CN108748116A - A kind of self-adapting flexible ectoskeleton - Google Patents
A kind of self-adapting flexible ectoskeleton Download PDFInfo
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- CN108748116A CN108748116A CN201811010006.1A CN201811010006A CN108748116A CN 108748116 A CN108748116 A CN 108748116A CN 201811010006 A CN201811010006 A CN 201811010006A CN 108748116 A CN108748116 A CN 108748116A
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- Prior art keywords
- connector
- waist
- binding portion
- flexibility
- self
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 13
- 239000000741 silica gel Substances 0.000 claims description 13
- 229910002027 silica gel Inorganic materials 0.000 claims description 13
- 210000003205 muscle Anatomy 0.000 claims description 10
- 239000004744 fabric Substances 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical group [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 229910052710 silicon Inorganic materials 0.000 claims 1
- 239000010703 silicon Substances 0.000 claims 1
- 230000003993 interaction Effects 0.000 abstract description 10
- 230000003044 adaptive effect Effects 0.000 abstract description 7
- 210000002414 leg Anatomy 0.000 description 23
- 230000003387 muscular Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 8
- 238000011084 recovery Methods 0.000 description 5
- 208000028571 Occupational disease Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 208000023178 Musculoskeletal disease Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000017445 musculoskeletal system disease Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses a kind of self-adapting flexible ectoskeletons, including shoulder back flexibility ties up part, waist flexibility ties up part and two leg flexibilities tie up part；Shoulder back flexibility ties up part, and there is the back of the body to be adjacent to portion, and the back of the body is adjacent on the inside of portion and is provided with back pad part；Shoulder back flexibility, which ties up part and is adjacent to portion from the back of the body and extends to side, two shoulder interconnecting pieces；Waist flexibility, which ties up part, has waist binding portion, and bustle part is provided on the inside of waist binding portion；Waist flexibility, which ties up part and extends respectively from waist binding portion to both sides, the first binding portion and the second binding portion, the adjustable connection in the first binding portion and the second binding portion；The back of the body that shoulder back flexibility ties up part is adjacent to portion and ties up the waist binding portion of part with waist flexibility and connect by flexible connector, and two shoulder interconnecting pieces respectively with the adjustable connection in waist binding portion；Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with waist flexibility respectively.The self-adapting flexible ectoskeleton of the present invention has the characteristics that simple in structure, flexible, degree of freedom is big, wearing property is high, adaptive, man-machine interaction is good.
Description
Technical field
The present invention relates to ectoskeleton technical fields, more particularly to a kind of self-adapting flexible ectoskeleton.
Background technology
During industrial production or processing, staff needs to be praised repeatedly, stem length Time Warp or torsion
Bent work, waist muscle is easy fatigue, or even strains, and increases the risk that staff obtains musculoskeletal disease, because
This needs the muscular fatigue for alleviating staff by ectoskeleton.
Whether ectoskeleton uses the energy by its working method, can be divided into dynamic ectoskeleton and unpowered ectoskeleton.Have
Power exoskeleton needs to provide the energy of power, generally comprises the components such as battery, sensor, cost is higher, is unfavorable for pushing away extensively
Extensively.Existing unpowered ectoskeleton structure is complex, and it is big not only result in ectoskeleton overall weight, and human body sense of bearing a heavy burden is strong.
The application for a patent for invention of Patent No. 201710465110.9 discloses a kind of unpowered ectoskeleton, and it is outer that this is unpowered
Bone includes：Ectoskeleton ontology, the first side with ectoskeleton ontology are set in the first side of ectoskeleton ontology
Retractable member, the second end of first end and retractable member with retractable member；And it is set to ectoskeleton ontology
First side on and with straight slot connecting rod, the second end of first end and connecting rod with connecting rod, wherein
The first end of retractable member is fixedly connected in the first side of ectoskeleton ontology, the second end and connecting rod of retractable member
First end be fixedly connected, connecting rod by straight slot and the first secure component cooperation with ectoskeleton ontology be in slidable connection.It should
Unpowered ectoskeleton can assist user to move, and knee joint stress when mitigating user's walking has protective effect to knee joint,
And effect of the unpowered ectoskeleton to user can also be adjusted by adjusting the relative position of the first secure component and straight slot
Power size.But the structure of the application for a patent for invention is more complicated, can not solve in the presence of the prior art it is complicated,
The problem for feeling strong that overall weight is big, human body bears a heavy burden.
Invention content
Based on this, the object of the present invention is to provide one kind with simple in structure, flexible, degree of freedom is big, wearing property
High, adaptive, the good feature of man-machine interaction self-adapting flexible ectoskeleton.
The self-adapting flexible ectoskeleton of the present invention, including shoulder back flexibility ties up part, waist flexibility ties up part and two legs are soft
Property ties up part；
The shoulder back flexibility ties up part, and there is the back of the body to be adjacent to portion, and the back of the body is adjacent on the inside of portion and is provided with back pad part；The shoulder back is soft
Property tie up part and be adjacent to portion from the back of the body and extend to side and two shoulder interconnecting pieces；
The waist flexibility, which ties up part, has waist binding portion, and bustle part is provided on the inside of waist binding portion；The waist flexibility is tied up
Part extends respectively from waist binding portion to both sides the first binding portion and the second binding portion, first binding portion and described
The adjustable connection in two binding portions；
The back of the body that the shoulder back flexibility ties up part is adjacent to portion and ties up the waist binding portion of part with the waist flexibility and connected by flexible connector
It connects, and connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces；
Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with the waist flexibility respectively.
By setting, shoulder back flexibility ties up part to the self-adapting flexible ectoskeleton of the present invention, waist flexibility ties up part and two legs
Flexibility ties up part, and entire ectoskeleton structure whole flexible structure makes its flexible more preferable, degree of freedom bigger, people without metallic framework
Body wearing property higher solves the poor, man-machine interaction of existing ectoskeleton human body wearing property so that man-machine interaction is more preferable
The problem of difference.
The back of the body is adjacent to portion to connect by flexible connector with waist binding portion so that when human body is bent over, leg flexibility ties up part
The position that can tense and fix waist binding portion, since human body back of bending over will produce radian, flexible connector can be with generating change
Shape simultaneously to the pulling force of the recovery upright state of shoulder one, while flexible connector can be to the back of bending and the erector spinae of waist at
Pliable pressure is generated, waist stress when human body is bent over can be effectively mitigated, while mitigating that local pressure is excessive and to generate muscle tired
Labor.
The back pad part and bustle part of setting can massage the back of human body and waist, be depressurized, and muscular fatigue is alleviated.
By two shoulder interconnecting pieces respectively with the adjustable connection in waist binding portion, two leg flexibilities tie up part respectively with waist binding portion
Adjustable connection so that its structure can be adjusted according to human somatotype, further increase degree of freedom, human body wearing property and people
Body interactivity.
It is further preferred that the top setting in waist binding portion is arranged on the upper connector there are two upper connector
There is a plurality of equally distributed graduation mark；
It is both provided with the first connector on two shoulder interconnecting pieces；
First connector and the adjustable connection of the upper connector；
Reinforcer is additionally provided in waist binding portion, the reinforcer is fixed on two upper connectors to be bound with the waist
The junction in portion.
By the way that graduation mark is arranged on the upper connector, adjustment length can be positioned according to build, in order to dress；?
Reinforcer is arranged in portion in the waist binding, can further strengthen the bonding strength of the upper connector and waist binding portion.
It is further preferred that being fixed with latch closure on first connector；
First connector passes through the upper latch closure and the adjustable connection of the upper connector；
First connector is the first connection bandage, and the upper connector is upper connection bandage.
By the way that upper latch closure is arranged on first connector, and first connector is passed through into the upper latch closure and institute
State the adjustable connection of upper connector so that the connection of first connector and the upper connector is adjustable, and easy to adjust fast
Victory improves the convenience of wearing.
It is further preferred that the angle between two shoulder interconnecting pieces is acute angle, and two shoulder interconnecting pieces and institute
It states the back of the body and is adjacent to rounding off between the junction in portion.By by two shoulder interconnecting pieces with it is described carry on the back be adjacent to portion junction it
Between rounding off is set, two shoulder interconnecting pieces can be improved and be adjacent to the bonding strength in portion with described carry on the back, and prevent and tear
It splits.
It is further preferred that the flexible connector is multiple, multiple flexible connectors intersect setting.Setting
Multiple flexible connectors, and multiple flexible connectors are intersected setting, bonding strength can be improved.
It is further preferred that being provided with velcro hook surface in first binding portion, second binding is provided in portion
Velcro hair side, first binding portion and second binding portion can by the velcro hook surface and the velcro hair side
Adjust connection.By the setting velcro hook surface in first binding portion, velcro hair side is set in second binding portion,
Convenient for first binding portion is connected with second binding portion.
It is further preferred that there are two lower connectors for the lower part setting in waist binding portion；
Two leg flexibilities, which are tied up, is both provided with the second connector on part, a plurality of uniform point is provided on second connector
The graduation mark of cloth；
The lower connector and the adjustable connection of second connector.
By the way that a plurality of equally distributed graduation mark is arranged on the second connector, adjustment length can be positioned according to build,
In order to dress.
It is further preferred that two leg flexibilities, which tie up part, all has the left interconnecting piece being connected as one and right connection
Portion；
It is provided with velcro hook surface on the left interconnecting piece, velcro hair side, the left connection are provided on the right interconnecting piece
Portion and the right interconnecting piece pass through the velcro hook surface and the adjustable connection of the velcro hair side；
Latch closure is respectively arranged on two lower connectors, the lower connector passes through the latch closure and second connector
Adjustable connection.
By the way that velcro hook surface is arranged on the left interconnecting piece, and velcro hair side is set on the right interconnecting piece,
It is convenient that adjustable connection is carried out to the left interconnecting piece and right interconnecting piece；It is provided with latch closure on the lower connector, it will be described
Lower connector is connected by the way that the latch closure and second connector are adjustable, easy to adjust quick, improves wearing just
Profit.
It is further preferred that second connector is the second connection bandage, the lower connector is lower connection bandage.
It is further preferred that the back pad part is silica gel cushion；For the back pad part tool there are two muscle is protruded, two described convex
Go out muscle to be arranged in parallel；
The bustle part is silica gel cushion；The bustle part has protrusion；
The flexible connector is elastic bands.
Set the back pad part and the bustle part to silica gel cushion, silica gel cushion can be contradicted in back and waist
At erector spinae so that this muscular fatigue at two is effectively relieved, and the generation of occupational disease is reduced.
The advantageous effect of the self-adapting flexible ectoskeleton of the present invention：
（1）By setting, shoulder back flexibility ties up part to the self-adapting flexible ectoskeleton of the present invention, waist flexibility ties up part and two legs
Flexibility ties up part, and entire ectoskeleton structure whole flexible structure makes its flexible more preferable, degree of freedom bigger, people without metallic framework
Body wearing property higher solves the poor, man-machine interaction of existing ectoskeleton human body wearing property so that man-machine interaction is more preferable
The problem of difference.
（2）The back of the body is adjacent to portion to connect by flexible connector with waist binding portion so that when human body is bent over, leg flexibility is tied up
Part can tense and fix the position in waist binding portion, and since human body back of bending over will produce radian, flexible connector can be with generation
It deforms and to the pulling force of the recovery upright state of shoulder one as power-assisted, while back that flexible connector can be to bending and waist
Erector spinae at generate pliable pressure, can effectively mitigate waist stress when human body is bent over, at the same mitigate local pressure it is excessive and
Generate muscular fatigue；For the people of different building shape after wearing, the power-assisted size of flexible connector can generate adaptive effect from main regulation
Fruit.
（3）The back pad part and bustle part of setting can massage the back of human body and waist, be depressurized, and it is tired to alleviate muscle
Labor.
（4）Connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces, two leg flexibilities are tied up part and tied up respectively with waist
Determine the adjustable connection in portion so that its structure can be adjusted according to human somatotype, further increase degree of freedom, human body wearing property
With human body interactivity.
（5）It, can be according to build by the way that a plurality of equally distributed graduation mark is arranged on upper connector and the second connector
Adjustment length is positioned, in order to dress.
（6）The back pad part and the bustle part are set, and it is soft to set the back pad part and the bustle part to silica gel
Pad, silica gel cushion can contradict at the erector spinae of back and waist so that this muscular fatigue at two is effectively relieved, and is subtracted
The generation of few occupational disease.
（7）The self-adapting flexible ectoskeleton of the present invention is with simple in structure, flexible, degree of freedom is big, wearing property is high, adaptive
It answers, the advantages that man-machine interaction is good.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Description of the drawings
Fig. 1 is the front view of the self-adapting flexible ectoskeleton preferred structure of embodiment one.
Fig. 2 is the dimensional structure diagram of the self-adapting flexible ectoskeleton preferred structure of embodiment one.
Specific implementation mode
Up, down, left, right, before and after, front, the back side, top, the bottom etc. mentioned or may mentioned in the present specification
Orientation term is defined relative to construction shown in each attached drawing, they are opposite concepts.Therefore, it is possible to can root
Correspondingly changed according to its residing different location, different use states.So also should not be by these or others side
Position term is construed to restricted term.
Embodiment one
It please refers to Fig.1 and Fig. 2.Fig. 1 is the front view of the self-adapting flexible ectoskeleton preferred structure of embodiment one.Fig. 2 is to implement
The dimensional structure diagram of the self-adapting flexible ectoskeleton preferred structure of example one.The self-adapting flexible ectoskeleton of the present embodiment, packet
Include that shoulder back flexibility ties up part 1, waist flexibility ties up part 2 and two leg flexibilities tie up part 3.
The shoulder back flexibility ties up part 1, and there is the back of the body to be adjacent to portion 11, and the back of the body is adjacent to 11 inside of portion and is provided with back pad part 110.
The shoulder back flexibility, which ties up part 1 and is adjacent to portion 11 from the back of the body and extends to side, two shoulder interconnecting pieces 12.
The waist flexibility ties up part 2, and there is waist binding portion 21,21 inside of waist binding portion to be provided with bustle part 210.Institute
It states waist flexibility and ties up part 2 and extend respectively from waist binding portion 21 to both sides and the first binding portion 22 and the second binding portion 23, institute
State the adjustable connection in the first binding portion 22 and second binding portion 23.
The back of the body that the shoulder back flexibility ties up part 1 is adjacent to portion 11 and the waist flexibility and ties up the waist binding portion 21 of part 2 and passes through bullet
Property connector 4 connect, and two shoulder interconnecting pieces 12 respectively with the adjustable connection in waist binding portion 21.
Two leg flexibilities tie up the adjustable connection in waist binding portion 21 that part 3 ties up part 2 with the waist flexibility respectively.
Specifically, the top setting in waist binding portion 21 is provided on the upper connector 5 there are two upper connector 5
A plurality of equally distributed graduation mark.It is both provided with the first connector 6 on two shoulder interconnecting pieces 12.First connector 6
With the adjustable connection of the upper connector 5.Reinforcer 7 is additionally provided in waist binding portion 21, the reinforcer 7 is fixed on two
The junction of a upper connector 5 and waist binding portion 21.
By the way that graduation mark is arranged on the upper connector 5, adjustment length can be positioned according to build, in order to dress.
Reinforcer 7 is set in waist binding portion 21, the company of the upper connector 5 and waist binding portion 21 can be further strengthened
Connect intensity.
Preferably, it is fixed with latch closure 61 on first connector 6 of the present embodiment.First connector 6 passes through
The upper latch closure 61 and the adjustable connection of the upper connector 5.
First connector 6 of the present embodiment is the first connection bandage, and the upper connector 5 is upper connection bandage.
By being arranged latch closure on first connector 6, and by first connector 6 by the latch closure with it is described
The adjustable connection of upper connector 5 so that first connector 6 is adjustable with the connection of the upper connector 5, and easy to adjust fast
Victory improves the convenience of wearing.
It is further preferred that the angle between two shoulder interconnecting pieces 12 is acute angle, and two shoulder interconnecting pieces 12
With it is described carry on the back be adjacent to the junction in portion 11 between rounding off.By the way that two shoulder interconnecting pieces 12 and the back of the body are adjacent to portion 11
Junction between rounding off is set, can improve two shoulder interconnecting pieces 12 with it is described carry on the back be adjacent to portion 11 connection it is strong
Degree, and prevent tearing.
The flexible connector 4 of the present embodiment is multiple, and multiple flexible connectors 4 intersect setting.Setting
Multiple flexible connectors 4, and multiple flexible connectors 4 are intersected setting, bonding strength can be improved.
Preferably, the both ends of the flexible connector 4 of the present embodiment respectively by screw with it is described the back of the body be adjacent to portion 11 and
Waist binding portion 21 connects.
The back of the body is adjacent to portion 11 to connect by flexible connector 4 with waist binding portion 21 so that when human body is bent over,
The leg flexibility is tied up part 3 and can be tensed and the position in the fixed waist binding portion 21, since human body back of bending over will produce radian,
The flexible connector 4 can be with being deformed and to the pulling force of the recovery upright state of shoulder one, while the elastic connection
Part 4 can effectively mitigate waist stress when human body is bent over to generation pliable pressure at the back of bending and the erector spinae of waist,
It is excessive and generate muscular fatigue to mitigate local pressure simultaneously.
After human body dresses the self-adapting flexible ectoskeleton of the good present invention, back when weight is big, height user bends over
Deflection is big, and the characteristic of the flexible connector 4 is that deflection is bigger, and the elastic force of generation is bigger, 4 meeting of the flexible connector
As soon as with being deformed and to the pulling force of shoulder recovery upright state as power-assisted, after having people's wearing to different building shape
The autonomous adjustment process of power-assisted size, generate adaptive effect.
Preferably, it is provided with velcro hook surface in first binding portion 22, evil spirit is provided in second binding portion 23
Art pastes hair side, and first binding portion 22 and second binding portion 23 pass through the velcro hook surface and the velcro hair side
Adjustable connection.By the way that velcro hook surface is arranged in first binding portion 22, magic is set in second binding portion 23
Hair side is pasted, convenient for connecting first binding portion 22 and second binding portion 23.
It is further preferred that two leg flexibilities of the present embodiment tie up part 3 and all have the left connection being connected as one
Portion 31 and right interconnecting piece 32.It is provided with velcro hook surface on the left interconnecting piece 31, magic is provided on the right interconnecting piece 32
It is adjustable by the velcro hook surface and the velcro hair side to paste hair side, the left interconnecting piece 31 and the right interconnecting piece 32
Connection.
By the way that velcro hook surface is arranged on the left interconnecting piece 31, and velcro hair is set on the right interconnecting piece 32
Face, it is convenient that adjustable connection is carried out to the left interconnecting piece 31 and right interconnecting piece 32.
Two leg flexibilities of the present embodiment are tied up part 3 and are connected respectively by the way that drawstring 8 and waist binding portion 21 are adjustable
It connects, and a plurality of equally distributed graduation mark is preferably set on the drawstring 8, adjustment length can be positioned according to build, with
Convenient for wearing.
Preferably, the lower end of the drawstring 8, which is provided with, adjusts latch closure 81, using the adjusting latch closure 81 by the drawstring 8
Part 3 is tied up with the leg flexibility to connect, and the effective length of drawstring 8 can be adjusted by the adjusting latch closure 81, to be suitable for not
Crowd with height dresses.
Back pad part 110 described in the present embodiment is silica gel cushion；There are two protrusion muscle for the tool of back pad part 110, described in two
Protrusion muscle is arranged in parallel.
The bustle part 210 is silica gel cushion；The bustle part 210 has protrusion.
The flexible connector 4 is elastic bands.
Set the back pad part 110 and the bustle part 210 to silica gel cushion, silica gel cushion can contradict at back and
At the erector spinae of waist so that this muscular fatigue at two is effectively relieved, and the generation of occupational disease is reduced.Certainly, the back of the body
Mat piece 110 and the bustle part 210 can also select other materials to make.
It should be pointed out that the shoulder back flexibility ties up part 1, the waist flexibility ties up part 2 and two legs are flexible
Tying up part 3 can be according to using needs to be configured, and its material can select identical or different flexible material.
The shoulder back flexibility of the present embodiment ties up part 1, the waist flexibility ties up part 2 and two leg flexibilities tie up part
3 preferably select flexible cloth to make, and the flexible connector 4 is high resiliency bandage, further improve flexible, free
Degree and human body wearing property.
Embodiment two
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the left interconnecting piece 31 of the present embodiment preferably includes two left connection branches, two left companies
It connects and is both provided with the velcro hook surface in branch.The right interconnecting piece 32 includes two right connection branches, two right companies
It connects and is both provided with the velcro hair side in branch.
Embodiment three
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, it is tied rope that the leg flexibility of the present embodiment, which ties up part 3,.
Example IV
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, multiple flexible connectors 4 of the present embodiment are non-crossing structure.
Embodiment five
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the flexible connector 4 of the elasticity of the present embodiment is elastical cloth.
Embodiment six
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, two shoulder interconnecting pieces 12 of the present embodiment are adjustable by drawstring and waist binding portion 21 respectively
Section connection.
Embodiment seven
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, there are two lower connectors for the lower part setting in the waist binding portion 21 of the present embodiment.Two legs
Flexibility ties up and is both provided with the second connector on part 3, and a plurality of equally distributed graduation mark is provided on second connector.It is described
Lower connector and the adjustable connection of second connector.By the way that a plurality of equally distributed scale is arranged on the second connector
Line can position adjustment length, in order to dress according to build.
Two lower connectors of the present embodiment also preferably pass through described add with the junction in waist binding portion 21
Strong part 7 is reinforced, to increase the fastness of structure.
The present embodiment is respectively arranged with lower latch closure on two lower connectors, by the lower connector by under described
Latch closure and the adjustable connection of second connector, it is easy to adjust quick, improve the convenience of wearing.Preferably, this reality
Second connector for applying example is the second connection bandage, and the lower connector is lower connection bandage.
Embodiment eight
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the both ends of the flexible connector 4 of the present embodiment are adjacent to portion 11 by velcro and the back of the body respectively
It is connected with waist binding portion 21, and the bullet of the flexible connector 4 can be adjusted by adjusting the paste position of velcro
Power size.
Embodiment nine
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the bustle part 210 of the present embodiment and the back pad part 110 are made of sponge.
Embodiment ten
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the bustle part 210 of the present embodiment and the back pad part 110 are made of foamed cotton.
Embodiment 11
The structure substantially phase of the structure of the self-adapting flexible ectoskeleton of the present embodiment and the self-adapting flexible ectoskeleton of embodiment one
Together, the difference is that, the bustle part 210 of the present embodiment and the back pad part 110 are made of memory sponge.
The advantageous effect of the self-adapting flexible ectoskeleton of the present invention：
（1）By setting, shoulder back flexibility ties up part to the self-adapting flexible ectoskeleton of the present invention, waist flexibility ties up part and two legs
Flexibility ties up part, and entire ectoskeleton structure whole flexible structure makes its flexible more preferable, degree of freedom bigger, people without metallic framework
Body wearing property higher solves the poor, man-machine interaction of existing ectoskeleton human body wearing property so that man-machine interaction is more preferable
The problem of difference.
（2）The back of the body is adjacent to portion to connect by flexible connector with waist binding portion so that when human body is bent over, leg flexibility is tied up
Part can tense and fix the position in waist binding portion, and since human body back of bending over will produce radian, flexible connector can be with generation
It deforms and to the pulling force of the recovery upright state of shoulder one as power-assisted, while back that flexible connector can be to bending and waist
Erector spinae at generate pliable pressure, can effectively mitigate waist stress when human body is bent over, at the same mitigate local pressure it is excessive and
Generate muscular fatigue；For the people of different building shape after wearing, the power-assisted size of flexible connector can generate adaptive effect from main regulation
Fruit.
（3）The back pad part and bustle part of setting can massage the back of human body and waist, be depressurized, and it is tired to alleviate muscle
Labor.
（4）Connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces, two leg flexibilities are tied up part 3 and tied up respectively with waist
Determine the adjustable connection in portion so that its structure can be adjusted according to human somatotype, further increase degree of freedom, human body wearing property
With human body interactivity.
（5）It, can be according to build by the way that a plurality of equally distributed graduation mark is arranged on upper connector and the second connector
Adjustment length is positioned, in order to dress.
（6）The back pad part and the bustle part are set, and it is soft to set the back pad part and the bustle part to silica gel
Pad, silica gel cushion can contradict at the erector spinae of back and waist so that this muscular fatigue at two is effectively relieved, and is subtracted
The generation of few occupational disease.
（7）The self-adapting flexible ectoskeleton of the present invention is with simple in structure, flexible, degree of freedom is big, wearing property is high, adaptive
It answers, the advantages that man-machine interaction is good.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.
Claims (10)
1. a kind of self-adapting flexible ectoskeleton, it is characterised in that：Part is tied up including shoulder back flexibility, waist flexibility ties up part and two legs
Portion's flexibility ties up part；
The shoulder back flexibility ties up part, and there is the back of the body to be adjacent to portion, and the back of the body is adjacent on the inside of portion and is provided with back pad part；The shoulder back is soft
Property tie up part and be adjacent to portion from the back of the body and extend to side and two shoulder interconnecting pieces；
The waist flexibility, which ties up part, has waist binding portion, and bustle part is provided on the inside of waist binding portion；The waist flexibility is tied up
Part extends respectively from waist binding portion to both sides the first binding portion and the second binding portion, first binding portion and described
The adjustable connection in two binding portions；
The back of the body that the shoulder back flexibility ties up part is adjacent to portion and ties up the waist binding portion of part with the waist flexibility and connected by flexible connector
It connects, and connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces；
Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with the waist flexibility respectively.
2. self-adapting flexible ectoskeleton according to claim 1, it is characterised in that：The top in waist binding portion is provided with
Two upper connectors are provided with a plurality of equally distributed graduation mark on the upper connector；
It is both provided with the first connector on two shoulder interconnecting pieces；
First connector and the adjustable connection of the upper connector；
Reinforcer is additionally provided in waist binding portion, the reinforcer is fixed on two upper connectors to be bound with the waist
The junction in portion.
3. self-adapting flexible ectoskeleton according to claim 2, it is characterised in that：It is fixed on first connector
Latch closure；
First connector passes through the upper latch closure and the adjustable connection of the upper connector；
First connector is the first connection bandage, and the upper connector is upper connection bandage.
4. self-adapting flexible ectoskeleton according to claim 2, it is characterised in that：Folder between two shoulder interconnecting pieces
Angle is acute angle, and two shoulder interconnecting pieces and the back of the body are adjacent to rounding off between the junction in portion.
5. self-adapting flexible ectoskeleton according to claim 1, it is characterised in that：The flexible connector be it is multiple, it is more
A flexible connector intersects setting.
6. self-adapting flexible ectoskeleton according to claim 1, it is characterised in that：First binding is provided with evil spirit in portion
Art pastes hook surface, is provided with velcro hair side in second binding portion, first binding portion and second binding portion pass through
The velcro hook surface and the adjustable connection of the velcro hair side.
7. according to claim 1-6 any one of them self-adapting flexible ectoskeletons, it is characterised in that：Under waist binding portion
There are two lower connectors for portion's setting；
Two leg flexibilities, which are tied up, is both provided with the second connector on part, a plurality of uniform point is provided on second connector
The graduation mark of cloth；
The lower connector and the adjustable connection of second connector.
8. self-adapting flexible ectoskeleton according to claim 7, it is characterised in that：Two leg flexibilities are tied up part and are had
There are the left interconnecting piece being connected as one and right interconnecting piece；
It is provided with velcro hook surface on the left interconnecting piece, velcro hair side, the left connection are provided on the right interconnecting piece
Portion and the right interconnecting piece pass through the velcro hook surface and the adjustable connection of the velcro hair side；
Lower latch closure is respectively arranged on two lower connectors, the lower connector is connected by the lower latch closure and described second
The adjustable connection of fitting.
9. self-adapting flexible ectoskeleton according to claim 8, it is characterised in that：Second connector is the second connection
Bandage, the lower connector are lower connection bandage.
10. according to claim 1-6 any one of them self-adapting flexible ectoskeletons, it is characterised in that：The back pad part is silicon
Glue cushion；The back pad part tool is arranged in parallel there are two muscle, two protrusion muscle are protruded；
The bustle part is silica gel cushion；The bustle part has protrusion；
The flexible connector is elastic bands.
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| CN201811010006.1A CN108748116A (en) | 2018-08-31 | 2018-08-31 | A kind of self-adapting flexible ectoskeleton |
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| CN201811010006.1A CN108748116A (en) | 2018-08-31 | 2018-08-31 | A kind of self-adapting flexible ectoskeleton |
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| WO2023155322A1 (en) * | 2022-02-16 | 2023-08-24 | 广州海同工业技术有限公司 | Flexible exoskeleton for working at heights |
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