Wearable active power assist device for upper limbs

Abstract

The present application relates to the technical field of active power assist robotic exoskeletons. Particularly disclosed is a wearable active power assist device for upper limbs, comprising a torso skeleton, which is connected to upper support arms, and further comprising a waist pack, the upper support arms being flexibly connected to the torso skeleton, the waist pack and the upper support arms being connected to upper limb rod assemblies, and the upper support arms being drivingly connected to power assist lifting rod assemblies. The present application uses a flexible connection structure to replace an original shaft connection structure between the upper support arms and the torso skeleton, supports the upper support arms and the power assist lifting rod assemblies by means of the upper limb rod assemblies, and increases the lifting arm of force of the active power assist device by means of the power assist lifting rod assemblies, thereby achieving purposes of comprehensively improving the operation assisting effect of the active power assist device, reducing the discomfort of users in operation, improving work efficiency, and reducing the occurrence of safety accidents and health issues such as lumbar muscle strain.

Description

Wearable active upper limb assist device Technical Field

[0001] This application relates to the technical field of active assistive exoskeleton robots, and in particular to wearable active assistive devices for the upper limbs. Background Technology

[0002] Currently, active assist devices are being gradually applied in some work scenarios in logistics warehousing, industrial manufacturing and other fields. Active assist devices use wearable exoskeleton robots with drive sources to assist users in completing tasks, thereby reducing user fatigue, muscle damage, and accidents, and improving work efficiency.

[0003] Active assist devices can be categorized into upper limb active assist devices, lower limb active assist devices, and comprehensive active assist devices that cover the entire body, depending on the limbs they enhance. Among these, upper limb active assist devices are mechanical structures worn on the torso and upper arms of the worker, primarily used to enhance the worker's upper limb function.

[0004] Referring to Figure 1, which is a schematic diagram of the overall structure of an upper limb active assistive robot device, the device includes a wearable torso skeleton 1. Upper arms 4 are rotatably connected to both sides of the torso skeleton 1 via a connecting frame structure and a rotating shaft structure. Each upper arm 4 includes a drive source consisting of a housing, a motor, and transmission components, as well as a hand support structure 7 connected to the drive source for supporting the user's arms.

[0005] While the aforementioned technologies can assist users in their work, the connection between the upper arm and the torso frame only allows the upper arm to rotate in the direction of arm opening and closing, resulting in relatively stiff movements when the user wears the active assist device. Furthermore, the lifting arm of the active assist device is short, and the output torque is small, leading to unsatisfactory support. The unsatisfactory assistance provided by the active assist devices in these technologies can, to some extent, exacerbate user discomfort, limit usage frequency and work time, thus affecting work efficiency. It can also increase the risk of safety accidents or health problems such as lumbar muscle strain. Summary of the Invention

[0006] In order to improve the assistive effect of active assistive devices, reduce user discomfort, increase work efficiency, and reduce the occurrence of safety accidents and health problems such as lumbar muscle strain, this application provides a wearable active upper limb assistive device.

[0007] The wearable active power assist device for the upper limbs provided in this application adopts the following technical solution:

[0008] The wearable active power assist device for the upper limbs includes a torso frame for workers to wear, an upper arm connected to the torso frame, and a waist pack for workers to wear around their waist. The upper arm is flexibly connected to the torso frame, and the waist pack is connected to the upper arm via an upper limb rod assembly. The upper arm is also driven to connect to a power assist lifting rod assembly.

[0009] By adopting the above technical solution, a flexible connection structure is used to replace the original pivot connection structure between the upper arm and the torso frame, significantly improving the user's movement flexibility when wearing the active power assist device. The upper arm is then supported by the upper limb rod assembly, further improving the movement stability of the upper arm during operation after adopting the flexible connection structure. This also provides the user with more stable support and assistance. Furthermore, the lifting rod assembly supports the operator's arms while increasing the lifting arm of the active power assist device, thereby increasing the output torque of the active power assist device. This achieves a comprehensive improvement in the auxiliary operation effect of the active power assist device, reduces user discomfort, increases work efficiency, and reduces the occurrence of safety accidents and health problems such as lumbar muscle strain.

[0010] Preferably, the drive connection position of the power lifting rod assembly and the upper support arm is located close to the flexible connection position between the upper support arm and the torso frame.

[0011] By adopting the above technical solution, the lifting arm assembly is moved upward. While meeting the design requirements of increasing the lifting arm of the active assist device and improving the output torque of the active assist device, the position of the lifting arm assembly is adjusted to make the user's upper limbs more adaptable, thereby further improving the user's convenience, flexibility and support effect during operation, and reducing the user's fatigue.

[0012] Preferably, the support assist value of the upper arm driving the assist lifting rod assembly is adjustable.

[0013] By adopting the above technical solution, multiple levels of assist value can be adjusted to meet the different needs of assist value in different work scenarios and improve the convenience of operation.

[0014] Preferably, the upper limb rod assembly is fixedly connected to the upper support arm to support the upper support arm, and the upper limb rod assembly is hinged to the waist pack.

[0015] By adopting the above technical solution, the upper arm and the assist lifting rod assembly can obtain stable and effective support and assistance during the process of putting on and taking off the active assist device and working with the active assist device, as well as good flexibility, adaptability and work comfort.

[0016] Preferably, the upper limb rod assembly is configured as a telescopic rod assembly structure with adjustable length.

[0017] By adopting the above technical solution, users can flexibly adjust the length of the upper limb pole according to their work habits, physical conditions, and changes in work scenarios, which has good practicality and adaptability.

[0018] Preferably, the waist bag includes a flexible waist plate and a fixed waist plate, and an elastic drawstring is threaded through the flexible waist plate and the fixed waist plate. The drawstring is provided with a limiting mechanism for limiting the drawstring from rebounding to its natural elongation state.

[0019] By adopting the above technical solution, the flexible waist board and the drawstring work together to secure the waist pack to the user's waist. The user can pull the drawstring and lock it through the limiting mechanism to achieve a stable and secure wearing of the waist pack, thereby indirectly improving the support and stability of the upper limb pole assembly. Moreover, the waist pack has a simple and easy-to-implement structural design. On this basis, a flexible waist board and a fixed waist board are introduced to balance the waist pack's requirements for wearing security and wearing comfort.

[0020] Preferably, a mounting plate is detachably connected to the fixed waist plate, the gathering rope is threaded through the mounting plate, and a mounting head is detachably connected to the mounting plate, with the upper limb rod assembly hinged to the mounting head.

[0021] By adopting the above technical solution, the upper limb pole assembly and waist pack achieve an integrated detachable connection design, which is convenient for assembly, disassembly, inspection and maintenance, and realizes the modular design concept. Users can replace components of different specifications according to actual working scenarios or functional requirements.

[0022] Preferably, the limiting mechanism is configured as a lock connected to the drawstring, and the mounting plate restricts the limiting mechanism from following the movement of the drawstring when the limiting mechanism restricts the rebound of the drawstring.

[0023] By adopting the above technical solution and using a lock as a limiting mechanism, it has good versatility. Moreover, the limiting mechanism, together with the mounting plate, can limit the rope. Compared with the complex locking mechanism design, it has better economy and practicality.

[0024] Preferably, the fixed waist plate is detachably connected to multiple sets of fixed plates, and the multiple sets of fixed plates are used to thread the gathering rope.

[0025] By adopting the above technical solution, the stability of the drawstring threaded through the flexible waist plate is improved by using multiple sets of fixing plates, and the drawstring effect on the waist bag is enhanced.

[0026] Preferably, the waist bag further includes a waist buckle structure, which includes a strap connected to the fixed waist plate and a buckle connected to the strap.

[0027] By adopting the above technical solution, it is easier for users to wear the waist pack, while further improving the stability of the waist pack after it is worn.

[0028] Preferably, the upper support arm is connected to the torso frame by a flexible plate assembly, the flexible plate assembly including an arc-shaped plate, the arc-shaped plate being elastically bent and deformed under 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 own arc-shaped bending direction is connected to the torso frame, and the other end of the arc-shaped plate along its own arc-shaped bending direction is connected to the upper support arm.

[0029] By adopting the above technical solution, the arc plate in the flexible plate group can meet the basic design requirements for the opening and closing of the upper arm, and can also allow for angle changes in non-upper arm opening and closing directions within a certain range, thereby significantly improving the wearability and adaptability of the active assistance device.

[0030] Preferably, a clamping member is detachably connected to the torso frame, and the clamping member presses and fixes the arc-shaped plate to the torso frame.

[0031] By adopting the above technical solution, a stable connection between the arc-shaped plate in the flexible plate assembly and the torso frame can be achieved, and it is also convenient for assembly, disassembly, and subsequent inspection and maintenance.

[0032] Preferably, the upper support arm is detachably connected to an adapter, the adapter including a first adapter plate detachably connected to the upper support arm and a second adapter plate detachably connected to the arc plate, and the first adapter plate and the second adapter plate are arranged at an angle.

[0033] By adopting the above technical solution, in addition to realizing the detachable connection between the arc plate and the upper support arm in the flexible plate assembly, which facilitates assembly, disassembly, inspection and maintenance, it can also provide suitable installation allowance or installation space for the flexible plate assembly to be adapted to connect the upper support arm and the torso frame.

[0034] Preferably, the flexible plate assembly further includes a straight plate, which is connected to the torso frame and integrally formed on the inner curved surface of the arc-shaped plate.

[0035] By adopting the above technical solution, using flexible plate groups formed by integrally molding of curved plates and straight plates, the requirements for improving the flexibility and adaptability of the upper support arm can also be met. On this basis, it can also play a role in limiting position, assisting in load bearing and improving the stability of flexible connection to a certain extent.

[0036] Preferably, the upper limb rod assembly includes a main rod, the main rod is inserted with an inner rod, the inner rod is hinged to the waist bag, and the inner rod and the main rod form an interference fit and lock connection.

[0037] By adopting the above technical solution, the main member and the waist bag are connected in the middle by the intercalating rod, thereby realizing the connection method of the multi-level rod group. It is more flexible in use, which can not only meet the design requirements of large size and high strength of the main member, but also take into account the structural stability at the connection position.

[0038] In summary, this application includes at least one of the following beneficial technical effects:

[0039] The flexible connection structure replaces the original pivot connection between the upper arm and the torso frame. At the same time, the upper limb rod assembly and waist pack work together to support the upper arm and assist the lifting rod assembly. The lifting rod assembly increases the lifting arm of the active assist device and improves the output torque of the active assist device. In this way, the flexibility, adaptability, stability and support effect of the active assist device are comprehensively improved, reducing user discomfort, improving work efficiency, and reducing the occurrence of safety accidents and health problems such as lumbar muscle strain. Attached Figure Description

[0040] Figure 1 is a schematic diagram of the overall structure of an upper limb active assistive robot device in related technologies;

[0041] Figure 2 is a schematic diagram of the overall structure of the wearable upper limb active assist device in Embodiment 1 of this application;

[0042] Figure 3 is a schematic diagram of the overall structure of the wearable upper limb active power assist device, which is mainly used to show the waist pack and flexible plate assembly structure in the embodiments of this application.

[0043] Figure 4 is an enlarged schematic diagram of part A in Figure 2;

[0044] Figure 5 is an enlarged schematic diagram of part B in Figure 2;

[0045] Figure 6 is an enlarged schematic diagram of part C in Figure 3;

[0046] Figure 7 is a schematic diagram of the overall structure of the wearable upper limb active assist device in Embodiment 2 of this application;

[0047] Figure 8 is a partial structural diagram mainly used to illustrate the activity space in Embodiment 3 of this application;

[0048] Figure 9 is a partial structural schematic diagram mainly used to illustrate the bent plate in Embodiment 3 of this application;

[0049] Figure 10 is a schematic diagram mainly used to illustrate the connection structure between the upper limb rod assembly and the mounting head in Embodiment 4 of this application;

[0050] Figure 11 is a cross-sectional view mainly used to illustrate the connection structure between the upper limb rod assembly and the mounting head in Embodiment 4 of this application.

[0051] Explanation of reference numerals in the attached drawings: 1. Torso frame; 11. Back panel; 12. Bracket; 13. Shoulder strap; 131. Front strap; 132. Rear strap; 2. Waist pack; 21. Flexible waist board; 22. Fixed waist board; 221. Rear waist board; 222. Side waist board; 23. Waist buckle structure; 231. Strap; 232. Buckle; 24. Gathering cord; 25. Limiting mechanism; 26. Mounting plate; 27. Mounting head; 28. Fixed plate; 29. ​​Through hole; 3. Flexible plate Group; 31. Arc plate; 32. Straight plate; 33. Clamping component; 34. Adapter component; 341. First adapter plate; 342. Second adapter plate; 35. Limiting plate; 36. Activity space; 37. Bending plate; 4. Upper support arm; 5. Upper limb rod assembly; 51. Main rod; 52. Inner rod; 53. Shaft; 54. Locking sleeve; 55. Locking hole; 56. Locking block; 57. First fixing sleeve; 58. Second fixing sleeve; 6. Power lifting rod assembly; 7. Hand support structure. Detailed Implementation

[0052] The present application will be further described in detail below with reference to Figures 2-11.

[0053] This application discloses a wearable active power assist device for the upper limbs.

[0054] Example 1

[0055] Referring to Figure 2, which is a schematic diagram of the overall structure of the wearable active upper limb assist device in Embodiment 1 of this application, the wearable active upper limb assist device includes a wearable torso frame 1 and a waist pack 2. The left and right sides of the torso frame 1 are flexibly connected to upper arms 4 via flexible plate assemblies 3. An upper limb rod assembly 5 connects the waist pack 2 and the upper arms 4. One end of the upper limb rod assembly 5 is fixedly connected to the upper arms 4, while the other end is hinged to the waist pack 2. The worker wears the torso frame 1 and the waist pack 2. The flexible plate assemblies 3 enable the normal opening and closing of the upper arms 4 and allow for angle adaptive adjustment during operation. The waist pack 2 and the upper limb rod assembly 5 further enhance the support and assist effect of the upper arms 4.

[0056] In this embodiment, the torso frame 1 includes a back plate 11, a bracket 12, and shoulder straps 13 connected to the back plate 11 and the bracket 12. The back plate 11 is fitted with a housing, controller, detection device, and other equipment. The user carries the equipment on the back plate 11 and the upper arms 4 on both sides by wearing the back plate 11 and the bracket 12. It should be noted that the shoulder straps 13 shown in Figure 2 include a front strap 131 and a rear strap 132. The front strap 131 is suspended in the air and can be fastened to the waist pack 2, the back plate 11, or even the worker's uniform. In this embodiment, the rear strap 132 is directly and fixedly connected to the waist pack 2, and the connection method can be locking, fastening, or adhesive.

[0057] Of course, the materials of the back plate 11 and the bracket 12 can be selected as hard boards or soft materials according to the actual situation. The shape and size of the back plate 11 and the bracket 12 can also be adjusted accordingly, and the specific design of the carrying strap 13 can also be adjusted accordingly. For example, in other embodiments, the carrying strap 13 can be designed to be fastened to the torso, arms, etc. of the worker. It is even possible to not use the carrying strap 13 and rely solely on the back plate 11 and the bracket 12 to achieve the wearing of the torso frame 1 and the upper arm 4, while the waist pack 2 is worn independently on the worker's waist and independently supports the upper arm 4 through the upper limb pole assembly 5.

[0058] Furthermore, in this embodiment, the upper support arms 4 on both sides are arranged symmetrically about the center line of the active assist device. Similarly, the flexible plate group 3 and the upper limb rod group 5 connected to the upper support arms 4 are also arranged symmetrically. Based on this, the design, installation position, and posture of the upper support arms 4 are adjusted to make the center of gravity of the active assist device more central, thereby optimizing the wearing experience and reducing fatigue.

[0059] Furthermore, in this embodiment, the upper support arm 4 is directly driven and connected to the assist lifting rod assembly 6. The assist lifting rod assembly 6 is then connected to the hand support structure 7 shown in Figure 1 or a similar structure. That is, the far end of the assist lifting rod assembly 6 away from the upper support arm 4 has a reserved installation point for assembling the relevant structure. Of course, other structures that also support the upper limbs of the operator can be used instead of the hand support structure 7 in Figure 1, or even the assist lifting rod assembly 6 can directly support the upper limbs of the operator. In this case, the above purpose can be achieved by installing a support structure at the installation point of the assist lifting rod assembly 6. By introducing the assist lifting rod assembly 6 and increasing the rod length of the assist lifting rod assembly 6 within a reasonable range after modeling, design, and verification, the lifting arm of the active assist device is longer than that of related technologies. This increases the output torque of the active assist device without changing the original hardware, thereby optimizing equipment performance, improving work efficiency, and saving related operating costs.

[0060] Based on this, the drive connection position and drive connection method of the assistive lifting rod assembly 6 are further defined. Specifically, the drive connection position of the assistive lifting rod assembly 6 and the upper support arm 4 is closer to the flexible connection position between the upper support arm 4 and the torso frame 1. By moving the assistive lifting rod assembly 6 upward, while meeting the design requirements of increasing the lifting arm of the active assist device and improving the output torque of the active assist device, the user's upper limbs are better adapted, thereby improving the user's convenience, flexibility, and support effect when wearing the device, and reducing user fatigue. Moreover, the output force of the drive component and transmission mechanism in the upper support arm 4 that drives the assistive lifting rod assembly 6 to rotate can be adjusted. This can be achieved through software calculation and scenario analysis optimization, or through force feedback and mechanical structure adjustment. The drive component and transmission mechanism can be a motor, synchronous belt pulley set, transmission gear, etc., thereby achieving the purpose of multi-level adjustment of the support assistance value, thus meeting the different needs of different working scenarios for the assistance value and improving the convenience of operation.

[0061] It should also be noted that the upper limb lever assembly 5 and the assistive lifting lever assembly 6 in this embodiment can both be designed as fixed-length lever structures or as telescopic lever structures with adjustable lengths, to further adapt to the different body shapes, work habits, and movement habits of workers, as well as different work scenarios. The telescopic lever structure can be a lever structure with a coaxially sleeved sliding locking connection, or other similar structures that can achieve the same purpose. The upper limb lever assembly 5 and the assistive lifting lever assembly 6 shown in the accompanying drawings of this embodiment are both fixed-length lever structures.

[0062] The following is a detailed description of the flexible connection structure between the upper arm 4 and the torso frame 1:

[0063] Referring to Figures 2 and 3, Figure 3 is a schematic diagram of the overall structure of a wearable active power assist device for the upper limbs, mainly used to demonstrate the waist pack and flexible plate assembly structure. In this embodiment, the flexible plate assembly 3 includes an arc-shaped plate 31, which is made of PU plastic. The arc-shaped plate 31 is in a bent state under natural conditions without force, and the natural bending direction 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 bending direction is locked to the torso frame 1, and the other end of the arc-shaped plate 31 along its own arc-shaped bending direction is locked to the end of the upper support arm 4 near the torso frame 1. After the arc-shaped plate 31 connects the torso frame 1 and the upper support arm 4, it can meet the design requirements for the opening and closing action of the upper support arm 4. Furthermore, due to the elastic bending deformation characteristics of the arc-shaped plate 31 itself, it can also meet the elastic deformation at other angles and directions, which can significantly improve the flexibility and adaptability of the user when wearing the active power assist device.

[0064] Specifically, referring to Figures 2 and 4, Figure 4 is an enlarged schematic diagram of part A in Figure 2. The arc-shaped plate 31 is locked to the back plate 11 of the torso frame 1 via a clamping member 33, while the arc-shaped plate 31 is locked to the outer shell of the upper support arm 4 via an adapter 34. In this embodiment, the clamping member 33 is designed as an approximately triangular metal plate structure or a triangular composite plate 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, the end of the arc-shaped plate 31 can also be directly pressed and locked onto the back plate 11. The adapter 34 is designed as a bent metal plate structure or a bent composite plate structure, specifically including an integrally formed first adapter plate 341 and a second adapter plate 342. The first adapter plate 341 is sleeved on the output shaft housing of the upper support arm 4 and locked on the housing of the upper support arm 4. The end of the second adapter plate 342 away from the first adapter plate 341 is locked to the end of the arc plate 31 away from the torso frame 1 by screws.

[0065] It should be noted that the first adapter plate 341 and the second adapter plate 342 are designed at an angle. The angle design depends on the torsional design angle of the upper support arm 4, which in turn depends on the initial angle design of the assist lifting rod assembly 6. By optimizing the angle design, the support effect during assisting can be improved, while reducing the fatigue of operators wearing and using the equipment.

[0066] Based on this, and in conjunction with Figures 2 and 3, this embodiment further introduces a limiting plate 35. The limiting plate 35 is a rigid plate structure. The limiting plate 35 is fixedly installed on the bracket 12 and arranged horizontally. The end of the limiting plate 35 away from the bracket 12 can abut against the curved inner side of the arc plate 31, thereby limiting the excessive inward bending deformation of the arc plate 31.

[0067] The following is a detailed description of the structure of the waist pack 2 itself and the connection structure between the upper limb pole assembly 5 and the waist pack 2:

[0068] Referring to Figures 2 and 3, in this embodiment, the waist bag 2 includes a flexible waist plate 21 and a fixed waist plate 22. The flexible waist plate 21 and the fixed waist plate 22 are arranged in an alternating series, that is, the two ends of the flexible waist plate 21 in the length direction are respectively connected to the corresponding fixed waist plate 22. Moreover, the flexible waist plate 21 is arc-shaped and is a flexible plate that can elastically deform along the arc bending direction. The material can also be PU plastic board, or it can be made of other boards that can achieve elastic deformation. The fixed waist plate 22 is a rectangular plate made of rigid material, such as aluminum alloy composite plate, steel plate, etc.

[0069] Specifically, referring to Figure 3, in this embodiment, the two flexible waist plates 21 are located at two corners on the rear side of the waist pack 2. The ends of the two flexible waist plates 21 that are close to each other are fixedly connected to the same fixed waist plate 22, which is further named the rear waist plate 221. The ends of the two flexible waist plates 21 that are far apart are fixedly connected to another fixed waist plate 22, which is further named the side waist plate 222. The two side waist plates 222 are arranged symmetrically from left to right and are connected to a waist buckle structure 23. The waist buckle structure 23 specifically includes a strap 231 that connects to the corresponding side waist plate 222. The ends of the two straps 231 that are close to each other are provided with a buckle 232 to facilitate the worker to wear and fix the waist pack 2. The straps 231 can be fixedly connected to the side waist plates 222, or an elastic retraction and release mechanism can be arranged in the side waist plates 222, and the elastic retraction and release mechanism can then retract the straps 231 to adapt to different workers' waist sizes. The latch 232 in this embodiment is a two-sided latching structure. Of course, other structures that can achieve the same purpose can also be used, such as magnetic buckles, belt buckles, etc.

[0070] Based on this, and referring to Figures 2 and 5 (Figure 5 is an enlarged schematic diagram of part B in Figure 2), both the flexible waist plate 21 and the fixed waist plate 22 are fitted with elastic drawstrings 24. The drawstrings 24 are looped, meaning they are completely wrapped around the outside of the flexible waist plate 21 and the fixed waist plate 22. A limiting mechanism 25 is installed at the end of the drawstring 24 on the waist side of the waist plate 222 to prevent the drawstring 24 from springing back to its natural elongation. The drawstrings 24 and the limiting mechanism 25 work together to further secure the waist bag 2 and improve its fit and comfort. In this embodiment, a lock is used as the limiting mechanism 25, such as a spring-loaded lock or an elastic buckle.

[0071] Referring to Figures 3 and 5, a mounting plate 26 is bolted to the waist plate 222. A mounting head 27 is bolted to the middle of the mounting plate 26. A ball bearing is arranged inside the mounting head 27, and the lower end of the upper limb rod assembly 5 is hinged to the mounting head 27 through the ball bearing. Moreover, after the limiting mechanism 25 locks the retractable rope 24, the limiting mechanism 25 at the end of the retractable rope 24 can engage with the mounting plate 26 to help limit the rebound of the retractable rope 24. At this time, the mounting plate 26 can be designed as a convex plate structure with a certain curvature to facilitate its use in conjunction with the limiting mechanism 25.

[0072] Referring to Figures 3 and 6, Figure 6 is an enlarged view of part C in Figure 3. To improve the stability of the waist pack 2 when secured by the drawstring 24 and to facilitate the adjustment of the waist pack 2's secured state, a fixing plate 28 is fixedly installed on the back waist plate 222 using bolts or other means. The upper and lower sides of the fixing plate 28 are formed with through holes 29 for the drawstring 24 to pass through. Through holes 29 are also formed on the upper and lower sides of the mounting plate 26 to facilitate the threading of the drawstring 24. Multiple sets of fixing plates 28 can be fixedly installed along the length of the back waist plate 222. These multiple sets of fixing plates 28 work together to thread the drawstring 24, improving the securing effect and the stability of the garment.

[0073] When workers need to put on or take off the waist pack 2, or adjust the tightness or tilt of the waist pack 2, they can pull the drawstring 24 to adjust the elastic deformation of the flexible plate, and then lock the drawstring 24 through the limiting mechanism 25. They can also use the waist buckle structure 23 to further adjust the state of the waist pack 2 or put on or take off the waist pack 2.

[0074] Example 2

[0075] Referring to Figure 7, which is a schematic diagram of the overall structure of the wearable active upper limb assist device in Embodiment 2 of this application, the difference between this embodiment and Embodiment 1 is that, in addition to the curved plate 31, the flexible plate assembly 3 also includes a straight plate 32 that works in conjunction with the curved plate 31. In this embodiment, the straight plate 32 replaces the limiting plate 35 described in Embodiment 1. The straight plate 32 is also made of PU plastic, but the difference between the straight plate 32 and the limiting plate 35 is that the straight plate 32 is integrally formed with the flexible plate, and the connection position between the straight plate 32 and the curved plate 31 is closer to the connection position between the curved plate 31 and the torso frame 1, while the contact position between the limiting plate 35 and the curved plate 31 is closer to the connection position between the curved plate 31 and the upper arm 4.

[0076] The flexible plate assembly 3, which is integrally formed by the arc plate 31 and the straight plate 32, can also meet the requirements of improving the flexibility and adaptability of the upper support arm 4. On this basis, it can also play a role in limiting, assisting in load bearing and improving the stability of the flexible connection to a certain extent. That is, although the straight plate 32 itself can meet the design requirements of angle adjustment through elastic deformation, the connection position and connection method between the straight plate 32 and the arc plate 31 limit the degree of bending and twisting deformation of the arc plate 31 and improve the connection stability of the flexible connection structure.

[0077] Example 3

[0078] Referring to Figures 8 and 9, Figure 8 is a partial structural diagram mainly used to illustrate the activity space in Embodiment 3 of this application; Figure 9 is a partial structural diagram mainly used to illustrate the bending plate in Embodiment 3 of this application. The difference between this embodiment and Embodiments 1 and 2 lies in the connection structure between the flexible plate assembly 3 and the torso frame 1 and the upper support arm 4. In this embodiment, the connection structure between the arc-shaped plate 31 and the torso frame 1 reserves a certain amount of mobility, and the connection structure between the arc-shaped plate 31 and the upper support arm 4 also reserves a certain amount of bending allowance.

[0079] Specifically, in this embodiment, the clamping member 33 is approximately an isosceles triangular plate. When the clamping member 33 presses the end corresponding to the arc plate 31 onto the housing, it does not completely fit and press tightly. A movable space 36 is reserved between the apex of the clamping member 33 and the housing below. The design of this movable space 36 does not affect the stability of the arc plate 31 when connected to the upper support arm 4, but it can provide a suitable amount of movable allowance. In this embodiment, the adapter 34 is fixedly connected to the first adapter plate 341 and the second adapter plate 342 using a bending plate 37, and the bending plate 37 itself can be bent and deformed. The design of this bending deformation space also does not affect the stability of the arc plate 31 when connected to the upper support arm 4, but it can provide a suitable amount of movable allowance.

[0080] By reserving a margin of movement at the connection points of the two ends of the arc plate 31, the "stiffness" that may be generated by the flexible connection structure and the movable support of the upper limb rod group 5 can be effectively balanced, especially applicable to the structure of the flexible plate group 3 in Embodiment 2.

[0081] Example 4

[0082] Referring to Figures 3 and 10, Figure 10 is a schematic diagram mainly used to illustrate the connection structure between the upper limb rod assembly and the mounting head in Embodiment 4 of this application. Based on Embodiment 1, this embodiment further optimizes the lower end structure connecting the upper limb rod assembly 5 and the mounting head 27. In this embodiment, the upper limb rod assembly 5 includes a main rod 51 and an inner insert rod 52 locked to the lower end of the main rod 51. The main rod 51 is fixedly connected to the upper support arm 4, and the lower end of the main rod 51 is hinged to a ball bearing inside the mounting head 27 via the inner insert rod 52.

[0083] Specifically, the upper end of the inner insert rod 52 is coaxially inserted into the main rod 51 and locked to the main rod 51, while the lower end of the inner insert rod 52 is locked to the shaft 53 of the ball head bearing.

[0084] Referring to Figures 10 and 11, Figure 11 is a cross-sectional view mainly used to illustrate the connection structure between the upper limb rod assembly and the mounting head in Embodiment 4 of this application. A locking sleeve 54 is fitted over the portion of the inner insert rod 52 that extends beyond the lower end of the main rod 51. The locking sleeve 54 has a stepped bushing structure; the stepped shaft portion of the locking sleeve 54 forms a coaxial insertion fit with the main rod 51 and fills the space between the inner insert rod 52 and the main rod 51. A locking hole 55 is also provided through the curved surface of the locking sleeve 54, into which a locking block 56 is inserted. A first fixing sleeve 57 is coaxially fitted over the locking sleeve 54 and the main rod 51. The inner surface of the first fixing sleeve 57 is in contact with the outer surface of the locking sleeve 54 and the outer surface of the main rod 51, simultaneously pressing the locking block 56, and the compressed locking block 56 further presses against the inner insert rod 52. The first fixing sleeve 57, the main rod 51, and the inner rod 52 are connected by screw threads, and the inner rod 52, the locking block 56, and the first fixing sleeve 57 form an interference fit, thereby completing the locking connection between the upper end of the inner rod 52 and the main rod 51.

[0085] The portion of the inner insert rod 52 extending beyond the lower end of the locking sleeve 54 is coaxially sleeved on the outside of the shaft 53 of the ball head bearing. The inner side of the inner insert rod 52 is in contact with the outer side of the shaft 53 of the ball head bearing. The portion of the inner insert rod 52 extending beyond the lower end of the locking sleeve 54 is also coaxially sleeved with a second fixing sleeve 58. The second fixing sleeve 58, the inner insert rod 52, and the shaft 53 of the ball head bearing are connected by screw threads, thereby completing the locking connection between the lower end of the inner insert rod 52 and the shaft 53 of the ball head bearing.

[0086] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A wearable active upper limb power-assisted device, comprising a trunk skeleton (1) for a worker to wear, the trunk skeleton (1) being connected with an upper supporting arm (4), characterized in that: It also includes a waist bag (2) worn on the waist of the operator, the upper arm (4) is flexibly connected with the torso framework (1), and the upper arm (4) is connected with the upper arm (4) and the upper arm (4) is connected with the upper arm (4).

2. The wearable upper limb active assistive device according to claim 1, wherein: The driving connection position of the power lifting rod group (6) and the upper arm (4) is close to the flexible connection position of the upper arm (4) and the torso framework (1). 3.The wearable upper limb active assistive device according to claim 1, wherein: The support power value of the upper arm (4) driving the power lifting rod group (6) can be adjusted.

4. The wearable upper limb active assistive device of claim 1, wherein: The upper arm (4) is fixedly connected with the upper arm (4) to support the upper arm (4), and the upper arm (5) is hingedly connected with the waist bag (2).

5. The wearable upper limb active assistive device of claim 4, wherein: The upper arm (5) is provided as a telescopic rod group structure with adjustable length. 6.The wearable upper limb active assistive device according to claim 1, wherein: The waist bag (2) comprises a flexible waist plate (21) and a fixed waist plate (22), the flexible waist plate (21) and the fixed waist plate (22) are provided with elastic binding ropes (24), and the binding ropes (24) are provided with limiting mechanisms (25) for limiting the elastic binding ropes (24) to return to the natural elongation state.

7. The wearable upper limb active assistive device according to claim 6, characterized in that: The fixed waist plate (22) is detachably connected with a mounting plate (26), the binding rope (24) is provided on the mounting plate (26), and the mounting plate (26) is also detachably connected with a mounting head (27), and the upper arm (5) is hingedly connected with the mounting head (27).

8. The wearable upper limb active assistive device according to claim 7, characterized in that: The limiting mechanism (25) is provided as a lock connected to the binding rope (24), and the mounting plate (26) limits the movement of the limiting mechanism (25) when the limiting mechanism (25) limits the elastic binding rope (24).

9. The wearable upper limb active assistive device of claim 6 or 7 or 8, characterized in that: The fixed waist plate (22) is detachably connected with a plurality of fixed plates (28), and a plurality of fixed plates (28) are matched to pass through the binding rope (24).

10. The wearable upper limb active assistive device of claim 6, wherein: The waist bag (2) further comprises a waist buckle structure (23), the waist buckle structure (23) comprises a belt (231) connected with the fixed waist plate (22) and a lock (232) connected with the belt (231).

11. The wearable upper limb active assistive device of claim 1, wherein: The upper arm (4) is connected with the torso framework (1) and the flexible plate group (3), the flexible plate group (3) comprises an arc plate (31), the arc plate (31) can be elastically bent and deformed under external force; the natural bending direction of the arc plate (31) is the closing direction of the upper arm (4), and one end of the arc plate (31) along the arc bending direction is connected with the torso framework (1), and the other end of the arc plate (31) along the arc bending direction is connected with the upper arm (4).

12. The wearable upper limb active assistive device according to claim 11 or the upper limb active assistive device, characterized in that: The torso framework (1) is detachably connected with a clamping piece (33), and the clamping piece (33) tightly fixes the arc plate (31) to the torso framework (1).

13. The wearable upper limb active assistive device according to claim 11 or 12, characterized in that: The upper arm (4) is detachably connected with an adapter (34), the adapter (34) comprises a first adapter plate (341) detachably connected with the upper arm (4) and a second adapter plate (342) detachably connected with the arc-shaped plate (31), and the first adapter plate (341) and the second adapter plate (342) are arranged at an included angle.

14. The wearable upper limb active assistive device of claim 11, wherein: The flexible plate group (3) further comprises a straight plate (32) connected with the trunk skeleton (1) and integrally formed on the inner curved surface of the arc-shaped plate (31).

15. The wearable upper limb active assistive device of claim 4, wherein: The upper limb rod group (5) comprises a main rod (51), the main rod (51) is inserted with an inner inserted rod (52), the inner inserted rod (52) is hinged with the waist bag (2), and the inner inserted rod (52) and the main rod (51) are in interference fit and locked connection.

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