9 are in contact with the two inner sides of the groove 8. When the threaded rod 13 rotates, the slider 9 cannot rotate with it. Therefore, the rotational motion of the threaded rod 13 is converted into the linear motion of the slider 9. The structure is simple and easy to adjust. Furthermore, due to its static friction, the thread has a certain self-locking property, and the slider 9 is not easy to move naturally due to shaking.

[0032] like Figure 3As shown, the vertical adjustment rod 4 includes an inner cylinder 402 and an outer cylinder 401. The upper end of the outer cylinder 401 is rotatably connected to the shoulder rotating block 6 via a rotating shaft 5. The inner cylinder 402 slides inside the outer cylinder 401, and the lower end of the inner cylinder 402 extends out of the outer cylinder 401 and is fixedly provided with a ball head 403. A base 404 is fixedly provided on the waist belt 2, and the ball head 403 rotates within the base 404, forming a ball hinge. The side wall of the outer cylinder 401 is provided with a plurality of positioning holes 405 sequentially along the central axis, and the side wall of the inner cylinder 402 is provided with a plurality of limiting holes 406 sequentially along the central axis, which cooperate with the positioning holes 405. The positioning holes 405 and the limiting holes 406 cooperate with each other and are fixedly connected by positioning pins 407.

[0033] In this embodiment, the lower end of the vertical adjustment rod 4 is a ball head 403. The ball head 403 and the base 404 are ball joints. The ball joints can rotate freely, increasing the degree of freedom and adapting to the movement of the human arm in all directions.

[0034] The inner cylinder 402 can slide inside the outer cylinder 401. After sliding to the corresponding height, any one of the positioning holes 405 and any one of the limiting holes 406 are aligned, and the positioning pin 407 is inserted. The positioning pin 407 passes through the positioning hole 405 and the limiting hole 406 at the same time, so that the inner cylinder 402 and the outer cylinder 401 are relatively fixed, which makes it easy to adjust the overall length and adapt to the height of different users.

[0035] like Figure 2 As shown, a housing 15 is fixedly provided on the side wall of the outer cylinder 401, and a protrusion 16 is provided inside the housing 15; the elastic element 11 is located inside the housing 15 and one end is fixedly connected to the protrusion 16, and the other end is fixedly connected to the lower end of the cable 12; the upper end of the cable 12 extends out from the upper side of the housing 15, passes around the fixed pulley 10, and is fixedly connected to the rotating shaft 5.

[0036] In this embodiment, the shell 15 is divided into two half shells, which enclose the middle part of the outer cylinder 401. One half shell is fixedly connected to the outer circumferential wall of the outer cylinder 401 by a U-shaped hoop, and the other half shell is fixedly connected to the other half shell by screws.

[0037] The housing 15 has a protrusion 16 fixed inside to facilitate fixing one end of the elastic element 11. The top surface of the housing 15 has a through hole to facilitate the passage of the cable 12. The housing 15 can protect the elastic element 11 and extend its service life; and the appearance is more beautiful and simple.

[0038] Based on this embodiment, the two half-shells are manufactured using integrated injection molding.

[0039] like Figure 2 As shown, the elastic element 11 is a tension spring.

[0040] In this embodiment, the tension spring has high strength, can rebound quickly, and has a long service life.

[0041] like Figure 1 As shown, the lateral adjustment rod 7 is a telescopic rod.

[0042] In this embodiment, the telescopic rod is a multi-section cylindrical manually adjustable horizontal rod to accommodate different users' arm span lengths.

[0043] Based on this embodiment, the horizontal adjustment rod 7 can also adopt the same structure as the vertical adjustment rod 4, which is simple in structure and easy to adjust.

[0044] like Figure 1 As shown, the shoulder strap 1, waist belt 2, and arm strap 3 are made of flexible material.

[0045] In this embodiment, the flexible material can be nylon, polyester fiber, or cotton; while achieving reliable binding of the human body, it can effectively reduce the pressure during wearing, improve the comfort during use, and avoid discomfort to the skin or muscles caused by prolonged wearing.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of this utility model that do not depart from the spirit and scope of this technical solution should be covered within the scope of the claims of this utility model.

Claims

1. A passive adjustable upper limb exoskeleton, characterized in that, It includes a shoulder strap (1), a waist belt (2) and two sets of arm straps (3). The shoulder strap (1) and the waist belt (2) are fixedly connected, and the two arm straps (3) are located on the left and right sides of the shoulder strap (1). The waist belt (2) has two vertical adjustment rods (4) near the left and right sides at the rear. The lower ends of the two vertical adjustment rods (4) are rotatably connected to the waist belt (2), and their upper ends are rotatably connected to two shoulder rotating blocks (6) through horizontally set rotating shafts (5). The two shoulder rotating blocks (6) are each provided with a horizontal adjustment rod (7). The length direction of the horizontal adjustment rod (7) is perpendicular to the central axis of the rotating shaft (5). One end of the horizontal adjustment rod (7) is fixedly connected to the shoulder rotating block (6), and the other end is fixedly connected to an arm strap (3). The shoulder rotating block (6) is also provided with a sliding groove (8). The sliding groove (8) is parallel to the horizontal adjusting rod (7) and extends away from the arm belt (3). A slider (9) is slidably provided in the sliding groove (8). A fixed pulley (10) is rotatably provided on the slider (9). Each of the vertical adjusting rods (4) is provided with an elastic element (11) for energy storage. The elastic element (11) is fixedly connected to one end of the cable (12). The other end of the cable (12) passes around the fixed pulley (10) and is fixedly connected to the rotating shaft (5).

2. The passive adjustable upper limb exoskeleton according to claim 1, characterized in that, A threaded rod (13) is rotatably provided inside the slide groove (8). The central axis of the threaded rod (13) is parallel to the length direction of the slide groove (8). One end of the threaded rod (13) passes through the slide groove (8) and extends out of the shoulder rotating block (6), and a knob (14) is fixedly provided thereon. The slider (9) is sleeved on the threaded rod (13) and threadedly connected to the threaded rod (13). The slider (9) can move along the length direction of the slide groove (8) under the drive of the threaded rod (13).

3. The passive adjustable upper limb exoskeleton according to claim 1, characterized in that, The vertical adjustment rod (4) includes an inner cylinder (402) and an outer cylinder (401). The upper end of the outer cylinder (401) is rotatably connected to the shoulder rotating block (6) via a rotating shaft (5). The inner cylinder (402) slides inside the outer cylinder (401). The lower end of the inner cylinder (402) extends out of the outer cylinder (401) and is fixedly provided with a ball head (403). A base (404) is fixedly provided on the waist belt (2). The ball head (403) rotates inside the base (404) and forms a ball hinge. The side wall of the outer cylinder (401) is provided with a number of positioning holes (405) along the central axis. The side wall of the inner cylinder (402) is provided with a number of limiting holes (406) that cooperate with the positioning holes (405) along the central axis. The positioning holes (405) cooperate with the limiting holes (406) and are fixedly connected by positioning pins (407).

4. The passive adjustable upper limb exoskeleton according to claim 3, characterized in that, The outer cylinder (401) is fixedly provided with a housing (15) on its side wall, and the housing (15) is provided with a protrusion (16); the elastic element (11) is located inside the housing (15) and one end is fixedly connected to the protrusion (16), and the other end is fixedly connected to the lower end of the cable (12); the upper end of the cable (12) extends out from the upper side of the housing (15), passes around the fixed pulley (10), and is fixedly connected to the rotating shaft (5).

5. The passive adjustable upper limb exoskeleton according to claim 4, characterized in that, The elastic element (11) is a tension spring.

6. A passive adjustable upper limb exoskeleton according to any one of claims 1 to 5, characterized in that, The lateral adjustment rod (7) is a telescopic rod.

7. A passive adjustable upper limb exoskeleton according to any one of claims 1 to 5, characterized in that, The shoulder straps (1), waist belt (2) and armbands (3) are made of flexible materials.

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