CN110181486B - Arm movable support of human upper body exoskeleton and human upper body exoskeleton - Google Patents

Arm movable support of human upper body exoskeleton and human upper body exoskeleton Download PDF

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Publication number
CN110181486B
CN110181486B CN201910554071.9A CN201910554071A CN110181486B CN 110181486 B CN110181486 B CN 110181486B CN 201910554071 A CN201910554071 A CN 201910554071A CN 110181486 B CN110181486 B CN 110181486B
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China
Prior art keywords
arm
swing arm
shoulder
rotating shaft
pivot
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CN201910554071.9A
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CN110181486A (en
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胡陆平
朱霞霞
胡懿馨
胡敖语
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Zhiyin Taizhou Robot Technology Co ltd
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Zhiyin Taizhou Robot Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an arm movable support of an upper body exoskeleton of a human body and the upper body exoskeleton of the human body, which comprise a shoulder swing arm, a first rotating shaft and a hand swing arm, wherein the first rotating shaft is arranged on a back support positioned behind the back, the shoulder swing arm is rotatably arranged on the first rotating shaft, the shoulder swing arm is connected with the hand swing arm, the hand swing arm is arranged on the arm, and the hand swing arm is lifted or lowered upwards on the trunk side to drive the shoulder swing arm to rotate around the first rotating shaft. The back support forms the support to shoulder swing arm and hand swing arm, drives the hand swing arm and rotates when the arm activity, and the hand swing arm drives shoulder swing arm and rotates. Wherein the first axis of rotation is perpendicular or nearly perpendicular to the back in the upright position, so that rotation of the arm in the torso side direction translates into rotation of the shoulder swing arm about the first axis of rotation. The higher the perpendicularity between the rotation plane of the arm and the first rotating shaft is, the smaller the resistance is applied to the arm during rotation, so that the first rotating shaft provides the freedom degree of the arm movable support to rotate upwards in the lateral direction of a human body.

Description

Arm movable support of human upper body exoskeleton and human upper body exoskeleton
[ field of technology ]
The invention relates to an arm movable support of an exoskeleton of a human body upper body and the exoskeleton of the human body upper body, and belongs to the field of the exoskeleton.
[ background Art ]
Exoskeleton is a mechanical device that supports the exterior of the human body, and there is a type of arm support that acts to support the arm. However, the running freedom degree of the existing arm exoskeleton is quite unreasonable to set, so that the arm is very stiff in movement, and the actual requirements cannot be met.
[ invention ]
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing an arm movable support of the human upper body exoskeleton with more flexible arm movement and the human upper body exoskeleton.
The technical problems are solved, and the invention adopts the following technical scheme:
the utility model provides an arm movable support of human upper body exoskeleton, includes shoulder swing arm, first pivot and hand swing arm, and first pivot is installed on the back support that is located the back rear, and shoulder swing arm rotates to be installed in first pivot, and shoulder swing arm is connected with the hand swing arm, and the hand swing arm is installed on the arm, and the hand swing arm lifts up or descends in the trunk side upwards in order to drive the shoulder swing arm and rotate around first pivot.
The beneficial effects of the invention are as follows:
the back support forms the support to shoulder swing arm and hand swing arm, drives the hand swing arm and rotates when the arm activity, and the hand swing arm drives shoulder swing arm and rotates. Wherein the first axis of rotation is perpendicular or nearly perpendicular to the back in the upright position, so that rotation of the arm in the torso side direction translates into rotation of the shoulder swing arm about the first axis of rotation. The higher the perpendicularity between the rotation plane of the arm and the first rotating shaft is, the smaller the resistance is applied to the arm during rotation, so that the first rotating shaft provides the freedom degree of the arm movable support to rotate upwards in the lateral direction of a human body. Particularly when the arm needs to be lifted, the arm is supported by the hand swing arm, so that the lifting device is suitable for long-term action of wearing personnel under the condition that some more extreme actions are needed.
The angle between the first rotating shaft and the back of the human body is 70-90 degrees.
The hand swing arm is characterized by further comprising a second rotating shaft, a third rotating shaft and a rotating rod, wherein the second rotating shaft is arranged on the shoulder swing arm, one end of the rotating rod is connected to the shoulder swing arm in a rotating mode around the second rotating shaft, the third rotating shaft is arranged at the other end of the rotating rod, the hand swing arm is connected to the rotating rod in a rotating mode around the third rotating shaft, the second rotating shaft and the third rotating shaft are both arranged in an inclined mode relative to the first rotating shaft, the third rotating shaft is arranged in an inclined mode relative to the plane where the second rotating shaft and the first rotating shaft are located, and the shoulder swing arm is connected with the hand swing arm through the rotating rod. The plane where the second rotating shaft and the first rotating shaft are located is a plane parallel to the second rotating shaft and the first rotating shaft at the same time.
The second rotating shaft is perpendicular to the first rotating shaft.
The hand swing arm is provided with an arm-oriented sliding rail, an arm-oriented sliding block is connected to the arm-oriented sliding rail in a sliding mode, the arm-oriented sliding block slides on the arm-oriented sliding rail to move in the axial direction of the arm, the arm-oriented sliding block is provided with an arm fixing piece, and the hand swing arm is arranged on the arm through the arm fixing piece.
The back support is provided with the shoulder slide rail, the arm movable support further comprises a shoulder slide block, the shoulder slide block is slidingly connected to the shoulder slide rail, the shoulder slide block slides on the shoulder slide rail to move between two shoulders, the first rotating shaft is arranged on the shoulder slide block, and the first rotating shaft is arranged on the back support through the shoulder slide block.
The shoulder sliding block is provided with a limiting piece for limiting the shoulder swing arm.
The limiting part is an adjusting nut in threaded connection with the shoulder sliding block.
The hand swing arm is internally provided with the gear mechanism, the third rotating shaft is connected with the gear mechanism, and the third rotating shaft rotates to drive the gear mechanism to provide supporting force for the hand swing arm.
An exoskeleton of the upper body of a human body comprises an arm movable bracket.
Other features and advantages of the present invention will be disclosed in the following detailed description of the invention and the accompanying drawings.
[ description of the drawings ]
The invention is further described with reference to the accompanying drawings:
fig. 1 is a schematic diagram of a front view of an exoskeleton of a human upper body (before a shoulder slider moves on a shoulder slide rail, before a rotating rod rotates around a second rotating shaft, before a shoulder swing arm rotates around a first rotating shaft);
fig. 2 is a schematic diagram of a front view structure of an exoskeleton of an upper body of a human body according to an embodiment of the present invention in a second state (before a rotating rod rotates around a second rotating shaft after a shoulder slider moves on a shoulder slide rail and before a shoulder swing arm rotates around a first rotating shaft);
fig. 3 is a schematic view of a three-dimensional structure of an exoskeleton of a human upper body (after a shoulder slider moves on a shoulder slide rail, before a rotating rod rotates around a second rotating shaft, and after a shoulder swing arm rotates around a first rotating shaft);
fig. 4 is a schematic view showing a three-front view structure of the exoskeleton of the upper body of the human body according to an embodiment of the present invention;
FIG. 5 is a schematic view showing a three-rear view structure of the exoskeleton of the upper body of a person according to an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 5 at X;
fig. 7 is another schematic perspective view of an arm movable support (default hand swing arm) according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a front view structure of a state four (after a shoulder slider moves on a shoulder slide rail, a rotating rod rotates around a second rotating shaft, and a shoulder swing arm rotates around a first rotating shaft) of an exoskeleton of an upper body of a human body according to an embodiment of the present invention;
fig. 9 is a view showing a state of use of the exoskeleton of the upper body of the human body according to the embodiment of the present invention.
[ detailed description ] of the invention
The technical solutions of the embodiments of the present invention will be explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.
In the following description, directional or positional relationships such as the terms "inner", "outer", "upper", "lower", "left", "right", etc., are presented for convenience in describing the embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
Examples:
referring to fig. 1-9, the exoskeleton of the upper body of the human body shown in this embodiment includes a chassis support a and an arm movable support. The arm movable support is arranged on the chassis support A, the chassis support A is fixed with the spine or waist of a human body, the spine or waist of the human body supports the arm movable support, the arm movable support is connected with an arm, the arm movable support is driven to move during arm movement, and the arm movable support supports the arm during arm movement.
Specifically, the chassis support a in this embodiment is consistent with the exoskeleton of the upper body of a conventional human body, and also includes a back support. In other embodiments, the back support may be secured directly to the spine position of the back of the wearer, with the back support being supported by the spine position of the back of the wearer.
However, in this embodiment, the chassis support a may further include a lumbar support, where the lumbar support is fixed to the waist of the wearer, and the back support is connected to the lumbar support, and is supported by the waist of the wearer, and the lumbar support supports the back support, and the back support is located behind the back of the human body, and is not directly fixed to the back of the human body. Compared with the spine, the waist has better bearing capacity, the waist support mode is safer and more comfortable for human body, and meanwhile, the waist support device is more beneficial to long-term wearing of the exoskeleton of the upper body of the human body.
The arm movable support in this embodiment includes a shoulder swing arm B1, a first rotation axis B2, a hand swing arm B3, a second rotation axis B4, a third rotation axis B5, a rotation rod B6, and a shoulder slider B8.
The arm direction slide rail B12 is arranged on the hand swing arm B3, the arm direction slide rail B12 is in sliding connection with the arm direction slide block B7, and the arm fixing piece B10 is arranged on the arm direction slide block B7. When the arm movable support is used, the arm fixing piece B10 is bound with or fixed to the arm, the hand swing arm B3 is installed on the arm through the arm fixing piece B10, and meanwhile the arm direction sliding rail B12 is parallel or approximately parallel to the arm axial direction, so that the arm direction sliding block B7 drives the arm to generate displacement in the axial direction of the arm in the process of sliding on the arm direction sliding rail B12. The included angle between the arm direction slide rail B12 and the axial direction of the arm is not larger than 45 degrees under normal conditions.
In this embodiment, the back support is provided with a shoulder slide rail B9 disposed along the opposite directions of the two shoulders, and the shoulder slide block B8 is slidingly connected to the shoulder slide rail B9. The back support is fixed with the waist in use, so the position of the shoulder sliding rail B9 relative to the waist is not changed. The shoulder slide B8 moves linearly on the shoulder slide B9, and the movement direction is the opposite direction of the two shoulders, i.e., the shoulder slide B8 moves between the two shoulders while sliding on the shoulder slide B9. The shoulder slide block B8, the shoulder swing arm B1, the rotating rod B6, the hand swing arm B3 and the arm fixing piece B10 are sequentially transmitted, so that the arm can be transmitted to the shoulder slide block B8 through the arm fixing piece B10 in the process of opening and moving towards two sides of the shoulder, and the shoulder slide block B8 is driven to move along the opposite directions of the two shoulders. The sliding freedom of the shoulder slider B8 on the shoulder-to-rail B9 thus provides one of the linear degrees of freedom of arm movement. The arm driving arm directional slider B7 provides another linear degree of freedom of the arm on the arm movable support when the arm driving arm directional slider B3 slides along the arm directional slide rail B12.
Since the number of the shoulder slide rails B9 and the shoulder slide blocks B8 in the embodiment is two, and the two shoulder slide rails B9 are symmetrically arranged along the spine, the movement range of the single shoulder slide block B8 is limited between the spine and one of the shoulders. For example, in the case of the human body standing upright in the present embodiment, the shoulder slide rail B9 is parallel to the ground and also parallel to the back of the human body on one side of the spine.
The first rotating shaft B2 is arranged on the shoulder sliding block B8, and the first rotating shaft B2 is arranged on the back support through the shoulder sliding block B8. The shoulder sliding block B8 drives the first rotating shaft B2 to move along the axial direction of the shoulder to the sliding rail B9 in the sliding process. One end of the shoulder swing arm B1 is rotatably mounted on a first rotation shaft B2, and the first rotation shaft B2 is perpendicular or substantially perpendicular to the back of the human body, so that the rotation plane of the shoulder swing arm B1 is substantially parallel or parallel to the back plane of the human body. Therefore, when the arms of the human body rotate upwards on the trunk side, the shoulder swing arm B1 is driven to rotate around the first rotating shaft B2. The human arm can lift up or descend when rotating upwards on the trunk side, and the operation action with high difficulty is generally performed, so that a wearer can operate with high difficulty for a long time under the supporting action of the hand swing arm B3, and the human arm has high application value. The first rotation axis B2 provides a corresponding degree of freedom of rotation for arm movement.
In view of the bending of the human back, the first rotation axis B2 is generally at an angle of 70 ° -90 ° to the human back. The closer the first rotation axis B2 is in a vertical relationship with the back of the human body, the smaller the resistance force received from the first rotation axis B2 when the arm rotates laterally.
The second rotating shaft B4 is arranged at the other end of the shoulder swing arm B1, and one end of the rotating rod B6 is rotatably connected to the shoulder swing arm B1 around the second rotating shaft B4. Since the second rotating shaft B4 and the first rotating shaft B2 are both mounted on the shoulder swing arm B1, the relative positions of the second rotating shaft B4 and the first rotating shaft B2 are always unchanged regardless of the rotation of the shoulder swing arm B1 around the first rotating shaft B2. The second rotating shaft B4 is obliquely arranged relative to the first rotating shaft B2, so that the rotating plane of the rotating rod B6 around the second rotating shaft B4 and the rotating plane of the shoulder swing arm B1 around the first rotating shaft B2 are not coincident all the time, and the second rotating shaft B4 can provide the second rotating degree of freedom of the arm.
In order to reduce the repeatability of the second rotation axis B4 and the first rotation axis B2 in the contribution to the freedom of rotation of the arm, the design of the second rotation axis B4 perpendicular to the first rotation axis B2 is a more optimal solution.
The third rotating shaft B5 is arranged at the other end of the rotating rod B6, and the hand swing arm B3 is rotationally connected to the rotating rod B6 around the third rotating shaft B5. The hand swing arm B3 provides a third degree of freedom of rotation of the arm about the third axis of rotation B5. Similarly to the relative positions of the second rotation axis B4 and the first rotation axis B2, the third rotation axis B5 is also perpendicular to the second rotation axis B4. However, since the rotation rod B6 rotates around the second rotation axis B4, the positions of the first rotation axis B2 and the third rotation axis B5 may vary with the rotation process of the rotation rod B6 around the second rotation axis B4. But always keeps the third rotation axis B5 inclined with respect to the plane of the second rotation axis B4 and the first rotation axis B2, the second rotation axis B4 and the third rotation axis B5 provide three degrees of rotation freedom. Here, the plane of the second rotation axis B4 and the first rotation axis B2 is a plane parallel to both the second rotation axis B4 and the first rotation axis B2.
Of course, in other embodiments, the second rotation axis B4 and the first rotation axis B2 and the third rotation axis B5 and the second rotation axis B4 do not need to be strictly perpendicular, only the second rotation axis B4 and the first rotation axis B2 need to be guaranteed to be mutually inclined, the third rotation axis B5 and the second rotation axis B4 need to be mutually inclined, the third rotation axis B5 and the first rotation axis B2 need to be mutually inclined, and the first rotation axis B2, the second rotation axis B4 and the third rotation axis B5 are not parallel to the same plane at the same time, so that the three rotation degrees of freedom can be guaranteed.
The shoulder swing arm B1 rotates around the first rotating shaft B2, and the shoulder sliding block B8 slides on the shoulder sliding rail B9 to provide one translational degree of freedom and one rotational degree of freedom of the second rotating shaft B4, so that the arm bound with the arm fixing piece B10 is indirectly driven to rotate and translate. The rotation rod B6 rotates around the second rotation shaft B4, the hand swing arm B3 rotates around the third rotation shaft B5, and the arm-direction sliding block B7 slides on the arm-direction sliding rail B12 with three degrees of freedom, so that the hand arm can move in a three-dimensional space range with the second rotation shaft B4 as the center. The two degrees of freedom of the second rotating shaft B4 relative to the waist overlap the three degrees of freedom of the arm relative to the second rotating shaft B4, so that the arm has five degrees of freedom altogether, the arm can move very continuously and smoothly, almost all the movements of the arm can be met, the device can be suitable for many occasions needing long-time extreme movement operation, and the application range and the scene are more abundant. Any default degree of freedom in the five degrees of freedom can cause the arm movement range to be greatly limited, and any additional degree of freedom can cause repetition of a plurality of degrees of freedom in the five degrees of freedom, thereby causing unnecessary waste of cost.
The hand swing arm B3 is internally provided with a gear mechanism which can adopt the existing gear mechanism conventionally used in exoskeleton. The third rotating shaft B5 is connected with the gear mechanism, and when the hand swing arm B3 rotates around the third rotating shaft B5, the spring in the gear mechanism is driven to deform, so that the gear mechanism is driven to provide supporting force for the hand swing arm B3. Therefore, as long as the rotation angle of the hand swing arm B3 around the rotation rod B6 is unchanged, the supporting force of the internal gear mechanism of the hand swing arm B3 on the hand is constant.
In addition, the rotation angle of the shoulder swing arm B1 reflects the lifting or descending height of the arm on the side of the human body, so that the arm can be twisted under the condition that the arm drives the shoulder swing arm B1 to rotate by an excessive angle, and a limiting piece for limiting the shoulder swing arm B1 is arranged on the shoulder slide block B8. The rotation angle of the shoulder swing arm B1 is limited by the limiting member.
In this embodiment, the limiting member is an adjusting nut B11 screwed with the shoulder slider B8. The middle of the adjusting nut B11 is provided with a threaded hole, the inner wall of the threaded hole is provided with an internal thread, and the outer wall of the adjusting nut B11 is provided with an external thread. The adjusting nut B11 is controlled to enter and exit the shoulder sliding block B8 through rotation of the internal thread, and the shoulder swing arm B1 extends to form an impact plate which is positioned in the shoulder sliding block B8. Referring to fig. 7, when the adjusting nut B11 is inserted into the shoulder slider B8, the shoulder swing arm B1 is rotated to a certain angle to strike the striking plate and the adjusting nut B11, thereby limiting the rotation angle of the shoulder swing arm B1.
While the invention has been described in terms of embodiments, it will be appreciated by those skilled in the art that the invention is not limited thereto but rather includes the drawings and the description of the embodiments above. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.

Claims (6)

1. An arm movable support of human upper body ectoskeleton, its characterized in that: including shoulder slider, the second pivot, the third pivot, the dwang, the shoulder swing arm, first pivot and hand swing arm, first pivot is installed on the back support that is located the back rear, the shoulder swing arm rotates and installs in first pivot, shoulder swing arm and hand swing arm are connected, hand swing arm installs on the arm, the hand swing arm upwards lifts or descends in the trunk side in order to drive the shoulder swing arm and rotate around first pivot, the second pivot sets up in the shoulder swing arm, the one end of dwang is rotated around the second pivot and is connected in the shoulder swing arm, the third pivot sets up the other end at the dwang, hand swing arm is rotated around the third pivot and is connected on the dwang, second pivot and third pivot all incline to set up with first pivot slope with respect to the plane that first pivot is located, shoulder swing arm and hand swing arm pass through the dwang to the slide rail, the arm is connected with the arm to the slide rail on the arm, the arm is to the slide in order to move in the arm axial direction on the arm slide rail, the arm is to install the arm mounting, the arm mounting is fixed part on the shoulder swing arm, the hand is through the support is rotated on the shoulder slider, the shoulder is installed on the shoulder slide rail through the support to the shoulder.
2. The arm activity support of human upper body exoskeleton of claim 1, wherein: the included angle between the first rotating shaft and the back of the human body is 70-90 degrees.
3. The arm activity support of human upper body exoskeleton of claim 1, wherein: the second rotating shaft is perpendicular to the first rotating shaft.
4. The arm activity support of human upper body exoskeleton of claim 1, wherein: and a limiting part for limiting the shoulder swing arm is arranged on the shoulder sliding block.
5. The arm activity support of human upper body exoskeleton of claim 4, wherein: the limiting piece is an adjusting nut in threaded connection with the shoulder sliding block.
6. The arm activity support of human upper body exoskeleton of claim 1, wherein: the hand swing arm is internally provided with a gear mechanism, a third rotating shaft is connected with the gear mechanism, and the third rotating shaft rotates to drive the gear mechanism to provide supporting force for the hand swing arm.
CN201910554071.9A 2019-06-25 2019-06-25 Arm movable support of human upper body exoskeleton and human upper body exoskeleton Active CN110181486B (en)

Priority Applications (1)

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CN201910554071.9A CN110181486B (en) 2019-06-25 2019-06-25 Arm movable support of human upper body exoskeleton and human upper body exoskeleton

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Application Number Priority Date Filing Date Title
CN201910554071.9A CN110181486B (en) 2019-06-25 2019-06-25 Arm movable support of human upper body exoskeleton and human upper body exoskeleton

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CN110181486B true CN110181486B (en) 2023-06-02

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* Cited by examiner, † Cited by third party
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WO2022043862A1 (en) * 2020-08-25 2022-03-03 Iuvo S.R.L Exoskeleton device for outdoor activities and components for use therewith

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6495128B2 (en) * 2015-07-15 2019-04-03 株式会社キトー Work assist device
CN105415353B (en) * 2016-01-26 2018-01-30 哈尔滨工业大学 A kind of Pneumatic power-assisted device Arm structure
CN107854813B (en) * 2017-11-30 2022-12-02 湖南妙手机器人有限公司 Upper limb rehabilitation robot
CN208626133U (en) * 2017-12-22 2019-03-22 中国科学院沈阳自动化研究所 Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot
CN210148086U (en) * 2019-06-25 2020-03-17 知因(台州)机器人科技有限公司 Arm movable support of human upper body exoskeleton and human upper body exoskeleton

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