CN209319778U - The wearable shoulder assistance exoskeleton of comfort can be improved - Google Patents
The wearable shoulder assistance exoskeleton of comfort can be improved Download PDFInfo
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- CN209319778U CN209319778U CN201822141931.XU CN201822141931U CN209319778U CN 209319778 U CN209319778 U CN 209319778U CN 201822141931 U CN201822141931 U CN 201822141931U CN 209319778 U CN209319778 U CN 209319778U
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- arm
- support
- harness
- comfort
- strap
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Abstract
The utility model discloses a kind of wearable shoulder assistance exoskeleton that comfort can be improved, including wearing portion and symmetrically arranged upper arm mechanism, the wearing portion has waistband (1), harness (2) and the chest strap (3) for being located at harness (2) front and being connected between harness (2), the upper arm mechanism has support arm (4) and is connected to the arm support frame (5) of support arm (4) one end, the harness (2) connects with puller strap (6) and puller strap (6) connecting pin is overlapped with the extending direction of chest strap (3), puller strap (6) other end is fixed on front side of support arm (4).Mechanical structure is simple, solves the problems, such as that upper arm mechanism slides along human arm direction during the motion without excessively tightening i.e., realizes upper arm structure and human arm good fit, effectively improve wearing comfort.
Description
Technical field
The utility model relates to a kind of wearable shoulder assistance exoskeleton, especially a kind of mechanical structure is simple and can be improved
The wearable shoulder assistance exoskeleton of comfort.
Background technique
Industrial ectoskeleton is a kind of wearable power assistive device of new industry, wherein wearable shoulder assistance exoskeleton
The servo-actuated support force of upper arm can be provided for wearer, provided in the case where freely following human arm motion for human arm
Promote power-assisted.Existing wearable shoulder assistance exoskeleton includes wearing portion and symmetrically arranged upper arm mechanism, wearing portion
There are waistband, harness and positioned at harness front and the chest strap that is connected between harness, upper arm mechanism has support arm and is connected to branch
The arm support frame of arm one end, by least one length-adjustable bandage by arm mechanism on ectoskeleton be bundled in arm it
On.As bandage pine excessively will lead to occur during arm motion upper arm mechanism and human arm along orientation arm it is opposite slide showing
As, and excessively tighten that will lead to arm blood circulation unsmooth and limit the contraction of arm muscles.In order to solve simple bandage
The problems of, existing settling mode is to increase a free sliding degree along orientation arm in upper arm mechanism, but therewith
Increase complicated in mechanical structure degree.
Summary of the invention
The utility model is that it is simple to provide a kind of mechanical structure in order to solve above-mentioned technical problem present in the prior art
And the wearable shoulder assistance exoskeleton of comfort can be improved.
The technical solution of the utility model is: a kind of wearable shoulder assistance exoskeleton that comfort can be improved, packet
Include wearing portion and symmetrically arranged upper arm mechanism, the wearing portion has waistband, harness and positioned at harness front and is connected to
Chest strap between harness, the upper arm mechanism have support arm and are connected to the arm support frame of support arm one end, the harness
Connect with puller strap and the extending direction of puller strap connecting pin is overlapped with the extending direction of chest strap, the puller strap other end
It is fixed on front side of support arm.
The harness is connected to the puller strap that one end is overlapped with chest strap extending direction, and the other end of the puller strap is solid
It is scheduled on front side of support arm.
Package set is socketed with outside the support arm and arm support frame, the puller strap connects with package set, covers in package
It is equipped with arm bandage.
The arm support frame is equipped with seperated principal arm support and auxiliary support, on the inside of principal arm support and auxiliary support with cushion phase
It connects, principal arm support connects with support arm.
The arm bandage external end head and package put on the velcro fastener for being equipped with and matching.
The utility model mechanical structure is simple, and puller strap is overlapped with harness connecting pin with the extending direction of chest strap, makes
Harness and chest strap limit the movement of puller strap Yu harness connecting pin jointly.When arm naturally droops or when preceding act, puller strap
In relaxed state, arm activity is not influenced；And when arm side is lifted or arm level is stretched, puller strap is in exceptionally straight tension-like
State, generation act on arm mechanism along the pulling force in puller strap direction, which limits along the component in human arm direction
Sliding of the arm mechanism to volar direction solves upper arm mechanism during the motion along human arm side without excessively tightening i.e.
To the problem of sliding, realizes upper arm structure and human arm good fit, effectively improve wearing comfort.
Detailed description of the invention
Fig. 1 is the front structure schematic diagram of the utility model embodiment.
Fig. 2 is the structure schematic diagram of the utility model embodiment.
Fig. 3 is the utility model embodiment support arm and arm support circuit theory schematic diagram.
Fig. 4 is arm mechanism partial structural diagram in the utility model embodiment.
Fig. 5 is the utility model embodiment package nested structure schematic diagram.
Fig. 6 is the utility model embodiment use state diagram.
Specific embodiment
The wearable shoulder assistance exoskeleton that comfort can be improved of the utility model as shown in Figure 1, Figure 2, Fig. 3, Fig. 4 and Fig. 5
It is shown, it is same as the prior art, including wearing portion and symmetrically arranged upper arm mechanism, wearing portion have waistband 1, harness 2 and
Positioned at 2 front of harness and the chest strap 3 that is connected between harness 2, upper arm mechanism has support arm 4 and is connected to 4 one end of support arm
Arm support frame 5, with the prior art except that harness 2 connects with puller strap 6 and the extending direction of 6 connecting pin of puller strap
It is overlapped with the extending direction of chest strap 3, puller strap 6 can also be structure as a whole with chest strap 3, and 6 other end of puller strap is fixed
In 4 front side of support arm.
One package set 7 of socket, puller strap 6 it can connect with package set 7 outside support arm 4 and arm support frame 5, that is, pass through
Package set 7 is fixed on front side of support arm 4, is set on package set 7 there are two arm bandage 8,8 external end head of arm bandage and package cover 7
It is equipped with the velcro fastener 11 to match.
Arm support frame 5 is equipped with seperated principal arm support 9 and auxiliary support 10, principal arm support 9 and 10 inside of auxiliary support with it is soft
Pad 12 connects, i.e., realizes being flexible coupling between principal arm support 9 and auxiliary support 10 by cushion 12, preset slot passes through spiral shell in principal arm support 9
Nail connects with support arm 4.
As shown in fig. 6, winding arm bandage 8 is made on upper arm mechanism and human body in human body upper arm by hasp 11 when use
Arm fitting.
Claims (4)
1. a kind of wearable shoulder assistance exoskeleton that comfort can be improved, including wearing portion and symmetrically arranged upper arm machine
Structure, the wearing portion have waistband (1), harness (2) and are located at harness (2) front and the chest that is connected between harness (2) is tied up
Band (3), the upper arm mechanism have support arm (4) and are connected to the arm support frame (5) of support arm (4) one end, it is characterised in that: institute
Harness (2) is stated to connect with puller strap (6) and the extending direction weight of the extending direction of puller strap (6) connecting pin and chest strap (3)
It closes, puller strap (6) other end is fixed on front side of support arm (4).
2. the wearable shoulder assistance exoskeleton according to claim 1 that comfort can be improved, it is characterised in that: the branch
Package set (7) is socketed with outside arm (4) and arm support frame (5), the puller strap (6) connects with package set (7), covers in package
(7) arm bandage (8) are equipped with.
3. the wearable shoulder assistance exoskeleton according to claim 2 that comfort can be improved, it is characterised in that: the hand
Arm braced frame (5) is equipped with seperated principal arm support (9) and auxiliary support (10), principal arm support (9) and auxiliary support (10) inside with it is soft
Pad (12) connects, and principal arm support (9) connects with support arm (4).
4. the wearable shoulder assistance exoskeleton according to claim 2 or 3 that comfort can be improved, it is characterised in that: institute
It states arm bandage (8) external end head and package set (7) is equipped with the velcro fastener (11) to match.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822141931.XU CN209319778U (en) | 2018-12-20 | 2018-12-20 | The wearable shoulder assistance exoskeleton of comfort can be improved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822141931.XU CN209319778U (en) | 2018-12-20 | 2018-12-20 | The wearable shoulder assistance exoskeleton of comfort can be improved |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209319778U true CN209319778U (en) | 2019-08-30 |
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ID=67727544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822141931.XU Active CN209319778U (en) | 2018-12-20 | 2018-12-20 | The wearable shoulder assistance exoskeleton of comfort can be improved |
Country Status (1)
| Country | Link |
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| CN (1) | CN209319778U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318217A (en) * | 2018-12-20 | 2019-02-12 | 赤源动力（大连）科技有限责任公司 | The wearable shoulder assistance exoskeleton of comfort can be improved |
| CN116616922A (en) * | 2023-07-25 | 2023-08-22 | 北京大学人民医院 | Power-assisted exoskeleton |
-
2018
- 2018-12-20 CN CN201822141931.XU patent/CN209319778U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318217A (en) * | 2018-12-20 | 2019-02-12 | 赤源动力（大连）科技有限责任公司 | The wearable shoulder assistance exoskeleton of comfort can be improved |
| WO2020125071A1 (en) * | 2018-12-20 | 2020-06-25 | 赤源动力大连科技有限责任公司 | Wearable shoulder-assisted exoskeleton capable of improving comfort |
| CN116616922A (en) * | 2023-07-25 | 2023-08-22 | 北京大学人民医院 | Power-assisted exoskeleton |
| CN116616922B (en) * | 2023-07-25 | 2023-10-20 | 北京大学人民医院 | Power-assisted exoskeleton |
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