CN208812087U - Wearable power-assisted manipulator device - Google Patents
Wearable power-assisted manipulator device Download PDFInfo
- Publication number
- CN208812087U CN208812087U CN201821569239.0U CN201821569239U CN208812087U CN 208812087 U CN208812087 U CN 208812087U CN 201821569239 U CN201821569239 U CN 201821569239U CN 208812087 U CN208812087 U CN 208812087U
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- bracket
- support
- forearm
- universal joint
- sleeve
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 5
- 210000000245 forearm Anatomy 0.000 claims description 27
- 238000013016 damping Methods 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 22
- 239000007787 solid Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 8
- 239000006185 dispersion Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002567 electromyography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Abstract
The utility model relates to a wearing formula helping hand manipulator device. The robot comprises a mechanical arm, a back support, a shoulder joint assembly and a waist support; a telescopic universal joint is arranged between the back support and the waist support; the telescopic universal joint comprises a shoulder support universal joint, a telescopic shaft, a sleeve and a waist support universal joint; the shoulder support universal joint is connected between the telescopic shaft and the shoulder support, the waist support universal joint is connected between the sleeve and the waist support, and the telescopic shaft can be inserted into the sleeve in a mode of axial sliding relative to the sleeve and circumferential rotation. The utility model discloses a set up the retractable universal joint, under the condition that does not influence the spinal motion, can play the effect of connecting back support and waist support, play the support that acts as human "backbone" and subtract the burden effect, can transmit the atress of back support to waist support through retractable universal joint for the atress dispersion of back support is to waist support, makes the holding power with human waist.
Description
Technical field
The utility model relates to a kind of wearable boosting manipulator devices.
Background technique
Assistance type exoskeleton robot be it is a kind of can be through on the person, the mechanized equipment of additional power is provided, can be with
Human motion is followed, and undertakes main loads, enhances function of human body.Exoskeleton robot technology is the one of robot research field
The research and development starting of a important branch and direction, exoskeleton robot but develops slowly relatively morning, so far still in the exploratory stage, also
Do not obtain promotion and application.
Summary of the invention
The purpose of this utility model is to provide a kind of wearable boosting manipulator devices, including can be attached to wearer's hand
The mechanical arm of arm, the back bracket that wearer back can be attached to, the shoulder joint being connected between mechanical arm and back bracket
Section component and the waist bracket that wearer's waist can be attached to；Telescopic ten thousand is equipped between the back bracket and waist bracket
Xiang Jie；The telescopic universal joint includes shoulder support universal joint, telescopic shaft, sleeve and waist bracket universal joint；The shoulder
Portion's bracket universal joint is connected between telescopic shaft and shoulder support, which is connected to sleeve and waist branch
Between frame, the telescopic shaft by can relative sleeve axially slide and rotate in a circumferential direction in a manner of be inserted into sleeve.
The utility model can the company of playing in the case where not influencing spinal motion by setting telescopic universal joint
The support Reduction of Students' Study Load for serving as human body " backbone " is played the role of in the effect for connecing back bracket and waist bracket, can be by back bracket
Stress is transferred to waist bracket through telescopic universal joint, so that the force dispersion of back bracket is to waist bracket (i.e. human body
Waist), support force is made with human body waist.In the case where considering its load-bearing capacity, and the flexibility of the small of the back is not limited.This reality
It can reach two kinds of functions of rehabilitation training and power-assisted with novel.
Detailed description of the invention
Fig. 1 to Fig. 4 respectively illustrates the stereoscopic schematic diagram of four different angles of the utility model；
Fig. 5 shows the perspective exploded view of the utility model；
Fig. 6 shows the stereoscopic schematic diagram of the mechanical arm of the utility model；
Fig. 7 shows the perspective exploded view of the mechanical arm of the utility model；
Fig. 8 and Fig. 9 respectively illustrates the three-dimensional signal of two different angles of the telescopic universal joint of the utility model
Figure；
Figure 10 and Figure 11 respectively illustrates the solid point of two different angles of the telescopic universal joint of the utility model
Solve schematic diagram；
Figure 12 shows an orthographic projection schematic diagram of the telescopic universal joint of the utility model；
Figure 13 shows the A-A cross-sectional view of Figure 12；
Figure 14 shows the portion the D partial enlarged view of Figure 13；
Figure 15 shows the enlarged drawing of the B-B cross-sectional view of Figure 12；
Figure 16 shows the C-C cross-sectional view of Figure 13；
Figure 17 shows the stereoscopic schematic diagrams of the damping mechanism of the utility model；
Figure 18 shows the perspective exploded view of the damping mechanism of the utility model.
Specific embodiment
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
A kind of wearable boosting manipulator device, the machine including wearer's arm can be attached to as shown in Fig. 1 to Figure 18
Tool arm 10, the back bracket 20 that wearer back can be attached to, the shoulder being connected between mechanical arm 10 and back bracket 20
Joint assembly and the waist bracket 30 that wearer's waist can be attached to；
Telescopic universal joint 40 is equipped between the back bracket 20 and waist bracket 30；
The telescopic universal joint 40 includes shoulder support universal joint 401, telescopic shaft 402, sleeve 403 and waist bracket
Universal joint 404；
The shoulder support universal joint 401 is connected between telescopic shaft 402 and shoulder support 20, the waist bracket Universal connector
First 404 are connected between sleeve 403 and waist bracket 30, and the telescopic shaft 402 is with can the axial sliding of relative sleeve 403 and circumferential rotation
The mode turned is inserted into set, in 403, that is to say, that the telescopic shaft 402 and sleeve 403 constitute cylindrical pair, opposite can stretch along this
The axis direction of axis makees axial stretching movement, can also make axial rotation motion around the axis of the telescopic shaft relatively.
The technical solution can the company of playing in the case where not influencing spinal motion by setting telescopic universal joint
The support Reduction of Students' Study Load for serving as human body " backbone " is played the role of in the effect for connecing back bracket and waist bracket, can be by back bracket
Stress is transferred to waist bracket through telescopic universal joint, so that the force dispersion of back bracket is to waist bracket (i.e. human body
Waist), support force is made with human body waist.In the case where considering its load-bearing capacity, and the flexibility of the small of the back is not limited.
The sleeve 403, which is equipped with to provide to telescopic shaft 402, hinders power to hinder 402 relative sleeve 403 of telescopic shaft to move
Damping mechanism 50.
The resistance of damping mechanism offer is provided in the present embodiment, when telescopic shaft relative sleeve axially slides or rotates in a circumferential direction
Hinder power.In the present embodiment, it can be effectively realized by setting damping mechanism the stress of back bracket is universal through telescopic
Section is transferred to the purpose of waist bracket.
The damping mechanism 50 is the adjustable adjustable damping mechanism of the obstruction power provided to telescopic shaft.
The technical solution realizes the adjusting of obstruction power size by the way that adjustable damping mechanism is arranged, to adapt to different personnel
Use, especially adaptation different loads ability personnel use, for example, the stronger personnel of waist load capacity can make to damp
Mechanism is adjusted to biggish obstruction power, and the weaker personnel of waist load capacity can be such that damping mechanism adjusts to lesser obstruction
Power.
The damping mechanism 50 includes damping shell 501, the decorative pearl on top of an official cap 502, decorative pearl on top of an official cap sliding block 503, adjustable spring 504, pushing slide block
505 and screw rod 506；
Slide opening 507 is equipped in the damping shell 501, one end of the damping shell 507 is equipped with opening 508 and the other end is equipped with
Screw hole 509, the opening 508 and screw hole 509 are connected to slide opening 507, the decorative pearl on top of an official cap sliding block 503 and the equal slip of pushing slide block 505
Ground is installed in slide opening 507, which is set in slide opening 507 and is held in decorative pearl on top of an official cap sliding block 503 and pushing slide block
Between 504, one end of the adjustable spring is connected to decorative pearl on top of an official cap sliding block, and the other end is connected to pushing slide block, which sets
There is ball-and-socket 510, which is rollably installed in ball-and-socket 510, and the decorative pearl on top of an official cap is defined in ball-and-socket 510 and rolls, and the decorative pearl on top of an official cap passes through
Opening protrudes from outside damping shell, which is threadedly engaged with screw hole, and it is sliding that one end which protrudes into slide opening is resisted against thrust
So that screw rod drives pushing slide block to make to slide close to or far from the decorative pearl on top of an official cap sliding block when rotating, which stretches out in outside damping shell block
One end be fixedly mounted with the knob 511 for manual operation；
The sleeve 403 is equipped with the through-hole 405 radially extended along sleeve, which is fixably attached to lead to
In hole 405, and the decorative pearl on top of an official cap 502 is resisted against telescopic shaft 402, and in the present embodiment, damping shell solid 501 can be locked in sleeve by screw
On 403.
In the present embodiment, the axis of screw rod is parallel to the radial direction of sleeve, and the effect of adjustable spring can make pushing slide block always
The one end protruded into slide opening with screw rod is held against, and twists the radial motion that knob can drive screw rod along sleeve, the thrust manually
Sliding block is when radial motion of the screw rod along sleeve also along the radial motion of sleeve with close or separate decorative pearl on top of an official cap sliding block, pushing slide block
The variation of the distance between decorative pearl on top of an official cap sliding block can cause the variation of adjustable spring decrement, and adjustable spring is applied to decorative pearl on top of an official cap sliding block
Thrust and the decorative pearl on top of an official cap also just change against the pressure of telescopic shaft, thus to adjust the size of frictional resistance.
Damping mechanism structure disclosed in the technical solution is simple, hinders the big minor adjustment of power easy to operate.
The periphery of the telescopic shaft is coated with one layer of friction member 406, and the decorative pearl on top of an official cap 502 is resisted against telescopic shaft 402 and refers to, the decorative pearl on top of an official cap
502 are resisted against friction member 406.In the present embodiment, friction member 406 is cylindrical, and the material of friction member 406 can be elastic rubber
Glue.
The mechanical arm 10 includes that can be attached to the forearm bracket 101 of the forearm of wearer and can be attached to the big of wearer
The big arm support 102 of arm, the big arm support 102 have the proximal end 103 on nearly wearer head and the distal end on remote wearer head
104, the distal end 104 of the big arm support rotatably connect (such as hinged), the big arm support with forearm bracket 101
The forearm driving mechanism that the relatively large arm support 102 of forearm bracket 101 can be driven to rotate is equipped between 102 and forearm bracket 101.
The shoulder joint component includes large arm electric pushrod 60 and gas spring 70；
The motor body of the large arm electric pushrod 60 is connect with back bracket 20 by the first spherical hinge 801, large arm electricity
The push rod of dynamic push rod 60 is connect with big arm support 102 by the second spherical hinge 802；
The cylinder body of the gas spring 70 is connect with back bracket 20 by third spherical hinge 803, the piston rod of the gas spring 70
It is connect with big arm support 102 by the 4th spherical hinge 804；
Wherein, in back bracket 20, the nearly wearer head of third spherical hinge 803, and the remote wearer of the first spherical hinge 801
Head；In on big arm support 102, the nearly wearer head of the 4th spherical hinge 804, and the remote wearer head of the second spherical hinge 802；Especially
It is that the 4th spherical hinge is set on the proximal end of big arm support, and the second spherical hinge is then set to the proximal end and distal end of big arm support
Between, third spherical hinge is set to the shoulder for being higher by wearer.
Its push rod can be driven to make the motor and driver of straight reciprocating motion built in the motor body of the large arm electric pushrod
Structure；In the present embodiment, electric pushrod and gas spring belong to the prior art, and specific structure repeats no more.
The technical solution plays a part of to connect back bracket and arm by setting large arm electric pushrod and gas spring.
It is tieed up using the gas spring that can stop at any time on the shoulder top that the connection of mechanical arm and back bracket is used in human body
Hold the balance of back power；The shoulder lower part of human body drives lateral power using large arm electric pushrod.In order to reduce, large arm is electronic to be pushed away
Bar and gas spring interference, are respectively adopted first to fourth spherical hinge to promote movable freedom degree and range.
The soft backing plate for fitting in human body is respectively arranged in back bracket and waist bracket and human contact side
The comfort level for enhancing user, and at the same time the pressure to human body can also be reduced.It is bound using elastic velcro with human body
Unnecessary injury can also be further reduced.
Although mechanical arm can complete the movement needs of ancon as an individual mechanism, it is contemplated that manipulator
It is tired out faster that the self weight of arm will lead to user, reduces user's service efficiency, reduces practicability.So wanting whole thinking
It can not only be withstood forces for shoulder, transmission force, also to accomplish the own wt of mechanical arm passing through the back with human contact
Bracket and waist bracket be transferred on shoulder and back and human body waist and buttocks above, greatly reduce user's
Burden, is virtually promoted its efficiency.
If replacing present pneumatic spring with another electric pushrod, since the minimum installation dimension of electric pushrod is more than shoulder
Portion's design size, if installing by force, it will cause the increases of the distance between back bracket and mechanical arm, lead to torque
Increase, then human arm, which will bear load (mechanical arm and its weight for lifting object), will increase, and increase human body weight bearing；Secondly,
Electric pushrod is easy to interfere with back bracket in active procedure, reduces critical activity range.In addition, being pushed away if use pair is electronic
Cylinder (i.e. the combination of large arm electric pushrod and another electric pushrod of replacement gas spring) can then be related to the coordination operation of the two, such as
When human body carries out shoulder flexion, then can be shunk instead of another electric pushrod of gas spring, and large arm electric pushrod can be stretched
Out, and the flexible stroke distances of the two can't be consistent, this needs to carry out the setting of sensor, and this set needs
To human muscle's Real-time Feedback signal, and require human body that can constantly feed back not in the anteflexion action process of entire shoulder
With and accurate electromyography signal, therefore, this needs to use high-precision sensor, and the personnel for this sensor is arranged
Profession requires to be also suitable height because device will the signal to sensor feedback calculate and calculated result with electric signal
Form feed back to this two it is electronic push away cylinder, with this come determine it is each it is electronic push away cylinder movement travel number, this needs artificial design one
Controller is calculated in real time, and process is extremely complex, and manufacturing cost is high.Instead using can free shrink gas bullet
Spring, the piston rod of the gas spring can real-time perfoming stretch out, contractile motion, and its aeroperformance makes up the power-assisted of electric pushrod as far as possible
Effect, in addition to this, the electric cylinders mechanism that the diameter and weight of gas spring use before being less than, the selection of installation dimension is also more, full
The design requirement that foot unit is applied widely and replacement is easy.
The movement of the large arm electric pushrod provides power-assisted for mechanical arm, and gas spring auxiliary large arm electric pushrod is transported
It is dynamic, both play the role of power transmitting, disperses mechanical arm weight in back bracket.Meeting Mechanical Structure Strength and Reduction of Students' Study Load
Effect etc. simultaneously, reduces the interference that each component moves shoulders of human body, reduces human body to the inadaptability of each component.
The gas spring is free type gas spring
The forearm driving mechanism includes forearm electric pushrod 105；
The forearm bracket 101 also has the proximal end 106 on nearly wearer head and the distal end 107 on remote wearer head, this is small
The pivot center of the relatively large arm support 102 of arm support 101 rotation is located between the distal end 107 and proximal end 106 of forearm bracket；
The motor body of the forearm electric pushrod 105 rotatably connect (such as hinged) with big arm support 102,
The push rod of the forearm electric pushrod 105 and the proximal end 106 of forearm bracket are rotatably to connect (such as hinged).
In the present embodiment, mechanical arm, back bracket and waist bracket can be bound by by band wearer's corresponding position with
Realization is attached to wearer's corresponding position.
In the present embodiment, the axis of telescopic shaft and the axis of sleeve are conllinear.
Waist bracket universal joint and shoulder support universal joint are universal-joint-pin type universal connector.Universal-joint-pin type universal connects
Head includes the first universal-joint fork, the second universal-joint fork and the cross being connected between the first universal-joint fork and the second universal-joint fork
Axis, wherein the first universal-joint fork of the waist bracket universal joint is fixedly connected with waist bracket 30, and the waist bracket is universal
Second universal-joint fork of connector is fixedly connected with sleeve 403；The first universal-joint fork and shoulder of the shoulder support universal joint 401
Bracket 20 is fixedly connected, and the second universal-joint fork of the shoulder support universal joint 401 is fixedly connected with telescopic shaft 402.
Claims (9)
1. a kind of wearable boosting manipulator device, including that can be attached to the mechanical arm of wearer's arm, wearing can be attached to
The back bracket at person back, the shoulder joint component being connected between mechanical arm and back bracket and wearer's waist can be attached to
The waist bracket in portion, it is characterised in that:
Telescopic universal joint is equipped between the back bracket and waist bracket；
The telescopic universal joint includes shoulder support universal joint, telescopic shaft, sleeve and waist bracket universal joint；
The shoulder support universal joint is connected between telescopic shaft and shoulder support, which is connected to sleeve
Between waist bracket, the telescopic shaft by can relative sleeve axially slide and rotate in a circumferential direction in a manner of be inserted into sleeve.
2. wearable boosting manipulator device according to claim 1, it is characterised in that: the sleeve is equipped with to telescopic shaft
The damping mechanism for hindering power to hinder telescopic shaft relative sleeve to move is provided.
3. wearable boosting manipulator device according to claim 2, it is characterised in that: the damping mechanism is to telescopic shaft
The adjustable adjustable damping mechanism of the obstruction power of offer.
4. wearable boosting manipulator device according to claim 3, it is characterised in that:
The damping mechanism includes damping shell, the decorative pearl on top of an official cap, decorative pearl on top of an official cap sliding block, adjustable spring, pushing slide block and screw rod；
Slide opening is equipped in the damping shell, one end of the damping shell is equipped with opening and the other end is equipped with screw hole, the opening and spiral shell
The connection of Kong Junyu slide opening, the decorative pearl on top of an official cap sliding block and pushing slide block are slippingly installed in slide opening, which is set to slide opening
In and be held between decorative pearl on top of an official cap sliding block and pushing slide block, one end of the adjustable spring is connected to decorative pearl on top of an official cap sliding block, and the other end supports
It is connected to pushing slide block, which is equipped with ball-and-socket, which is rollably installed in ball-and-socket, and the decorative pearl on top of an official cap is protruded through opening
In outside damping shell, which is threadedly engaged with screw hole, and one end which protrudes into slide opening is resisted against pushing slide block so that spiral shell
Bar drives pushing slide block to make to slide close to or far from the decorative pearl on top of an official cap sliding block when rotating, one end which stretches out in outside damping shell is solid
Knob is installed surely；
The sleeve is equipped with the through-hole radially extended along sleeve, which is fixably attached in through-hole, and the decorative pearl on top of an official cap supports
It is against telescopic shaft.
5. wearable boosting manipulator device according to claim 4, it is characterised in that: the periphery of the telescopic shaft coats
There is one layer of friction member, which is resisted against friction member.
6. wearable boosting manipulator device according to claim 1, it is characterised in that:
The mechanical arm includes that can be attached to the forearm bracket of the forearm of wearer and can be attached to the large arm of the large arm of wearer
Bracket, the big arm support have nearly wearer head proximal end and remote wearer head distal end, the distal end of the big arm support with
For forearm bracket rotatably to connect, the opposite large arm of forearm bracket can be driven by being equipped between the big arm support and forearm bracket
The forearm driving mechanism of holder pivots.
7. wearable boosting manipulator device according to claim 6, it is characterised in that:
The shoulder joint component includes large arm electric pushrod and gas spring；
The motor body and back bracket of the large arm electric pushrod pass through the first flexural pivot chain link, the push rod of the large arm electric pushrod
Pass through the second flexural pivot chain link with big arm support；
By third flexural pivot chain link, the piston rod of the gas spring passes through the cylinder body and back bracket of the gas spring with big arm support
4th flexural pivot chain link；
Wherein, in back bracket, the nearly wearer head of third spherical hinge, and the remote wearer head of the first spherical hinge；In large arm
On bracket, the nearly wearer head of the 4th spherical hinge, and the remote wearer head of the second spherical hinge.
8. wearable boosting manipulator device according to claim 7, it is characterised in that: the gas spring is free type gas bullet
Spring.
9. wearable boosting manipulator device according to claim 6, it is characterised in that:
The forearm driving mechanism includes forearm electric pushrod；
The forearm bracket also has the proximal end on nearly wearer head and the distal end on remote wearer head, and the forearm bracket is with respect to large arm
The pivot center of holder pivots is located between the distal end and proximal end of forearm bracket；
The motor body of the forearm electric pushrod with big arm support rotatably to connect, the push rod of the forearm electric pushrod
With the proximal end of forearm bracket rotatably to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821569239.0U CN208812087U (en) | 2018-09-25 | 2018-09-25 | Wearable power-assisted manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821569239.0U CN208812087U (en) | 2018-09-25 | 2018-09-25 | Wearable power-assisted manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208812087U true CN208812087U (en) | 2019-05-03 |
Family
ID=66278266
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821569239.0U Withdrawn - After Issue CN208812087U (en) | 2018-09-25 | 2018-09-25 | Wearable power-assisted manipulator device |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927792A (en) * | 2018-09-25 | 2018-12-04 | 电子科技大学中山学院 | Wearable power-assisted manipulator device |
| CN113425553A (en) * | 2021-06-25 | 2021-09-24 | 右江民族医学院附属医院 | Vertebra disease rehabilitation and nursing device |
-
2018
- 2018-09-25 CN CN201821569239.0U patent/CN208812087U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927792A (en) * | 2018-09-25 | 2018-12-04 | 电子科技大学中山学院 | Wearable power-assisted manipulator device |
| CN113425553A (en) * | 2021-06-25 | 2021-09-24 | 右江民族医学院附属医院 | Vertebra disease rehabilitation and nursing device |
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