Shoulder joint maintaining exoskeleton and application thereof

Abstract

The invention discloses a shoulder joint maintaining exoskeleton and application thereof, and belongs to the field of upper limb exoskeleton robots. The shoulder joint maintaining exoskeleton comprises a right arm exoskeleton, a left arm exoskeleton and a force bearing belt; the right arm exoskeleton and the left arm exoskeleton are connected with the force bearing belt, and the right arm exoskeleton and the left arm exoskeleton are of the same structure; the right arm exoskeleton includes a supporting mechanism and a locking mechanism, and the middle portion of a supporting rod in the supporting mechanism is provided with clamping teeth and sliding grooves; and the locking mechanism comprises a first fixing plate, an upper stopping block, a lower stopping block, a second fixing plate andclamping jaws, wherein the first fixing plate and the second fixing plate slide along the sliding grooves through guiding rollers, the upper blocking block and the lower blocking block are located onthe upper and lower ends of the clamping teeth correspondingly, and the clamping jaws are separated from or engaged with the clamping teeth. According to the shoulder joint maintaining exoskeleton, rotary motion of a shoulder joint is converted into reciprocating motion; the structures of the clamping jaws and the clamping teeth are adopted, the shoulder joint can be maintained at any angle, the structure is simple and light, limitation by the control algorithm and the endurance time is avoided, and complete unloading can be realized.

Description

technical field [0001] The invention belongs to the field of upper limb exoskeleton robots, and more specifically relates to a shoulder joint holding exoskeleton and its application. Background technique [0002] In application environments such as construction, airports, assembly lines, warehousing, and logistics, workers need to perform repetitive tasks such as lifting, carrying, and squatting on goods, or operate with weapons for a long time. Repetitive and heavy work can cause great damage to the back and shoulder joints of the human body, and can easily cause muscle fatigue and even bone damage. Exoskeleton robots can effectively assist the human body in the process of operation through active and passive components and optimized design algorithms, prevent labor injuries and prolong workers' careers. [0003] At present, shoulder joint exoskeletons can be divided into active and passive exoskeletons according to whether they are equipped with external power sources. A...

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a shoulder joint holding exoskeleton and its application, thereby solving the technical problems of the prior art that have high requirements on the control algorithm and cannot be completely unloaded

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