Wearable upper limb active assist device

Abstract

This application relates to the technical field of active assist exoskeleton robots, and more particularly discloses a wearable upper limb active assist device, which includes a trunk skeleton, to which an upper support arm is connected, and further includes a waist bag, to which the upper support arm is flexibly connected, and a group of upper limb levers is connected to the waist bag and the upper support arm, and a group of assist lift levers is driven to the upper support arm. The flexible connection structure replaces the existing rotation axis connection structure between the upper support arm and the trunk skeleton, and at the same time the upper limb lever group supports the upper support arm and the assist lift lever group, and the assist lift lever group is used to increase the lifting force arm of the active assist device, further improving the auxiliary work effect of the active assist device, reducing the user's work discomfort, improving work efficiency, and at the same time reducing the occurrence of safety accidents and health problems such as lower back muscle fatigue.

Description

Technical Field

[0001] This application relates to the technical field of active assist exoskeleton robots, and particularly to a wearable upper limb active assist device.

Background Art

[0002] Currently, in some working scenarios in fields such as logistics warehouses and industrial manufacturing, active assist devices are gradually being applied. The active assist device is a wearable exoskeleton robot with a drive source that assists the user to complete work, reduces the fatigue felt by the user during work, reduces muscle damage to the user, reduces the occurrence of safety accidents, and improves work efficiency.

[0003] The active assist device can be classified into an upper limb active assist device, a lower limb active assist device, and an integrated active assist device that covers the whole body according to the difference in the reinforced limb parts. Among them, the upper limb active assist device is a mechanical structure worn on both the trunk and the upper arms of the operator, and is mainly used to reinforce the upper limb function of the operator.

[0004] Referring to FIG. 1, FIG. 1 is a schematic diagram of the overall structure of an upper limb active assist robot device. In the related art shown in FIG. 1, the upper limb active assist robot device includes a wearable trunk skeleton 1, and upper support arms 4 are rotatably connected to both the left and right sides of the trunk skeleton 1 by connection frame structures and rotation axis structures. Each upper support arm 4 includes a drive source composed of a housing, a motor, a transmission module, etc., and a hand bracket structure 7 that is drivingly connected to the drive source to support both arms of the user.

[0005] While the above-mentioned technologies can assist the user's work, the connection method between the upper support arm and the torso skeleton only satisfies the requirement that the upper support arm rotate along the opening and closing direction of both arms, resulting in "rigid" movement when the user works while wearing the active assist device. In addition, the lift force arm of the active assist device is short and the output torque of the active assist device is small, so the auxiliary support effect is not ideal. The auxiliary work effect performed by the active assist device in the above-mentioned technologies is not ideal, and to some extent it increases the user's work discomfort, limits the user's frequency of use and working time, further affects work efficiency, and at the same time increases the likelihood of safety accidents or causes health problems such as lower back muscle fatigue. [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] To improve the auxiliary work effect of the active assist device, reduce user discomfort during work, improve work efficiency, and simultaneously reduce the occurrence of safety accidents and health problems such as lower back muscle fatigue, this application provides a wearable upper limb active assist device. [Means for solving the problem]

[0007] The wearable upper limb active assist device provided in this application employs the following technical concept.

[0008] The wearable upper limb active assist device includes a torso skeleton for wear by a worker, to which an upper support arm is connected, and further includes a waist bag for wear by the worker around the waist, the upper support arm is flexibly connected to the torso skeleton, and a group of upper limb levers is connected to the waist bag and the upper support arm, and a group of assist lift levers is further driven and connected to the upper support arm.

[0009] By adopting the above-mentioned technology, the existing rotational axis connection structure between the upper support arm and the trunk skeleton is replaced by a flexible connection structure, significantly improving the flexibility of movement when the user is working while wearing the active assist device, and further achieving the objective of supporting the upper support arm with the upper limb lever group, the operational stability of the upper support arm when working after adopting the flexible connection structure is further improved, providing the user with more stable support assistance, and supporting both arms of the worker by using the assist lift lever group while simultaneously increasing the lifting force arm of the active assist device, thereby improving the output torque of the active assist device, and further improving the overall auxiliary work effect of the active assist device, reducing the user's work discomfort, improving work efficiency, and simultaneously achieving the objective of reducing the occurrence of safety accidents and health problems such as lower back muscle fatigue.

[0010] Preferably, the drive connection position between the assist lift lever group and the upper support arm is set close to the flexible connection position between the upper support arm and the trunk skeleton.

[0011] By adopting the above technical proposal, if the design requirements of moving the assist lift lever group upward, increasing the lifting force arm of the main assist device, and improving the output torque of the main assist device are met, the position of the assist lift lever group will be adjusted to better suit the user's upper limbs, further improving the convenience, flexibility, and support assist effect when the user is working, and reducing user fatigue.

[0012] Preferably, the magnitude of the support assist value that the upper support arm uses to drive the assist lift lever group is adjustable.

[0013] By adopting the above technical proposal, it becomes possible to achieve multi-stage adjustment of the assist value, thereby meeting different needs for the assist value in different work scenarios and improving work convenience.

[0014] Preferably, the upper limb lever group is fixedly connected to the upper support arm to support the upper support arm, and the upper limb lever group is hinged to the waist bag.

[0015] By adopting the above technical proposal, the user can not only obtain stable and effective support assistance from the upper support arm and assist lift lever group during the process of wearing, removing, and wearing the active assist device, but also obtain relatively good usability, adaptability, and work comfort.

[0016] Preferably, the upper limb lever group is installed in a telescopic lever group structure with adjustable length.

[0017] By adopting the above technical proposal, users can flexibly adjust the length of the upper limb lever group based on changes in work habits, physical conditions, and work scenes, resulting in relatively good practicality and adaptability.

[0018] Preferably, the waist bag includes a flexible waist panel and a fixed waist panel, with elastic convergence ropes drilled through the flexible waist panel and the fixed waist panel, and a stopper mechanism is installed in the convergence ropes to prevent them from springing back to their naturally extended state.

[0019] By adopting the above technical proposal, the flexible waist panel and convergence rope work together to converge the waist bag around the user's waist. The user can then pull the convergence rope and lock it with the stopper mechanism to securely and firmly wear the waist bag, thereby indirectly improving the support and assist stability of the upper limb lever group. Furthermore, the waist bag's structural design is simple and easy to implement. In addition, the introduction of a flexible waist panel and a fixed waist panel balances the demands for robustness and comfort when wearing the waist bag.

[0020] Preferably, a mounting plate is removably connected to the fixed waist panel, the converging rope is perforated in the mounting plate, a mounting head is further removably connected to the mounting plate, and the upper limb lever group is hinged to the mounting head.

[0021] By adopting the above technical solution, an integral removable connection design of the upper limb lever group and the waist bag is realized, which not only facilitates assembly, disassembly, inspection and maintenance, but also realizes the modular design concept, and the user can exchange modules of different specifications according to the actual working scene or functional requirements.

[0022] Preferably, the stopper mechanism is installed on a locking member connected to the converging rope, and the mounting plate restricts the movement of the stopper mechanism following the converging rope when the stopper mechanism restricts the springback of the converging rope.

[0023] By adopting the above technical solution, a locking member is adopted as the stopper mechanism, which has relatively good versatility, and the stopper mechanism cooperates with the mounting plate to realize a stopper for the converging rope, and has better economy and practicality compared with the design solution of a complex locking mechanism.

[0024] Preferably, a plurality of sets of fixed plates are removably connected to the fixed waist panel, and the plurality of sets of fixed plates cooperate to perforate the converging rope.

[0025] By adopting the above technical solution, the cooperation of a plurality of sets of fixed plates is utilized to improve the stability of the converging rope passing through the flexible waist panel, and to improve the converging effect of the converging rope on the waist bag.

[0026] Preferably, the waist bag further includes a waist buckle structure, and the waist buckle structure includes a belt connected to the fixed waist panel and a buckle connected to the belt.

[0027] By adopting the above technical solution, it is easier for the user to wear the waist bag, and at the same time, the firmness of the waist bag after wearing is further improved.

[0028] Preferably, a flexible plate group is connected to the upper support arm and the body skeleton, the flexible plate group includes an arc-shaped plate, the arc-shaped plate can be elastically bent and deformed under the action of an external force, the natural bending direction of the arc-shaped plate is the opening and closing direction of the upper support arm, and one end of the arc-shaped plate along its arc-shaped bending direction is connected to the body skeleton, and the other end of the arc-shaped plate along its arc-shaped bending direction is connected to the upper support arm.

[0029] By adopting the above technical solution, the arc-shaped plate in the flexible plate group can meet the basic design requirements of the opening and closing of the upper support arm, and can further allow the angular change of the upper support arm in the non-opening and closing direction within a certain range, thereby significantly improving the flexibility and compatibility of the wearing operation of the active assist device.

[0030] Preferably, a clamping member is removably connected to the body skeleton, and the clamping member presses and fixes the arc-shaped plate to the body skeleton.

[0031] By adopting the above technical solution, not only can a stable connection between the arc-shaped plate in the flexible plate group and the body skeleton be realized, but also the assembly, disassembly and later inspection and maintenance operations are facilitated.

[0032] Preferably, a relay connection member is removably connected to the upper support arm, the relay connection member includes a first relay connection plate removably connected to the upper support arm and a second relay connection plate removably connected to the arc-shaped plate, and the first relay connection plate and the second relay connection plate are installed at an included angle.

[0033] By adopting the above technical proposal, in addition to realizing a removable connection between the arc-shaped plate and the upper support arm in the flexible plate group, it is possible to facilitate assembly, disassembly, inspection, and maintenance, and further provide appropriate mounting clearance or space for the flexible plate group to be fitted and connected to the upper support arm and trunk skeleton.

[0034] Preferably, the group of flexible plates further includes a straight plate, which is connected to the trunk skeleton and integrally molded to the inner curved surface of the arc-shaped plate.

[0035] By adopting the above technical proposal, a group of flexible plates in which arc-shaped plates and straight plates are integrally molded can be used, thereby satisfying the requirement to improve the flexibility and adaptability of the upper support arm, and furthermore, it can serve to some extent to improve the stopper, auxiliary load, and flexible connection stability.

[0036] Preferably, the upper limb lever group includes a main lever member, an internal lever member is inserted into the main lever member, the internal lever member is connected to the waist bag by a hinge, and the internal lever member and the main lever member are connected in an interlocking and locking manner.

[0037] By adopting the above technical proposal, an intermediate connection between the main lever member and the waist bag is made using an internal lever member, thereby realizing a connection method for a multi-stage lever group. This method offers relatively flexible use, can meet the design requirements for large dimensions and high strength of the main lever member, and simultaneously ensures structural stability at the connection point. [Effects of the Invention]

[0038] As explained above, this application includes at least one beneficial technical effect.

[0039] By utilizing a flexible connection structure, the existing rotational axis connection structure between the upper support arm and the trunk skeleton is replaced. Simultaneously, the upper support arm and assist lift lever group are supported through the cooperation of the upper limb lever group and the waist bag. Furthermore, the lifting force arm of the main assist device is increased by utilizing the assist lift lever group, improving the output torque of the main assist device. In addition, the flexibility, adaptability, stability, and support assist effect when using the main assist device are improved in all aspects, reducing user discomfort during work, improving work efficiency, and simultaneously reducing the occurrence of safety accidents and health problems such as lower back muscle fatigue. [Brief explanation of the drawing]

[0040] [Figure 1] This is a schematic diagram of the overall structure of a conventional upper limb active assist robot device. [Figure 2] This is a schematic diagram of the overall structure of the wearable upper limb active assist device in Embodiment 1 of the present invention. [Figure 3] This is a schematic diagram of the overall structure of a wearable upper limb active assist device, primarily illustrating the waist bag and flexible plate group structure in the embodiment of the present application. [Figure 4] This is an enlarged schematic view of section A in Figure 2. [Figure 5] This is an enlarged schematic view of section B in Figure 2. [Figure 6] This is an enlarged schematic view of section C in Figure 3. [Figure 7] This is a schematic diagram of the overall structure of the wearable upper limb active assist device in Embodiment 2 of the present invention. [Figure 8] This is a schematic diagram of a partial structure primarily intended to show the movable space in Embodiment 3 of the present application. [Figure 9] This is a schematic diagram of a partial structure mainly to show the folded plate in Embodiment 3 of the present application. [Figure 10] This diagram primarily illustrates the connection structure between the upper limb lever group and the mounting head in Embodiment 4 of the present invention. [Figure 11] This is a cross-sectional view primarily illustrating the connection structure between the upper limb lever group and the mounting head in Embodiment 4 of the present application. [Explanation of symbols]

[0041] 1 Trunk skeleton, 11 Back plate, 12 Bracket, 13 Strap, 131 Front binding band, 132 Rear binding band, 2 Waist bag, 21 Flexible waist panel, 22 Fixed waist panel, 221 Rear waist panel, 222 Side waist panel, 23 Waist buckle structure, 231 Belt, 232 Buckle, 24 Converging rope, 25 Stopper mechanism, 26 Mounting plate, 27 Mounting head, 28 Fixing plate, 29 Perforation hole, 3 Flexible plate group, 31 Arc-shaped plate, 32 Straight plate, 33 Clamping member, 34 Intermediate connecting member, 341 First intermediate connecting plate, 342 Second intermediate connecting plate, 35 Stopper plate, 36 Movable space, 37 Bending plate, 4 Upper support arm, 5 Upper limb lever group, 51 Main lever member, 52 Insertion lever member, 53 Stem, 54 lock sleeve, 55 lock hole, 56 lock block, 57 first fixing sleeve, 58 second fixing sleeve, 6 assist lift lever group, 7 hand bracket structure. [Modes for carrying out the invention]

[0042] The present invention will be described in more detail below with reference to Figures 2-11.

[0043] The embodiments of this application disclose a wearable upper limb active assist device. Example 1

[0044] Referring to Figure 2, Figure 2 is a schematic diagram of the overall structure of a wearable upper limb active assist device in Embodiment 1 of the present invention. The wearable upper limb active assist device includes a wearable trunk skeleton 1 and a waist bag 2. Upper support arms 4 are flexibly connected to both the left and right sides of the trunk skeleton 1 by flexible plate groups 3. An upper limb lever group 5 is connected between the waist bag 2 and the upper support arms 4. One end of the upper limb lever group 5 is fixedly connected to the upper support arms 4, and the other end of the upper limb lever group 5 is hinged to the waist bag 2. The worker's trunk is worn by the trunk skeleton 1, and the waist is worn by the waist bag 2. The flexible plate groups 3 enable normal opening and closing operation of the upper support arms 4 and angle adaptability adjustment during work, and the waist bag 2 and upper limb lever group 5 further improve the support assist effect of the upper support arms 4.

[0045] In the embodiment of the present invention, the torso skeleton 1 includes a back plate 11, a bracket 12, and a strap 13 connected to the back plate 11 and bracket 12. Equipment such as a housing, controller, and detection device are locked and attached to the back plate 11, and the user's shoulders and back support the equipment on the back plate 11 and the upper support arms 4 on both sides by wearing the back plate 11 and bracket 12. It should be noted that the strap 13 shown in Figure 2 includes two parts: a front fastening band 131 and a rear fastening band 132. Here, the front fastening band 131 is shown suspended in mid-air and can be fastened to a waist bag 2, the back plate 11, and even the fastening zippers of the worker's work clothes. In the embodiment of the present invention, the rear fastening band 132 is directly fixed to the waist bag 2, and the fixing method may be locking, fastening, adhesive, etc.

[0046] Naturally, the material of the back plate 11 and bracket 12 can be selected as either a hard plate or a soft material depending on the actual situation, and the shape and size of the back plate 11 and bracket 12 can also be adaptively adjusted, and the specific design means of the strap 13 can also be adjusted accordingly. For example, in other embodiments, the strap 13 can be designed to converge on parts of the worker's torso, arms, etc. Furthermore, it is possible to wear the torso skeleton 1 and upper support arm 4 using only the back plate 11 and bracket 12 without using the strap 13, and the waist bag 2 is worn independently on the worker's waist, and the upper support arm 4 is independently supported by the upper limb lever group 5.

[0047] Furthermore, in the embodiment of this invention, the left and right upper support arms 4 are arranged symmetrically with respect to the center line of the active assist device, and similarly, the flexible plate group 3 and the upper limb lever group 5 connected to the upper support arms 4 are also arranged symmetrically. In addition, the design mounting position and posture of the upper support arms 4 are adjusted to bring the center of gravity of the active assist device closer to the center, optimizing the user experience and reducing fatigue during wear.

[0048] Furthermore, in the embodiment of the present invention, the assist lift lever group 6 is directly driven and connected to the upper support arm 4, and the assist lift lever group 6 is also connected to the hand bracket structure 7 or a similar structure shown in the related technology in Figure 1, that is, an attachment point is reserved at the distal end of the assist lift lever group 6 away from the upper support arm 4 and used to assemble the related structure. Naturally, the hand bracket structure 7 in Figure 1 can be replaced with another structure that similarly supports both upper limbs of the worker, and thus both upper limbs of the assist worker can be directly supported by the assist lift lever group 6, and the above objective can be achieved by attaching the bracket structure to the attachment point of the assist lift lever group 6. By introducing the assist lift lever group 6 and, after modeling design and verification, increasing the lever length of the assist lift lever group 6 within a reasonable range, the lift force arm of the active assist device can be made longer than in the related technology, improving the output torque of the active assist device while keeping the original hardware unchanged, further optimizing equipment performance, improving work efficiency, and saving related work costs.

[0049] Furthermore, the drive connection position and drive connection method of the assist lift lever group 6 are further limited. Specifically, the drive connection position between the assist lift lever group 6 and the upper support arm 4 is brought closer to the flexible connection position between the upper support arm 4 and the trunk skeleton 1. When the design requirement to increase the lift force arm of the main assist device and improve the output torque of the main assist device is met by moving the assist lift lever group 6 upward, the fit of both upper limbs of the user is improved, thereby improving the user's convenience, flexibility and support assist effect during work, and reducing user fatigue. In addition, the magnitude of the output force that drives the rotation of the assist lift lever group 6 by the cooperation of the drive member and transmission mechanism in the upper support arm 4 is adjustable, which can be achieved by software calculation, scene analysis optimization, force feedback, and mechanical structure adjustment. The drive member and transmission mechanism may be a motor, a synchronous pulley group, or a transmission gear, thereby achieving the purpose of multi-stage adjustment to support the assist value, and further meeting different demands for assist values ​​in different work scenes, improving work convenience.

[0050] It should also be noted that the upper limb lever group 5 and the assist lift lever group 6 in the embodiment of the present application can both be designed as fixed-length lever structures, or as adjustable-length telescopic lever group structures, and can further be adapted to the different physiques, work habits, and movement habits of workers, as well as different work scenes. The telescopic lever group structure may also be a lever group structure that is coaxially fitted and connected with a slip-lock mechanism, or it may be any other similar structure that can achieve a similar purpose. The upper limb lever group 5 and the assist lift lever group 6 shown in the drawings of the embodiment of the present application are both fixed-length lever structures.

[0051] The upper support arm 4 and the trunk skeleton 1 will be described in detail below.

[0052] As shown in conjunction with Figures 2 and 3, Figure 3 is a schematic diagram of the overall structure of a wearable upper limb active assist device, mainly illustrating the waist bag and the flexible plate group structure. In the embodiment of the present invention, the flexible plate group 3 includes an arc-shaped plate 31, which is manufactured by processing PU plastic, and the arc-shaped plate 31 exhibits a curved state in its natural state without being subjected to force, and the natural curvature direction is the opening and closing direction of the upper support arm 4. The arc-shaped plate 31 is locked to the torso skeleton 1 at one end along its own arc-shaped curvature direction, and the other end along its own arc-shaped curvature direction is locked to the end of the upper support arm 4 that approaches the torso skeleton 1. After the arc-shaped plate 31 is connected to the torso skeleton 1 and the upper support arm 4, it can satisfy the design requirements for the opening and closing operation of the upper support arm 4. Furthermore, due to the elastic curvature deformation characteristics of the arc-shaped plate 31 itself, it can also satisfy elastic deformation at other angles and directions, significantly improving the flexibility and adaptability when the user is working while wearing the active assist device.

[0053] Specifically, as shown in conjunction with Figures 2 and 4, Figure 4 is an enlarged schematic view of part A in Figure 2. The arc-shaped plate 31 and the back plate 11 of the trunk skeleton 1 are locked together by a clamping member 33, and the arc-shaped plate 31 and the housing of the upper support arm 4 are locked together by a relay connecting member 34. In the embodiment of the present invention, the clamping member 33 is designed to be a substantially triangular metal plate member structure or a triangular composite plate member structure, and the clamping member 33 presses the end of the arc-shaped plate 31 against the housing on the back plate 11 and locks it with screws. Of course, it is also possible to directly press the end of the arc-shaped plate 31 onto the back plate 11 and lock it. The relay connecting member 34 is designed as a bent metal plate member structure or a bent composite plate member structure, and specifically includes a first relay connecting plate 341 and a second relay connecting plate 342 connected by integral molding, of which the first relay connecting plate 341 is fitted outside the shaft case of the output shaft of the upper support arm 4 and locked to the case of the upper support arm 4, and the end of the second relay connecting plate 342 away from the first relay connecting plate 341 is locked and connected by screws to the end of the arc-shaped plate 31 away from the trunk skeleton 1.

[0054] It should be noted that the first relay connecting plate 341 and the second relay connecting plate 342 are designed to form an angle between them, and the degree design of this angle depends on the torsional design angle of the upper support arm 4, which in turn depends on the initial angle design of the assist lift lever group 6. By optimizing the degree design of this angle, the support effect during support assistance is improved, and at the same time, fatigue for the worker during wear and use is reduced.

[0055] Furthermore, as shown in conjunction with Figures 2 and 3, the embodiment of the present application further introduces a stopper plate 35, the stopper plate 35 being a rigid plate member structure, fixedly attached to the bracket 12 and positioned horizontally, and the end of the stopper plate 35 away from the bracket 12 can abut and engage with the curved inner surface of the arc-shaped plate 31, thereby limiting excessive inward curvature deformation of the arc-shaped plate 31.

[0056] The following will provide a detailed explanation of the structure of the waist bag 2 itself and the connection structure between the upper limb lever group 5 and the waist bag 2.

[0057] As shown in conjunction with Figures 2 and 3, in the embodiment of the present invention, the waist bag 2 includes a flexible waist panel 21 and a fixed waist panel 22, with the flexible waist panel 21 and the fixed waist panel 22 being arranged in series, intersecting one by one, that is, both ends of the flexible waist panel 21 in the longitudinal direction are connected to the corresponding fixed waist panel 22. The flexible waist panel 21 is an arc-shaped flexible plate that can be elastically deformed along the arc-shaped curvature direction, and the material may be a PU plastic plate, or of course, it may be manufactured by processing other plate materials that can achieve elastic deformation, and the fixed waist panel 22 is a rectangular plate material manufactured by processing a rigid material, such as an aluminum alloy composite plate or a steel plate.

[0058] Specifically, referring to Figure 3, in the embodiment of the present invention, the two flexible waist panels 21 are located at two corner positions on the rear side of the waist bag 2, the adjacent ends of the two flexible waist panels 21 are fixedly connected to the same fixed waist panel 22, which is further named the rear waist panel 221, and the separate ends of the two flexible waist panels 21 are both fixedly connected to another fixed waist panel 22, which is further named the side waist panel 222, and the two side waist panels 222 are arranged symmetrically and connected by a waist buckle structure 23. The waist buckle structure 23 specifically includes belts 231 connected to the corresponding side waist panels 222, with buckles 232 positioned at the ends where the two belts 231 come together to help the worker wear and secure the waist bag 2. The belt 231 may be fixedly connected to the waist panel 222, or an elastic crimp-release mechanism may be placed within the waist panel 222, and the belt 231 may be retracted by the elastic crimp-release mechanism to achieve the purpose of adapting to the waist size of different workers. The buckle 232 in the embodiment of the present invention is a buckle structure on both sides, and of course it can be changed to other structures that can achieve a similar purpose, such as a magnetic buckle or a belt buckle.

[0059] Furthermore, as shown in conjunction with Figures 2 and 5, Figure 5 is an enlarged schematic view of section B in Figure 2. Elastic converging ropes 24 are drilled through both the flexible waist panel 21 and the fixed waist panel 22. The converging ropes 24 are designed as loop ropes, meaning that all loops are fitted to the outside of the flexible waist panel 21 and the fixed waist panel 22. A stopper mechanism 25 is attached to the end of the waist-side waist panel 222 where the converging ropes 24 are located. The stopper mechanism 25 is used to limit the springback of the converging ropes 24 to their naturally extended state. The cooperation of the converging ropes 24 and the stopper mechanism 25 achieves the objectives of further converging and fixing the waist bag 2, as well as improving wearability and comfort. In the embodiment of this application, a locking member is used as the stopper mechanism 25, such as an expandable locking member or an expandable lock.

[0060] As shown in conjunction with Figures 3 and 5, the mounting plate 26 is locked to the waist panel 222 by bolts, and the mounting head 27 is locked to the central position of the mounting plate 26 by bolts. A ball bearing is placed inside the mounting head 27, and the lower end of the upper limb lever group 5 and the mounting head 27 are hinged together by the ball bearing. After the stopper mechanism 25 locks the convergence rope 24, the stopper mechanism 25 at the end of the convergence rope 24 can be engaged with the mounting plate 26, which helps to limit the springback of the convergence rope 24. At this time, the mounting plate 26 can be designed as an outward-convex plate member structure with a certain arc, making it easy to use in conjunction with the stopper mechanism 25.

[0061] As shown in conjunction with Figures 3 and 6, Figure 6 is an enlarged schematic view of section C in Figure 3. In order to improve the stability of the waist bag 2 being gathered by the gathering rope 24 and the convenience of adjusting the gathered state of the waist bag 2, a fixing plate 28 is locked to the rear waist panel 221 with bolts or the like, and perforations 29 for inserting the gathering rope 24 are formed on both the upper and lower sides of the fixing plate 28, and at the same time, perforations 29 are also formed on both the upper and lower sides of the mounting plate 26, making it easy to insert the gathering rope 24. Multiple sets of fixing plates 28 can be locked and attached to the rear waist panel 221 along its length, and the multiple sets of fixing plates 28 cooperate to jointly insert the gathering rope 24, improving the gathering effect and the stability of wearing the gathered bag.

[0062] When a worker needs to wear or remove the waist bag 2, or adjust its looseness, tilt, or other condition, they can pull the converging rope 24 to adjust the elastic deformation of the flexible plate. Furthermore, the converging rope 24 is locked by the stopper mechanism 25, and the waist buckle structure 23 works in conjunction to further adjust the condition of the waist bag 2 or to put on and remove the waist bag 2. Example 2

[0063] Referring to Figure 7, Figure 7 is a schematic diagram of the overall structure of a wearable upper limb active assist device in Embodiment 2 of the present application. The difference between this embodiment and Embodiment 1 is that the flexible plate group 3 includes not only an arc-shaped plate 31, but also a straight plate 32 used in combination with the arc-shaped plate 31. In this embodiment, the straight plate 32 is equivalent to replacing the stopper plate 35 described in Embodiment 1, and the material of the straight plate 32 is similarly PU plastic, however, the difference between the straight plate 32 and the stopper plate 35 is that the straight plate 32 is integrally molded with the flexible plate, the connection position between the straight plate 32 and the arc-shaped plate 31 is closer to the connection position between the arc-shaped plate 31 and the trunk skeleton 1, and the contact position between the stopper plate 35 and the arc-shaped plate 31 is closer to the connection position between the arc-shaped plate 31 and the upper support arm 4.

[0064] By employing a flexible plate group 3 in which an arc-shaped plate 31 and a straight plate 32 are integrally molded, the requirements for improving the flexibility and adaptability of the upper support arm 4 can be met. Furthermore, it can also play a role to some extent in improving the stopper, auxiliary load, and flexible connection stability. That is, the straight plate 32 itself can meet the design requirements for angle adjustment through elastic deformation, but this is limited by the connection position and method between the straight plate 32 and the arc-shaped plate 31. Conversely, the straight plate 32 limits the degree of curvature and torsional deformation of the arc-shaped plate 31 and improves the connection stability of the flexible connection structure. Example 3

[0065] As shown in conjunction with Figures 8 and 9, Figure 8 is a schematic diagram of a partial structure mainly showing the movable space in Embodiment 3 of the present application, and Figure 9 is a schematic diagram of a partial structure mainly showing the bent plate in Embodiment 3 of the present application. The difference between this embodiment and Embodiments 1 and 2 is that the connection structure between the flexible plate group 3 and the trunk skeleton 1 and the upper support arm 4 is different. In the embodiment of the present application, a certain amount of movable clearance is retained in the connection structure between the arc-shaped plate 31 and the trunk skeleton 1, and similarly, a certain amount of bending clearance is retained in the connection structure between the arc-shaped plate 31 and the upper support arm 4.

[0066] Specifically, in the embodiment of the present application, the clamping member 33 approximates an isosceles triangular plate member, and when the clamping member 33 presses the end corresponding to the arc-shaped plate 31 against the case, it does not completely bond and press against it, but a movable space 36 is retained between the apex angle of the clamping member 33 and the case below, and the design of this movable space 36 does not affect the stability when the arc-shaped plate 31 is connected to the upper support arm 4, but can provide an appropriate amount of movable margin. In the embodiment of the present application, the intermediate connecting member 34 is fixedly connected to the first intermediate connecting plate 341 and the second intermediate connecting plate 342 using a bent plate 37, and the bent plate 37 itself can be curved and deformed, and the design of this curved deformation space similarly does not affect the stability when the arc-shaped plate 31 is connected to the upper support arm 4, but can provide an appropriate amount of movable margin.

[0067] By retaining a degree of mobility at the connection points at both ends of the arc-shaped plate 31, it is possible to effectively balance the feeling of "rigidity" that may arise from the movable support of the flexible connection structure and the upper limb lever group 5, and this is particularly applicable to the structure of the flexible plate group 3 in Embodiment 2. Example 4

[0068] As shown in conjunction with Figures 3 and 10, Figure 10 is a schematic diagram mainly illustrating the connection structure between the upper limb lever group and the mounting head in Embodiment 4 of the present invention. In addition to Embodiment 1, this embodiment further optimizes the lower end structure to which the upper limb lever group 5 is connected to the mounting head 27. In this embodiment, the upper limb lever group 5 includes a main lever member 51 and an internal lever member 52 that is locked to the lower end of the main lever member 51. The main lever member 51 is fixedly connected to the upper support arm 4, and the lower end of the main lever member 51 is hinged with a ball bearing in the mounting head 27 by the internal lever member 52.

[0069] Specifically, the upper end of the internal lever member 52 is coaxially inserted into the main lever member 51 and locked to the main lever member 51, while the lower end of the internal lever member 52 is locked to the stem 53 of the ball bearing.

[0070] As shown in conjunction with Figures 10 and 11, Figure 11 is a cross-sectional view mainly showing the connection structure between the upper limb lever group and the mounting head in Embodiment 4 of the present application. A lock sleeve 54 is fitted to the portion of the insertion lever member 52 that extends beyond the lower end of the main lever member 51. The lock sleeve 54 has a stepped sleeve structure, and the stepped axial portion of the lock sleeve 54 constitutes a coaxial insertion engagement with the main lever member 51 and fills the space between the insertion lever member 52 and the main lever member 51. A lock hole 55 is further opened through the curved surface of the lock sleeve 54, and a lock block 56 is inserted into the lock hole 55. A first fixing sleeve 57 is coaxially fitted outside the lock sleeve 54 and the main lever member 51, and the inner surface of the first fixing sleeve 57 adheres to the outer surface of the lock sleeve 54 and the outer surface of the main lever member 51, simultaneously pressing against the lock block 56, and the pressed lock block 56 further presses against the internal insertion lever member 52. The first fixing sleeve 57, the main lever member 51, and the internal lever member 52 are screwed together, and the internal lever member 52, the lock block 56, and the first fixing sleeve 57 form an interlocking fit, thereby completing the locking connection between the upper end of the internal lever member 52 and the main lever member 51.

[0071] The portion of the internal lever member 52 that extends beyond the lower end of the lock sleeve 54 is coaxially fitted outside the stem 53 of the ball bearing, the inner surface of the internal lever member 52 is bonded to the outer surface of the stem 53 of the ball bearing, and a second fixing sleeve 58 is further coaxially fitted to the portion of the internal lever member 52 that extends beyond the lower end of the lock sleeve 54. The second fixing sleeve 58, the internal lever member 52, and the stem 53 of the ball bearing are screwed together with a screw, thereby completing the locking connection between the lower end of the internal lever member 52 and the stem 53 of the ball bearing.

[0072] All of the above are preferred embodiments of the present application and do not limit the scope of protection of the present application. Therefore, equivalent changes due to the structure, shape, and principle of the present application should all be included within the scope of protection of the present application.

Claims

1. A wearable upper limb active assist device comprising a torso skeleton (1) for wear by a worker, to which an upper support arm (4) is connected, further comprising a waist bag (2) for wear by the worker around the waist, wherein the upper support arm (4) is flexibly connected to the torso skeleton (1), and an upper limb lever group (5) is connected between the waist bag (2) and the upper support arm (4), and an assist lift lever group (6) is further driven and connected to the upper support arm (4).

2. The wearable upper limb active assist device according to claim 1, characterized in that the drive connection position between the assist lift lever group (6) and the upper support arm (4) is installed close to the flexible connection position between the upper support arm (4) and the trunk skeleton (1).

3. The wearable upper limb active assist device according to claim 1, characterized in that the magnitude of the support assist value driven by the upper support arm (4) to the assist lift lever group (6) is adjustable.

4. The wearable upper limb active assist device according to claim 1, characterized in that the upper limb lever group (5) is fixedly connected to the upper support arm (4) and supports the upper support arm (4), and the upper limb lever group (5) is hinged to the waist bag (2).

5. The wearable upper limb active assist device according to claim 4, characterized in that the upper limb lever group (5) is installed in a retractable lever group structure with adjustable length.

6. The waist bag (2) includes a flexible waist panel (21) and a fixed waist panel (22), an elastic converging rope (24) is punctured in the flexible waist panel (21) and the fixed waist panel (22), and a stopper mechanism (25) is installed in the converging rope (24) to restrict the converging rope (24) from springing back to its naturally extended state, as described in claim 1.

7. The wearable upper limb active assist device according to claim 6, characterized in that a mounting plate (26) is detachably connected to the fixed waist panel (22), the convergence rope (24) is drilled into the mounting plate (26), a mounting head (27) is further detachably connected to the mounting plate (26), and the upper limb lever group (5) is connected to the mounting head (27) by a hinge.

8. The wearable upper limb active assist device according to claim 7, characterized in that the stopper mechanism (25) is installed on a locking member connected to the converging rope (24), and the mounting plate (26) restricts the stopper mechanism (25) from moving in accordance with the converging rope (24) when the stopper mechanism (25) restricts the springback of the converging rope (24).

9. The wearable upper limb active assist device according to claim 6, 7, or 8, characterized in that a plurality of fixing plates (28) are detachably connected to the fixed waist panel (22), and the plurality of fixing plates (28) cooperate to puncture the convergence rope (24).

10. The wearable upper limb active assist device according to claim 6, wherein the waist bag (2) further includes a waist buckle structure (23), and the waist buckle structure (23) includes a belt (231) connected to the fixed waist panel (22) and a buckle (232) connected to the belt (231).

11. The wearable upper limb active assist device according to claim 1, characterized in that a group of flexible plates (3) is connected to the upper support arm (4) and the trunk skeleton (1), the group of flexible plates (3) includes an arc-shaped plate (31), the arc-shaped plate (31) can be elastically curved and deformed by the action of an external force, the natural curvature direction of the arc-shaped plate (31) is the opening and closing direction of the upper support arm (4), one end of the arc-shaped plate (31) along its own arc-shaped curvature direction is connected to the trunk skeleton (1), and the other end of the arc-shaped plate (31) along its own arc-shaped curvature direction is connected to the upper support arm (4).

12. The wearable upper limb active assist device according to claim 11, characterized in that a clamping member (33) is detachably connected to the trunk skeleton (1), and the clamping member (33) presses and fixes the arc-shaped plate (31) against the trunk skeleton (1).

13. The wearable upper limb active assist device according to claim 11 or 12, characterized in that a relay connecting member (34) is detachably connected to the upper support arm (4), the relay connecting member (34) includes a first relay connecting plate (341) detachably connected to the upper support arm (4) and a second relay connecting plate (342) detachably connected to the arc-shaped plate (31), and the first relay connecting plate (341) and the second relay connecting plate (342) are installed at an angle to each other.

14. The wearable upper limb active assist device according to claim 11, characterized in that the group of flexible plates (3) further includes a straight plate (32), the straight plate (32) is connected to the trunk skeleton (1) and integrally molded to the inner curved surface of the arc-shaped plate (31).

15. The wearable upper limb active assist device according to claim 4, characterized in that the upper limb lever group (5) includes a main lever member (51), an insertion lever member (52) is inserted into the main lever member (51), the insertion lever member (52) is connected to the waist bag (2) by a hinge, and the insertion lever member (52) and the main lever member (51) form an interlocking fit and are locked together.

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