CN109333511A - A kind of waist ectoskeleton power assisting device - Google Patents
A kind of waist ectoskeleton power assisting device Download PDFInfo
- Publication number
- CN109333511A CN109333511A CN201811348220.8A CN201811348220A CN109333511A CN 109333511 A CN109333511 A CN 109333511A CN 201811348220 A CN201811348220 A CN 201811348220A CN 109333511 A CN109333511 A CN 109333511A
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- China
- Prior art keywords
- runner
- power
- component
- waist
- assisting device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000005452 bending Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 21
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 206010050031 Muscle strain Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 238000004088 simulation Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of waist ectoskeleton power assisting devices, including chest component, waist feature and power-assisted component, the power-assisted component is installed in the waist feature, the power-assisted component is connect by support rod with the chest component, the power-assisted component includes the first runner, the second runner and spring, second runner is connect with the spring and the EDGE CONTACT with the first runner, the edge of first runner includes arc-shaped and recess portion and protrusion, and second runner can move along the edge of the first runner and the spring is driven to stretch.The rotation that the present invention passes through the first runner and the second runner in power-assisted component, spring is driven to be compressed or stretched, to provide power-assisted in the handling process for user, mitigate the work load of user, and the structure of chest component and waist feature is simple, easy to wear, the weight bearing of user is small, and dexterity of action is high.
Description
Technical field
The present invention relates to ectoskeleton technical field more particularly to a kind of waist ectoskeleton power assisting devices.
Background technique
The unity cooperation of numerous working people is attributed to the fact that in social progress and development in science and technology, and especially physical work person makes
Tremendous contribution, physical work person usually require to carry out prolonged repeated labor, such as bend over to carry, squat down pickaback etc.,
The health of the high-intensitive serious damage labourer of concentrated type work, even results in the illnesss such as lumbodorsal muscle strain, influences work effect
Rate.
For the working strength for mitigating labourer, booster type ectoskeleton gradually rises, and assists human body under the support of power source
Carry article, but its usually structure is complicated causes the weight of its own excessive, bring burden to user, and kinematic dexterity with
Wearing comfort is low.
Summary of the invention
The purpose of the present invention is to provide a kind of waist ectoskeleton power assisting device, and structure is simple, while providing power-assisted
Improve the convenience of user's wearing.
The technical proposal adopted by the invention to solve the above technical problems is that:
A kind of waist ectoskeleton power assisting device, including chest component, waist feature and power-assisted component, the power-assisted component peace
Loaded in the waist feature, the power-assisted component is connect by support rod with the chest component, and the power-assisted component includes
First runner, the second runner and spring, second runner is connect with the spring and the EDGE CONTACT with the first runner, described
The edge of first runner includes recess portion and the protrusion of arc-shaped, and second runner can be moved and be driven along the edge of the first runner
The spring stretches.
In a preferred embodiment, the power-assisted component further includes set casing and rotation axis, the rotation axis peace
Loaded on the set casing, first runner passes through the rotation axis and can rotate relative to the rotation axis.
In a preferred embodiment, the power-assisted component further includes fixing seat and mounting base, and the two of the spring
End is connect with the fixing seat and mounting base respectively, and second runner and the mounting base are rotatablely connected.
In a preferred embodiment, the power-assisted component further includes connecting rod, one end of the connecting rod and institute
Support rod connection is stated, the other end of the connecting rod connect with first runner or the fixing seat, and can relatively described the
One runner or fixing seat rotation.
In a preferred embodiment, the rotation direction of relatively described first runner of the connecting rod or fixing seat with
The rotation direction of the relatively described rotation axis of first runner is vertical.
In a preferred embodiment, the chest component includes chest baffle, support plate and fixing axle, described solid
Dead axle passes through the chest baffle and support plate, and ball bearing is equipped between the support plate and fixing axle so that the support plate can
Relative to the fixing axle rotate, the both ends of the support rod be separately connected in the support plate and power-assisted component.
In a preferred embodiment, the waist feature includes two fixed plates, and the fixed plate bending makes in it
Wall forms a concave surface, and the power-assisted component is installed on the outside of the fixed plate.
In a preferred embodiment, between the chest baffle and fixed plate and between two fixed plates
It is equipped with bandage, the bandage is equipped with the eye-splice that can be dismantled.
In a preferred embodiment, it is additionally provided with leg assembly, the leg assembly includes leg baffle and fixation
Bar, the both ends of the fixed link are connect with the power-assisted component and leg baffle respectively.
In a preferred embodiment, there are two the power-assisted component and the leg assembly are all provided with and relatively described
Chest component is symmetrical.
The beneficial effects of the present invention are: rotation of the present invention by the first runner and the second runner in power-assisted component, drives
Spring is compressed or is stretched, to provide power-assisted in the handling process for user, mitigates the work load of user, and chest
The structure of parts and waist feature is simple, easy to wear, and the weight bearing of user is small, and dexterity of action is high.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of waist ectoskeleton power assisting device one embodiment of the present invention；
Fig. 2 is the structural schematic diagram of embodiment illustrated in fig. 1 other direction；
Fig. 3 is the structural schematic diagram of power-assisted component one embodiment of the present invention；
Fig. 4 is the structural schematic diagram of leg assembly one embodiment of the present invention；
Fig. 5 is the structural schematic diagram of chest component one embodiment of the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, being related in patent
All connection/connection relationships, not singly refer to that component directly connects, and refer to can according to specific implementation situation, by addition or
Couple auxiliary is reduced, to form more preferably coupling structure.Each technical characteristic in the present invention, before not conflicting conflict
Putting can be with combination of interactions.
Embodiment 1
- Fig. 2 referring to Fig.1, the waist ectoskeleton power assisting device in the present embodiment includes chest component 100, waist feature
200, leg assembly 300 and power-assisted component 400, waist feature 200, leg assembly 300 and power-assisted component 400 be all provided with there are two and
It is symmetrically distributed in the two sides of chest component 100.Between chest component 100 and waist feature 200 and two waist features 200 it
Between be equipped with bandage 510, so that waist ectoskeleton power assisting device is formed wearable structure, executed convenient for device cooperation human body dynamic
Make.Bandage 510 can be attached with chest component 100, waist feature 200 by sewing mode；Preferably, chest component 100
Be equipped on the bandage 510 between bandage 510 and waist feature 200 between waist feature 200 can be dismantled insert
Button 520, user is adjusting bandage 510 to the height of suitable human body and length, fasten eye-splice 520 can be realized device with
The fitting of human body, structure is simple, using and it is easy to wear.
Preferably, bandage 510 can carry out length adjustment, and the state for being suitble to itself to need is adjusted to convenient for user, be applicable in
Labourer in different building shape and workplace, wearing flexibility are high.
Waist feature 200 includes two fixed plates 210, is connected between two fixed plates 210 by bandage 510, fixed plate
210 bendings make its inner surface indent, and outer surface evagination meets simulation of human body, and after user dresses, fixed plate 210 can be with
The hip and buttocks of human body fit closely, and guarantee the stability of device wearing.The outside of fixed plate 210 is installed with mounting plate 220,
Power-assisted component 400 is connected on mounting plate 220, and one end of two power-assisted components 400 is respectively connected with support rod 530, the other end
It is connect with leg assembly 300, support rod 530 can be rotated relative to power-assisted component 400, carry out bending over to act convenient for human body.Human body is curved
Waist carries out in handling process, and power-assisted component 400 stores power, and in human body from during bowing to upright, power-assisted component 400 discharges energy
Amount provides power-assisted for the upright process of human body, auxiliary human body has removed object, and waist is held mitigation user in the handling process
Weight, avoids damaging.
Referring to Fig. 3, power-assisted component 400 includes spring 420, cam 430 and runner 440, the edge of cam 430 be radius by
The circular arc of gradual change, the circular arc include the recess portion circular arc 431 and protrusion circular arc 432 of seamless connection, recess portion circular arc 431 and cam
The connection radius at 430 centers is smaller, and protrusion circular arc 432 and the connection radius at 430 center of cam are larger.Runner 440 and cam 430
EDGE CONTACT and can be rotated along the edge of cam 430, runner 440 is connect by connector with spring 420, when human body is curved
When waist pushes, runner 440 turns to protrusion circular arc 432 by recess portion circular arc 431, and cam 430 suppresses runner 440 and makes runner
440 pressuring springs 420 are compressed, and spring 420 stores power at this time；During person upright lifts waist, runner 440 is by protrusion circular arc
432 turn at recess portion circular arc 431, the no longer pressuring spring 420 of runner 440, during the stretching, extension of spring 420 springs back and compresses it
The elastic force of accumulation discharges, and provides power-assisted for the upright process of human body.
Specifically, power-assisted component 400 further includes fixing seat 460 and mounting base 470, the both ends of spring 420 respectively with fixation
Seat 460 and mounting base 470 connect, and runner 440 is installed in mounting base 470, and can be rotated relative to mounting base 470.Power-assisted component
400 further include mounting shell 410, and spring 420, fixing seat 460 and mounting base 470 are respectively positioned in mounting shell 410；On mounting shell 410
Be additionally provided with a camshaft 450, cam 430 pass through the camshaft 450 and can the rotation of opposing cam axis 450, human body bending over or directly
Immediately, it will be rotated with 430 opposing cam axis 450 of moving cam, so that runner 440 is between protrusion circular arc 432 and recess portion circular arc 431
Switching promotes mounting base 470 to generate change in location, and then realizes the compression and stretching, extension of spring 420.
Preferably, the power-assisted component 400 in the present embodiment further includes connecting rod 480, and the both ends of connecting rod 480 are separately connected
Support rod 530 and cam 430, connecting rod 480 and cam 430 can relatively rotate, therefore the leg of human body can carry out centainly outward
Angle is bent and stretched, and the scope of activities of leg is expanded, and carries out bending over to carry convenient for user.Preferably, connecting rod 480 is relative to convex
The rotation direction of wheel 430 is vertical relative to the rotation direction of camshaft 450 with cam 430.
Referring to Fig. 4, leg assembly 300 includes leg baffle 310 and fixed link 320, and fixed link 320 bends L-shaped, fixation
One end of bar 320 is connect with mounting shell 410, and the other end is connect with leg baffle 310, and leg baffle 310 is in lamellar, inner wall
Recess outward, is bonded the inner surface of leg baffle 310 with the thigh of user, is supported to thigh, carries out in human body curved
Waist, it is upright when, because of the supporting role of leg assembly 300, cam 430 can opposing cam axis 450 rotated, and then realize bullet
Spring 420 stretches.
Referring to Fig. 5, chest component 100 includes chest baffle 110 and support plate 120, chest baffle 110 and support plate 120
It is connected by fixing axle 130, chest baffle 110 is close to the chest of user, for when user bends over or is upright pair
Chest is supported.Preferably, it is additionally provided with ball bearing between support plate 120 and fixing axle 130, so that support plate 120 can be opposite
Fixing axle 130 is rotated, and is tilted convenient for human body or the front and back of leg adjusts；The end part of two support rods 530
It is not connected to the two sides of support plate 120, the bandage 510 between chest component 100 and waist feature 200 is connected to chest gear
Between plate 110 and fixed plate 210.
Embodiment 2
The present embodiment unlike the first embodiment, 480 both ends of connecting rod in the present embodiment respectively with support rod 530 and
Fixing seat 460 connects, and cam 430 is connect with leg assembly 300, therefore when user leg moves forward and backward, can band
Moving cam 430 is rotated, to realize the compression and stretching, extension of spring 420, connecting rod 480 and fixing seat 460 are rotatablely connected, together
Sample can be rotated mutually, be bent and stretched the leg of user can outward, increased the Installation Flexibility of power-assisted component 400,
And structure is simple, it is easy to use, quick.
It is to be illustrated to presently preferred embodiments of the present invention, but the present invention is not limited to the embodiment above,
Those skilled in the art can also make various equivalent deformation or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of waist ectoskeleton power assisting device, which is characterized in that described including chest component, waist feature and power-assisted component
Power-assisted component is installed in the waist feature, and the power-assisted component is connect by support rod with the chest component, described to help
Power component includes the first runner, the second runner and spring, and second runner is connect with the spring and the side with the first runner
Edge contact, the edge of first runner includes recess portion and the protrusion of arc-shaped, and second runner can be along the side of the first runner
Edge is mobile and the spring is driven to stretch.
2. waist ectoskeleton power assisting device according to claim 1, which is characterized in that the power-assisted component further includes fixing
Shell and rotation axis, the rotation axis are installed on the set casing, and first runner passes through the rotation axis and can be with respect to institute
State rotation axis rotation.
3. waist ectoskeleton power assisting device according to claim 2, which is characterized in that the power-assisted component further includes fixing
Seat and mounting base, the both ends of the spring are connect with the fixing seat and mounting base respectively, second runner and the installation
Seat rotation connection.
4. waist ectoskeleton power assisting device according to claim 3, which is characterized in that the power-assisted component further includes connection
Bar, one end of the connecting rod are connect with the support rod, the other end of the connecting rod and first runner or described solid
Reservation connection, and can be rotated relative to first runner or fixing seat.
5. waist ectoskeleton power assisting device according to claim 4, which is characterized in that the connecting rod relatively described first
The rotation direction of the rotation direction of the runner or fixing seat rotation axis opposite with first runner is vertical.
6. waist ectoskeleton power assisting device according to claim 1, which is characterized in that the chest component includes chest gear
Plate, support plate and fixing axle, the fixing axle pass through the chest baffle and support plate, set between the support plate and fixing axle
There is ball bearing so that the support plate can be rotated relative to the fixing axle, the both ends of the support rod are separately connected and the support
On plate and power-assisted component.
7. waist ectoskeleton power assisting device according to claim 6, which is characterized in that the waist feature includes two fixed
Plate, the fixed plate bending make its inner wall form a concave surface, and the power-assisted component is installed on the outside of the fixed plate.
8. waist ectoskeleton power assisting device according to claim 7, which is characterized in that the chest baffle and fixed plate it
Between and two fixed plates between be equipped with bandage, the bandage is equipped with the eye-splice that can be dismantled.
9. waist ectoskeleton power assisting device according to any one of claims 1 to 8, which is characterized in that be additionally provided with leg group
Part, the leg assembly include leg baffle and fixed link, the both ends of the fixed link respectively with the power-assisted component and leg
Baffle connection.
10. waist ectoskeleton power assisting device according to claim 9, which is characterized in that the power-assisted component and the leg
There are two parts are all provided with and the relatively described chest component is symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348220.8A CN109333511A (en) | 2018-11-13 | 2018-11-13 | A kind of waist ectoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348220.8A CN109333511A (en) | 2018-11-13 | 2018-11-13 | A kind of waist ectoskeleton power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333511A true CN109333511A (en) | 2019-02-15 |
Family
ID=65315114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348220.8A Pending CN109333511A (en) | 2018-11-13 | 2018-11-13 | A kind of waist ectoskeleton power assisting device |
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| Country | Link |
|---|---|
| CN (1) | CN109333511A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873178A (en) * | 2021-01-19 | 2021-06-01 | 黄宇波 | Waist exoskeleton for carrying assistance and control system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007097636A (en) * | 2005-09-30 | 2007-04-19 | Matsushita Electric Ind Co Ltd | Muscular strength assisting apparatus |
| CN104853712A (en) * | 2012-12-14 | 2015-08-19 | 国立大学法人名古屋工业大学 | Walking assistance machine |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
| WO2017109198A1 (en) * | 2015-12-24 | 2017-06-29 | Safran Electronics & Defense | Foot portion for an exoskeleton structure |
| CN107150335A (en) * | 2017-07-19 | 2017-09-12 | 深圳龙海特机器人科技有限公司 | Wearable robot |
| CN209190768U (en) * | 2018-11-13 | 2019-08-02 | 深圳市迈步机器人科技有限公司 | A kind of waist ectoskeleton power assisting device |
-
2018
- 2018-11-13 CN CN201811348220.8A patent/CN109333511A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007097636A (en) * | 2005-09-30 | 2007-04-19 | Matsushita Electric Ind Co Ltd | Muscular strength assisting apparatus |
| CN104853712A (en) * | 2012-12-14 | 2015-08-19 | 国立大学法人名古屋工业大学 | Walking assistance machine |
| WO2017109198A1 (en) * | 2015-12-24 | 2017-06-29 | Safran Electronics & Defense | Foot portion for an exoskeleton structure |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
| CN107150335A (en) * | 2017-07-19 | 2017-09-12 | 深圳龙海特机器人科技有限公司 | Wearable robot |
| CN209190768U (en) * | 2018-11-13 | 2019-08-02 | 深圳市迈步机器人科技有限公司 | A kind of waist ectoskeleton power assisting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873178A (en) * | 2021-01-19 | 2021-06-01 | 黄宇波 | Waist exoskeleton for carrying assistance and control system thereof |
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