WO2021109597A1

WO2021109597A1 - Wearable lumbar power-assisted exoskeleton

Info

Publication number: WO2021109597A1
Application number: PCT/CN2020/105795
Authority: WO
Inventors: 魏巍; 林西川; 刘晶晶
Original assignee: 迈宝智能科技(苏州)有限公司
Priority date: 2019-12-02
Filing date: 2020-07-30
Publication date: 2021-06-10
Also published as: CN110815191A

Abstract

A wearable lumbar power-assisted exoskeleton, comprising: a back module (1), a power supply module (2), and leg modules (5). The power supply module (2) is installed at one end of the back module (1), and the leg modules (5) are detachably connected to the power supply module (2). The power supply module (2) has a detachably connected power supply interface. One side of the power supply interface is provided with a pull button (8). One end of the pull button (8) has a convex point (7). The initial position of the pull button (8) is a locked position. The convex point (7) of the pull button (8) located in the locked position snaps into a lock hole on the side wall of the power supply interface and extends to the inner part of the power supply interface. The leg modules (5) are detachably connected to two sides of the power supply module (2). The leg module (5) on either side comprises a leg bar (20), and an adjustment fast release mechanism (3) disposed at one end of the leg bar (20). The leg modules (5) of the exoskeleton can achieve fast electrical assembly and connection and fast disassembly and separation, thereby facilitating the use of the exoskeleton. Moreover, the exoskeleton employs an active form, and has a significant power-assisted effect. At the same time, the exoskeleton does not affect the normal walking of a human body, and has a good follow-up effect while employing mechanical limit protection, and is safe and reliable.

Description

Wearable waist boosts exoskeleton

Technical field

The invention relates to the field of wearable technology, in particular to a wearable waist booster exoskeleton.

Background technique

Wearable exoskeleton robot refers to a type of mechanical device that mimics the state of human motion and enhances the ability of human motion. It is a mechanical device that integrates bionics and ergonomics. It can be worn on the outside of human limbs and can improve people’s walking durability and weight-bearing ability. Aspect ability. Its application fields are very wide. In the military field, it can improve the mobility, mobility, and weight-bearing ability of soldiers; in the medical field, it can help patients with lower limb muscle weakness or other disabilities in rehabilitation training; in the civilian field, it can help wear Improve the ability to carry heavy objects and improve the durability of walking.

At present, the existing waist-assisted exoskeleton has many complicated structures, and the structure cannot realize rapid modular disassembly and assembly, and there are problems such as difficulty in transportation, maintenance, or wearing. Many waist-assisted exoskeletons are passively assisted by the waist, but in fact, the power-assisting effect is not obvious. Therefore, it is necessary to propose further solutions to the above-mentioned problems.

Summary of the invention

The purpose of the present invention is to provide a wearable waist booster exoskeleton to overcome the deficiencies in the prior art.

In order to achieve the above-mentioned object of the invention, the present invention provides a wearable waist booster exoskeleton, which includes: a back module, a power module, and a leg module;

The power module is installed at one end of the back module, and the leg module is detachably connected to the power module;

The power module has a detachable power interface, one side of the power interface is provided with a pull button, one end of the pull button has a convex point, the initial position of the pull button is a locked position, and is located in the locked position. The convex point of the position knob is inserted into the lock hole on the side wall of the power interface, and extends to the inside of the power interface;

The leg module is detachably connected to both sides of the power module, and the leg module on either side includes: a leg bar, an adjusting quick release mechanism provided at one end of the leg bar, and the adjusting quick release mechanism includes: The adjustment module mother compartment, the quick-release electrical connector arranged on the end face of the adjustment module mother compartment, and the convex hole provided on the side of the adjustment module mother compartment, when the leg module is connected to the power interface , The quick-plug electrical connector is electrically connected to the power interface, and the bump is clamped into the bump card hole.

As an improvement of the wearable waist booster exoskeleton of the present invention, the other end of the back module is also provided with a shoulder strap binding interface.

As an improvement of the wearable waist assisted exoskeleton of the present invention, a reset elastic member is connected to the other end of the knob, and the reset elastic member provides the knob with a reset force directed from the unlock position of the knob to the locked position.

As an improvement of the wearable waist-assisted exoskeleton of the present invention, the other end of the pull button is connected to a pull button accessory by a screw, the return elastic member is a spring, and the pull button accessory forms a spring for accommodating the spring warehouse.

As an improvement of the wearable waist-assisted exoskeleton of the present invention, the quick-release electrical connector includes: a first connector and a second connector arranged opposite to the first connector, and the leg module is connected to the power interface When in place, the first connector is electrically connected to the power interface.

As an improvement of the wearable waist-assisted exoskeleton of the present invention, the adjustment quick release mechanism further includes a mother compartment accessory, which is mounted on the adjustment module mother compartment by screws, the first joint and the second The joint is arranged on the accessory of the mother bin.

As an improvement of the wearable waist-assisted exoskeleton of the present invention, the adjustment quick release mechanism further includes: an adjustment push button and a push button accessory. The adjustment push button is located in one end of the leg bar, one end of which extends and the other end Linked with the push button accessory, the push button accessory is movably set up and down, and one end of the leg bar is provided with a number of width adjustment holes inclined along the pushing direction of the adjusting button. Any one of the push button accessories is automatically set up and down. The corresponding width adjustment hole protrudes.

As an improvement of the wearable waist booster exoskeleton of the present invention, the other end of the leg rod is also provided with a driving mechanism, which includes a motor, a reducer, and an output flange. The motor passes through the reducer and the output method. Blue phase connection, the wire of the drive mechanism is connected to the quick-release electrical connector through a wire slot, a cable organizer, and an outlet of the cable organizer.

As an improvement of the wearable waist booster exoskeleton of the present invention, the output flange also has a limit structure composed of a limit boss and a leg limit groove.

As an improvement of the wearable waist booster exoskeleton of the present invention, the wearable waist booster exoskeleton further includes a support module, which includes a support rod and a binding plate, and the output flange pivots with one end of the support rod Connected, the other end of the support rod is pivotally connected with the binding plate.

Compared with the prior art, the present invention has the beneficial effects that the wearable waist-assisted exoskeleton leg module of the present invention can realize rapid electrical assembly and connection and rapid disassembly and separation, which facilitates the use of the exoskeleton. And the present invention is a wearable exoskeleton waist with active booster, a significant boosting effect, without affecting the body's normal travel, the follower effect, while acquiring mechanical limit protection, safe and reliable.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a three-dimensional schematic diagram of an embodiment of a wearable waist booster exoskeleton according to the present invention;

FIG. 2 is a three-dimensional enlarged schematic diagram of the back module in FIG. 1;

Fig. 3 is an enlarged cross-sectional view of the power interface of the power module in Fig. 1;

4 and 5 are three-dimensional enlarged schematic diagrams of one end of the leg module in FIG. 1;

Figure 6 is a cross-sectional view of one end of the leg module in Figure 1;

FIG. 7 is a three-dimensional enlarged schematic diagram of the internal structure of one end of the leg module in FIG. 1;

Fig. 8 is a perspective enlarged schematic view of the leg module in Fig. 1;

Fig. 9 is a three-dimensional enlarged schematic view of the driving mechanism at the other end of the leg module in Fig. 1.

Detailed ways

The present invention will be described in detail below in conjunction with various embodiments, but it should be noted that these embodiments are not limiting to the present invention, and those of ordinary skill in the art make equivalent changes or substitutions in functions, methods, or structures based on these embodiments. , All belong to the protection scope of the present invention.

As shown in FIGS. 1-9, the wearable waist booster exoskeleton of this embodiment includes: a back module 1, a power module 2, and a leg module 5.

When the wearable waist-assisted exoskeleton of this embodiment is worn, the back module 1 is worn on the back of the human body. The back module 1 is mainly composed of a back board 6 which is similar to the shape of the back of the human body, so that it is easy to wear. One end of the back module 1 is also provided with a shoulder strap binding interface.

The above-mentioned power module 2 is used to provide the power required by the leg module 5 when the human body walks. It is installed at the other end of the back module 1, and the leg module 5 is detachably connected to the power module 2 to provide power for the operation of the leg module 5.

In order to realize quick electrical connection and quick disassembly of the leg module 5, the power module 2 has a power interface that is connected in a detachable manner. Correspondingly, a pull button 8 is provided on one side of the power interface, and one end of the pull button 8 has a convex point 7. The bump 7 is used to achieve locking when the leg module 5 is electrically connected. At this time, the initial position of the knob 8 is the locked position, and the convex point 7 of the knob 8 in the locked position is locked into the lock hole on the side wall of the power interface and extends into the power interface.

In addition, in order to facilitate the resetting of the knob 8 after being pulled out, the other end of the knob 8 is connected with a reset elastic member, which provides the knob 8 with a resetting force from the unlock position of the knob 8 to the locked position. In one embodiment, the other end of the button 8 is connected to a button accessory 9 by a screw, the return elastic member is a spring, and the button accessory 9 forms a spring compartment 10 for accommodating the spring.

When the wearable waist-assisted exoskeleton of this embodiment is worn, the leg module 5 is worn on the legs of the human body. The leg module 5 is detachably connected to both sides of the above-mentioned power module 2, and the leg module 5 on either side includes a leg bar 20 and an adjustment quick release mechanism 3 provided at one end of the leg bar 20.

Among them, the leg rod 20 forms the main structure of the aforementioned leg module 5. The adjustment quick disassembly mechanism 3 is used to realize quick electrical connection and quick disassembly between the leg module 5 and the power supply module 2. The adjustment quick release mechanism 3 includes: an adjustment module mother bin 12, a quick release electrical connector 29 arranged on the end surface of the adjustment module mother bin 12, and a convex hole 11 provided on the side of the adjustment module mother bin 12.

When the leg module 5 is connected to the power interface, the quick-plug electrical connector is electrically connected to the power interface, and the bump 7 is locked into the bump hole 11. Therefore, when the leg module 5 needs to be disconnected from the back module 1, pull the knob 8 and the bump 7 leaves the keyhole on the side wall of the power interface. At this time, the quick-release electrical connector 29 and the power interface of the power module 2 are powered off. Loosen the knob 8, the spring compartment 10 can reset the knob 8, and the convex point 7 is inserted into the lock hole on the side wall of the power interface again;

When the leg module 5 and the back module 1 need to be connected, pull the button 8, the bump 7 leaves the lock hole on the side wall of the power interface, and inserts it into the adjustment module female compartment 12 in the leg module 5. At this time, the quick-release electrical connector 29 and The interface connection of the power module 2 is energized, the pull button 8 is released, and the spring bin 10 can reset the pull button 8, and the bump 7 is inserted into the lock hole on the side wall of the power interface again.

The quick-release electrical connector 29 is used to realize the electrical connection between the leg module 5 and the power module 2. In one embodiment, the quick-release electrical connector 29 includes: a first connector 14 and a second connector 13 arranged opposite to the first connector 14. When the leg module 5 is connected to the power interface, the first connector 14 is electrically connected to the power source. At the interface, correspondingly, the second connector 13 is electrically connected to the leg module 5. In addition, the quick-release adjustment mechanism 3 further includes a mother bin attachment 15, the mother bin attachment 15 is installed on the adjustment module mother bin 12 by screws, and the first joint 14 and the second joint 13 are arranged on the mother bin attachment 15.

The adjustment quick release mechanism 3 is also used to realize size adjustment. Specifically, the adjustment quick release mechanism 3 also includes: an adjustment push button 19 and a push button attachment 21. The adjustment push button 19 is located in one end of the leg rod 20, one end of which extends, and the other end is linked with the push button attachment 21. 21 is arranged up and down, one end of the leg rod 20 is provided with a number of width adjustment holes 16 inclined along the pushing direction of the adjustment push button 19, any push button attachment 21 extends from the corresponding width adjustment hole 16, and any push button attachment 21 activity settings.

Therefore, when the size needs to be adjusted, pushing the adjusting push button 19 can make the push button attachment 21 arranged up and down move closer to the middle, even if the cylindrical convex point 7 of the push button attachment 21 leaves the width adjusting hole and the corresponding leg 20 To adjust the waist width by pulling out or pushing in the leg rod 20.

The other end of the leg rod 20 is also provided with a driving mechanism 4, and the driving mechanism 4 is used to realize the follow-up movement of the leg module 5 under the power supply of the power module 2. Correspondingly, the wire of the driving mechanism 4 is connected to the quick-release electrical connector 29 through the wire slot 22, the wire organizer 17, and the wire organizer outlet 18.

Specifically, the driving mechanism 4 includes a motor, a reducer, and an output flange 24, and the motor is connected to the output flange 24 through the reducer. At the same time, the output flange 24 also has a limit structure composed of a limit boss 32 and a leg limit groove 31 to form a mechanical limit protection. In addition, an encoder mounting cover 23 is also provided on one side of the driving mechanism 4, and an encoder is placed on it, which can monitor changes in the angle of the hip joint in real time.

The wearable waist booster exoskeleton also includes a support module, which includes a support rod 26 and a binding plate 27. One end of the output flange 24 and the support rod 26 is pivotally connected by a rotating pin 25, and the other end of the support rod 26 is tied to The plate 27 is pivotally connected. When the wearable waist assisted exoskeleton of this embodiment is worn, the binding plate 27 is tied to the thigh of the human body. In addition, a limit pin 28 is provided at the connection between the binding plate 27 and the support rod 26, and the limit pin 28 can limit the rotation angle of the binding plate 27.

In summary, the wearable waist-assisted exoskeleton leg module of the present invention can realize fast electrical assembly and connection and fast disassembly and separation, which facilitates the use of the exoskeleton. In addition, the wearable waist booster exoskeleton of the present invention adopts an active type, has a significant boosting effect, does not affect the normal walking of the human body, has a good follow-up effect, and simultaneously collects mechanical limit protection, which is safe and reliable.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention.

In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole The technical solutions in the various embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

A wearable waist booster exoskeleton is characterized in that the wearable waist booster exoskeleton comprises: a back module, a power module and a leg module;

The power module is installed at one end of the back module, and the leg module is detachably connected to the power module;

The power module has a detachable power interface, one side of the power interface is provided with a pull button, one end of the pull button has a convex point, the initial position of the pull button is a locked position, and is located in the locked position. The convex point of the position knob is inserted into the lock hole on the side wall of the power interface, and extends to the inside of the power interface;

The leg module is detachably connected to both sides of the power module, and the leg module on either side includes: a leg bar, an adjusting quick release mechanism provided at one end of the leg bar, and the adjusting quick release mechanism includes: The adjustment module mother compartment, the quick-release electrical connector arranged on the end face of the adjustment module mother compartment, and the convex hole provided on the side of the adjustment module mother compartment, when the leg module is connected to the power interface , The quick-plug electrical connector is electrically connected to the power interface, and the bump is clamped into the bump card hole.
The wearable waist booster exoskeleton according to claim 1, wherein the other end of the back module is also provided with a shoulder strap binding interface.
The wearable waist booster exoskeleton according to claim 1, wherein the other end of the button is connected with a reset elastic member, and the reset elastic member provides the button from the unlocking position of the button to the locking position The reset force.
The wearable waist booster exoskeleton according to claim 3, wherein the other end of the button is connected to a button accessory by a screw, the reset elastic member is a spring, and the button accessory forms a receiving The spring compartment of the spring.
The wearable waist booster exoskeleton according to claim 1, wherein the quick-release electrical connector comprises: a first connector and a second connector arranged opposite to the first connector, and the leg module is connected When at the power interface, the first connector is electrically connected to the power interface.
The wearable waist booster exoskeleton according to claim 5, wherein the adjustment quick release mechanism further comprises a mother compartment accessory, the mother compartment accessory is mounted on the adjustment module mother compartment by screws, and the first A joint and a second joint are arranged on the accessory of the mother bin.
The wearable waist booster exoskeleton according to claim 1, wherein the adjustment quick release mechanism further comprises: an adjustment push button and a push button attachment, the adjustment push button is located in one end of the leg bar, one end of which is Extend, the other end is linked with the push button attachment, the push button attachment is movably arranged up and down, and one end of the leg bar is provided with a number of width adjustment holes arranged obliquely along the pushing direction of the adjustment push button. The push button accessory protrudes from the corresponding width adjustment hole.
The wearable waist booster exoskeleton according to claim 1, wherein the other end of the leg rod is also provided with a driving mechanism, which includes a motor, a reducer, and an output flange, and the motor passes through the reducer. It is connected with the output flange, and the wire of the drive mechanism is connected with the quick-release electrical connector through a wire slot, a cable organizer, and an outlet of the cable organizer.
The wearable waist booster exoskeleton according to claim 8, wherein the output flange further has a limit structure composed of a limit boss and a leg limit groove.
The wearable waist booster exoskeleton according to claim 8, wherein the wearable waist booster exoskeleton further comprises a support module, which comprises: a support rod and a binding plate, the output flange and the support One end of the rod is pivotally connected, and the other end of the support rod is pivotally connected with the binding plate.