CN110434841A - A kind of assistance exoskeleton device - Google Patents
A kind of assistance exoskeleton device Download PDFInfo
- Publication number
- CN110434841A CN110434841A CN201910870782.7A CN201910870782A CN110434841A CN 110434841 A CN110434841 A CN 110434841A CN 201910870782 A CN201910870782 A CN 201910870782A CN 110434841 A CN110434841 A CN 110434841A
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- Prior art keywords
- self
- support bar
- lubricating bush
- support
- assistance exoskeleton
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000000694 effects Effects 0.000 claims description 12
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 8
- 239000004917 carbon fiber Substances 0.000 claims description 8
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 101000914628 Homo sapiens Uncharacterized protein C8orf34 Proteins 0.000 description 3
- 102100027225 Uncharacterized protein C8orf34 Human genes 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The present invention provides a kind of assistance exoskeleton devices, including wearing vest and arm support mechanism；The arm support mechanism is two groups, is symmetrically fixed on the support base of the wearing vest；The arm support mechanism includes the components such as first support bar, second support bar, elastic mechanism, since elastic mechanism is not easy to replace at work, therefore we realize the adaptive of holding power by the way of fulcrum to the distance of the candan universal joint of arm supporting member on change elastic mechanism, it can provide different size of power in same position；The beneficial effects of the present invention are: external connection power source is not needed, apparatus structure is simple, easy to carry, and when work is capable of providing stable support force；Change power-assisted size by electrodeless adjustment, is not necessarily to additional changing-over part.
Description
Technical field
The invention belongs to power-driven tool fields more particularly to a kind of assistance exoskeleton for providing support force for human arm to fill
It sets.
Background technique
In the productions activity such as automobile, building, shipbuilding, casting, generally require worker's handheld tool constantly in shoulder or
Person head and the operation of the above position carry out hard work, can come to shoulder, arm and the joint at back and bands of muscle very big
Pressure so that worker's continuous working period greatly shortens.In the long run, this kind of work not only easily caused working efficiency to reduce, but also
It will cause the hidden danger of the system organizations such as worker's muscle skeleton.
Assistance exoskeleton is the support construction worn physically a kind of now, can play health in specific activity
The effects of multiple, medical, energization, being can be effectively for this kind of way to solve the problem.And assistance exoskeleton system now
Mostly use motor, air pressure or hydraulic device to drive greatly, weight is big, at high cost and not portable.
And since torquer or elastic drawstring is widely used in existing product, cause holding power larger always, nothing
Method cools it when not needing holding power, and lifting arm for a long time causes wearing experience bad, and wears off inconvenience.By single
The design of fixed power source causes holding power constant or with change in location, can only be changed by way of replacing power components
The size of variable force, it is difficult to meet actual working environment complicated and changeable.
Therefore the patent is mainly using a kind of Design of Mechanical Structure method of novel passive assistance exoskeleton of upper limb as solution
Scheme.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of the device of support force, and the dress are provided for human arm
It sets that passive delivery driving, structure be simple, lighter in weight, better experience can be provided for user.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of assistance exoskeleton device is provided, is wrapped
Include wearing vest and arm support mechanism；The arm support mechanism is two groups, is symmetrically connected to the support of the wearing vest
On seat.
Further, the wearing vest includes the harness and waistband connecting with the support base.
Further, the arm support mechanism includes first support bar, second support bar and elastic mechanism, and described first
Connected between support rod and second support bar by candan universal joint, the both ends of the elastic mechanism respectively with the first support bar
It is connected with second support bar.
Further, described first support bar one end is cased with the first self-lubricating bush, and the first support bar other end is logical
It crosses L-type bulb joint bearing and is connected with arm packet component for wrapping up arm；One end of the elastic mechanism is connected to described
On first self-lubricating bush of one support rod.
Further, the second support bar is from top to bottom cased with the second self-lubricating bush and third self-lubricating bush, institute
It states and is provided with compressed spring between the second self-lubricating bush and third self-lubricating bush, the third self-lubricating bush is fixed on described
In second support bar, second self-lubricating bush can be slided along the second support bar, sliding in second self-lubricating bush
When the dynamic separate or close third self-lubricating bush, deformation occurs for the compressed spring.
Further, the elastic mechanism both ends are connected with u shaped connector, and the u shaped connector is of coupled connections first certainly respectively
Lubricate sleeve and the second self-lubricating bush.
Further, the second support bar tail portion connecting joint bearing, the oscillating bearing are fixed on wearing vest.
Further, it is equipped in the second support bar for controlling first self-lubricating bush and the cross universal
The bracing wire of the maximum distance of section；Under the action of the elastic mechanism, when first self-lubricating bush is away from described ten
When the direction of word universal joint is mobile, the bracing wire is gradually tightened；When first self-lubricating bush is close to the candan universal joint
Direction it is mobile when, the bracing wire is gradually loosened.
Further, the inter-agency bungee being additionally provided with for limiting scope of activities of the arm support, it is described elastic
Rope both ends are connected to symmetrical second support bar.
Further, the support rod is carbon fiber bar, and the elastic mechanism is gas spring.
The beneficial effects of the present invention are: external connection power source is not needed, apparatus structure is simple and practical, is capable of providing reasonable
Holding power；Device meets ergonomics, will not hinder shoulder waist freedom degree or cause discomfort, and wearing comfort can basis
Wearer's figure is adjusted, and small in volume is easy to carry about with one；Power-assisted size can be changed by electrodeless adjustment, be not necessarily to volume
Outer changing-over part.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of assistance exoskeleton device of the present invention；
Fig. 2 is the structural schematic diagram that assistance exoskeleton of the present invention dresses vest；
Fig. 3 is the schematic diagram of assistance exoskeleton arm support of the present invention mechanism.
Wherein: 1- dresses vest；2- arm support mechanism；3- bungee；101- waistband；102- support base；103- harness；
201- candan universal joint；The first self-lubricating bush of 202-；203-U type joint；204- second support bar；205- first support bar；
206- gas spring；207-L type bulb joint bearing；The second self-lubricating bush of 208-；209- compressed spring；210- third self-lubricating
Sleeve；211- arm packet component；The straight type bulb joint bearing of 212-.
Specific embodiment
By the present invention will be described in detail a kind of technology contents of assistance exoskeleton device, construction feature, realized purpose and effect
Fruit, it demonstrates concretely with reference to embodiment and drawing.
Fig. 1 and Fig. 2 are please referred to, a kind of assistance exoskeleton device is present embodiments provided, including adapts to ergonomics and sets
Branch of the support base 102 as the power of arm support component 2 is arranged in the wearing vest 1 and arm support component 2 of meter, wearing vest 1
Support point, arm support component 2 is two groups, and is symmetrically arranged on the support base 102 of wearing vest 1, can be to two arms of human body
It plays a supportive role.
Embodiment 1
As shown in Fig. 2, being connected with harness 103 and waistband 101 on wearing vest support base 102, in use may be used
Whole device is bonded human body by harness 103 and waistband 101, while being also convenient for wearing and the disassembly of device.
Referring to Fig. 3, arm support mechanism 2 includes first support bar 205, second support bar 204 and elastic mechanism, and first
It is of coupled connections between strut 205 and second support bar 204 using candan universal joint 201, makes first support bar 205 can be around cross universal
201 rotation of section；205 other end of first support bar connects the arm packet component for wrapping up arm by L-type bulb joint bearing 207
211, enable the small range activity in the freedom degree of L-type bulb joint bearing 207 of arm packet component 211, two arms of human body are worn
Arm packet component 211 is crossed, during the work time, arm bears the pressure that weight pushes, and arm packet component 211 plays one to arm at this time
Support force reduces pressure and injures to shoulder, arm and back joint and muscle bring.Wherein, the of the embodiment of the present invention
One support rod 205 and the preferred carbon fiber bar of second support bar 204, carbon fiber bar can effectively reduce the weight of exoskeleton device；Using
Gas spring 206 can reach effective tune as the elastic mechanism between connection first support bar 205 and second support bar 204
Section and the effect for adapting to activity point of view and range between first support bar 205 and second support bar 204.
Specifically, passing through straight type bulb joint bearing in 204 tail portion of second support bar being connected with first support bar 205
212 are fixed on support base 102, enable entire arm support mechanism 2 around straight type ball joint bearing 212 in space inner conical
It rotates, the second self-lubricating set 208 and third self-lubricating set 210 is also cased in second support bar 204, in the second self-lubricating bush
Compressed spring 209 is also cased between 208 and third self-lubricating bush 210, third self-lubricating bush 210 is screwed in second
On strut 204, and the height that adjustable third self-lubricating bush 210 is fixed；U shaped connector is connected at 206 both ends of gas spring
203, both ends u shaped connector 203 is separately connected the first self-lubricating bush 202 and the second carbon fiber bar being placed on the first carbon fiber bar 205
On the second self-lubricating bush 208 on 204；Due to the interaction of gas spring 206 and compressed spring 209, support angle by
During arriving small variation greatly, compressed spring 209 and gas spring 206 successively play a leading role, and provide power-assisted effect for ectoskeleton；
By theoretical calculation analysis, the compressed spring 209 and gas spring 206 of special parameter and specification are selected, in support angle variation
In the process, the holding power that can be realized the offer of 205 end of the first carbon fiber bar fluctuates within the scope of very small one, substantially may be used
To be considered as constant force output, it is preferred that part-structure size of components of the present invention is selected as follows:
Self-lubricating bush: internal diameter 20mm, outer diameter 26mm；
First carbon fibre tube: length 25mm, internal diameter 20mm, outer diameter 26mm；
Gas spring: dynamics 200N, length 350mm, stroke 130mm；
Second carbon fibre tube: length 50mm, internal diameter 20mm, outer diameter 26mm；
So far, a power-assisted in triangle state is constituted with first support bar 205, second support bar 204 and gas spring 206
Mechanism.
Referring to Fig.1, it is connected with bungee 3 between symmetrically arranged arm support mechanism 2, to limit two sides arm support machine
Structure scope of activities, 3 both ends of bungee are separately connected the second carbon fiber bar 204 in arm support mechanism 2.
Its holding power implementation is as follows:
It since gas spring 206 belongs to fixing element, is not easy to replace during the work time, the present invention is using change cross ten thousand
The adaptive of holding power, by way of bracing wire, Neng Goushi are realized to the mode of 201 to the distance of fulcrum in gas spring 206 of section
The function of the distance of fulcrum on candan universal joint 201 to gas spring 206 is now controlled, to realize the size of control holding power；Tool
Body is as follows:
Bracing wire is hidden in pipe, for controlling between the first self-lubricating bush 202 and rotating fulcrum candan universal joint 201
Maximum distance.Under instrument is in running order, under the promotion of gas spring 206, the first self-lubricating bush 202 has separate cross
The trend of universal joint 201, bracing wire are tightened, and prevent the first self-lubricating bush 202 mobile.Under leisure state, in gas spring 206
Under promotion, the first self-lubricating bush 202 has the tendency that close candan universal joint 201, and bracing wire is loosened, the first self-lubricating bush 202
It slides by candan universal joint 201；Reach the overall length by changing bracing wire, changes the first self-lubricating bush 202 and rotating fulcrum
The purpose of maximum distance between candan universal joint 201 further controls the size of holding power.
In this implementation column, there are interchangeable parts for members, and bring equivalent or more preferable effect, are exemplified below:
1. it can be changed to screw bar member for the knob of automatic adjusument and bracing wire, it is electrodeless to realize with thrust substitution pulling force
The function of automatic adjusument, while product durability degree can be improved；
2. external sliding sleeve can be changed to built-in sliding ball element, on the one hand reduces the torque of saddle and rod piece, promoted
Fluency is slided, Product Safety is on the other hand improved；
3. the sliding relation of carbon fibre tube and sleeve, which is changed to square tube, adds sliding block, or uses bend pipe dry with human body to reduce
It relates to；
4. bottom realizes that the bulb bearing of freedom degree could alternatively be universal joint；
5. gas spring could alternatively be adjustable spring bar.
In conclusion a kind of assistance exoskeleton device beneficial effect provided by the invention is: external connection power source is not needed,
Apparatus structure is simple and practical, is capable of providing reasonable holding power；Meet ergonomics, will not hinder shoulder waist freedom degree or
Discomfort is caused, wearing comfort can be adjusted according to wearer's figure, and small in volume is easy to carry about with one；Pass through electrodeless tune
Section changes power-assisted size, is not necessarily to additional changing-over part.
Herein first, second ... only represents the differentiation of its title, not representing their significance level and position has what
It is different.
Herein, up, down, left, right, before and after only represents its relative position without indicating its absolute position.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of assistance exoskeleton device, it is characterised in that: the assistance exoskeleton device includes wearing vest and arm support
Mechanism；The arm support mechanism is two groups, is symmetrically connected on the support base of the wearing vest.
2. assistance exoskeleton device as described in claim 1, it is characterised in that: the wearing vest includes and the support base
The harness and waistband of connection.
3. assistance exoskeleton device as described in claim 1, it is characterised in that: the arm support mechanism includes the first support
Bar, second support bar and elastic mechanism, the first support bar are connected between second support bar by candan universal joint, the bullet
The both ends of property mechanism are connect with the first support bar and second support bar respectively.
4. assistance exoskeleton device as claimed in claim 3, it is characterised in that: described first support bar one end is cased with first certainly
Sleeve is lubricated, the first support bar other end is connected with the arm packet component for wrapping up arm by L-type bulb joint bearing；
One end of the elastic mechanism is connected on the first self-lubricating bush of the first support bar.
5. assistance exoskeleton device as claimed in claim 4, it is characterised in that: the second support bar is from top to bottom cased with
Two self-lubricating bush and third self-lubricating bush are provided with compression bullet between second self-lubricating bush and third self-lubricating bush
Spring, the third self-lubricating bush are fixed in the second support bar, and second self-lubricating bush can be along described second
Strut sliding, slides away from second self-lubricating bush or when close to the third self-lubricating bush, the compressed spring
Deformation occurs.
6. assistance exoskeleton device as claimed in claim 5, it is characterised in that: the elastic mechanism both ends are connected with U-shaped connect
Head, the u shaped connector are of coupled connections the first self-lubricating bush and the second self-lubricating bush respectively.
7. assistance exoskeleton device as claimed in claim 3, it is characterised in that: the second support bar tail portion connecting joint axis
It holds, the oscillating bearing is fixed on wearing vest.
8. assistance exoskeleton device as claimed in claim 3, it is characterised in that: be equipped in the second support bar for controlling
The bracing wire of the maximum distance of first self-lubricating bush and the candan universal joint, under the action of the elastic mechanism, when
When first self-lubricating bush is mobile away from the direction of the candan universal joint, the bracing wire is gradually tightened；When described
When first self-lubricating bush is mobile close to the direction of the candan universal joint, the bracing wire is gradually loosened.
9. assistance exoskeleton device as claimed in claim 3, it is characterised in that: the arm support is inter-agency to be additionally provided with use
In the bungee of limitation scope of activities, the bungee both ends are connected to symmetrically arranged second support bar.
10. such as the described in any item assistance exoskeleton devices of claim 3 to 9, it is characterised in that: the support rod is carbon fiber
Bar, the elastic mechanism are gas spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910870782.7A CN110434841A (en) | 2019-09-16 | 2019-09-16 | A kind of assistance exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910870782.7A CN110434841A (en) | 2019-09-16 | 2019-09-16 | A kind of assistance exoskeleton device |
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| Publication Number | Publication Date |
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| CN110434841A true CN110434841A (en) | 2019-11-12 |
Family
ID=68440258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910870782.7A Pending CN110434841A (en) | 2019-09-16 | 2019-09-16 | A kind of assistance exoskeleton device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113382A (en) * | 2019-12-17 | 2020-05-08 | 中原工学院 | Human body size self-adaptive upper limb exoskeleton mechanism and machine learning control method |
| CN111360790A (en) * | 2020-03-26 | 2020-07-03 | 哈尔滨工业大学 | Passive upper limb assistance exoskeleton with gas spring energy storage function |
| CN113246097A (en) * | 2021-04-14 | 2021-08-13 | 国网山东省电力公司淄博供电公司 | Live working auxiliary arm |
| KR102357864B1 (en) * | 2020-10-22 | 2022-02-07 | 국방과학연구소 | Wearable gravity compensation apparatus capable of multiple degrees of freedom of movement |
| FR3113854A1 (en) * | 2020-09-08 | 2022-03-11 | Human Mechanical Technologies | Exoskeleton comprising an elastic element |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111113382A (en) * | 2019-12-17 | 2020-05-08 | 中原工学院 | Human body size self-adaptive upper limb exoskeleton mechanism and machine learning control method |
| CN111360790A (en) * | 2020-03-26 | 2020-07-03 | 哈尔滨工业大学 | Passive upper limb assistance exoskeleton with gas spring energy storage function |
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